806

Visual measurement-cameramodel/py/Calibration.py

@@ -194,7 +194,7 @@ def fun(x,cameraModel,corners):
     error_y = 0
     error_x = 0
     f = cameraModel.focal_length
-    H = x[3] - 9
+    H = x[3] -0
     gamma = math.atan(1 / (math.tan(x[0]) * math.tan(x[1])))
     seta = math.atan(1 / math.sqrt(pow(math.tan(x[1]), 2) + 1 / pow(math.tan(x[0]), 2)))
     column = 0
@@ -231,11 +231,11 @@ def fun(x,cameraModel,corners):
 
 def get_result(cameraModel, corners):
     params = cameraModel, corners
-    bounds = [(0.1, 1.7), (0.1, 1.7), [-0.5, 0.5],[1000,1020]]
+    bounds = [(0.1, 1.7), (0.1, 1.7), [-0.5, 0.5],[1000-9,1020-9]]
     # bounds = [(0.1, 1.7), (0.1, 1.7)]
     result = minimize(
         fun,
-        x0=[cameraModel.rotation_alpha, cameraModel.rotation_beta, 0, cameraModel.height],
+        x0=[cameraModel.rotation_alpha, cameraModel.rotation_beta, 0, 998],
         args=params,
         # method='Nelder-Mead',  # 或 'trust-constr'
         method='L-BFGS-B', bounds=bounds,
@@ -347,6 +347,7 @@ def check_Extrinsic_Parameters(image_path, output_path, config):
 # image_path = r"C:\Users\Administrator\Desktop\BYD\Visual measurement_model\Visual measurement\img\calibration\origin_img\*.jpg"
 # output_fold =r"C:\Users\Administrator\Desktop\BYD\Visual measurement_model\Visual measurement\img\calibration\undistor_img"
 # config = r"updated_config.json"
+# find_corners(r"C:\Users\Administrator\Desktop\BYD\7.15\)
 # calibrate_and_undistort(image_path,output_fold,config,11,8,60)
 # calibrate_Extrinsic_Parameters("corrected.jpg", config, 11, 8)
 # check_Extrinsic_Parameters("corrected.jpg", "output.jpg", config)
@@ -361,3 +362,9 @@ def check_Extrinsic_Parameters(image_path, output_path, config):
 # img = cv2.imread(r"C:\Users\Administrator\Desktop\BYD\0718\new415.379489173224.jpg")
 # cv2.line(img, (int(229.67793558711742), 960-int(151.71034206841367)), (result[3],result[4]), (0, 255, 255), 3)
 # cv2.imwrite(r"test.jpg", img)
+
+# image_path = r"C:\Users\Administrator\Desktop\BYD\8.5\*.jpg"
+# output_fold = r"C:\Users\Administrator\Desktop\BYD\8.5\undistor_img"
+# config = r"updated_config.json"
+# # find_corners(image_path,7,6)
+# calibrate_and_undistort(image_path,output_fold,config,9,8,100)

Visual measurement-cameramodel/py/calc_way.py

@@ -52,7 +52,7 @@ def calc_distance(cameraModel, x: float, y: float) -> tuple[float, float]:
     Xw = d * math.cos(gamma + epsilon)
     Yw = -d * math.sin(gamma + epsilon)
 
-    return Xw, Yw
+    return Xw*cameraModel.zoom, Yw*cameraModel.zoom
 
 
 def calc_distance2(cameraModel, Xw: float, Yw: float) -> tuple[int, int]:
@@ -72,7 +72,7 @@ def calc_distance2(cameraModel, Xw: float, Yw: float) -> tuple[int, int]:
         像素坐标 (x, y)，类型为整数
     """
     # 1. 计算距离 d 和角度 seta、gamma
-    d = math.hypot(Xw, Yw)
+    d = math.hypot(Xw/cameraModel.zoom, Yw/cameraModel.zoom)
     tan_alpha = math.tan(cameraModel.rotation_alpha)
     tan_beta = math.tan(cameraModel.rotation_beta)
     seta = math.atan2(1, math.sqrt(tan_beta ** 2 + 1 / tan_alpha ** 2))

Visual measurement-cameramodel/py/cameramodel.py

@@ -33,6 +33,7 @@ class CameraModel:
             "ransac_residual_threshold": 2.5,
             "grid_downsample": True,
             "cell_size": 10,
+            "zoom":1.1,
 
         }
 
@@ -62,6 +63,7 @@ class CameraModel:
         self.ransac_residual_threshold = params["ransac_residual_threshold"]
         self.grid_downsample = params["grid_downsample"]
         self.cell_size = params["cell_size"]
+        self.zoom = params["zoom"]
         # 计算派生属性
         self.pixel_size_x = self.focal_length / self.undistor_K[0, 0]
         self.pixel_size_y = self.focal_length / self.undistor_K[1, 1]
@@ -93,7 +95,8 @@ class CameraModel:
             "outlier_num": self.outlier_num,
             "grid_downsample": self.grid_downsample,
             "cell_size": self.cell_size,
-            "ransac_residual_threshold": self.ransac_residual_threshold
+            "ransac_residual_threshold": self.ransac_residual_threshold,
+            "zoom": self.zoom
         }
         with open(file_path, 'w') as f:
             json.dump(params, f, indent=4)

Visual measurement-cameramodel/py/updated_config.json

@@ -3,14 +3,14 @@
     "camera_height": 960,
     "origin_K": [
         [
-            1086.5841123501,
+            1086.32711,
             0.0,
-            656.379279306796
+            657.410789
         ],
         [
             0.0,
-            1086.65442545872,
-            470.898109737448
+            1086.44329,
+            483.660145
         ],
         [
             0.0,
@@ -20,14 +20,14 @@
     ],
     "undistor_K": [
         [
-            838.19297892,
+            838.19297635,
             0.0,
-            658.51580973
+            658.51581017
         ],
         [
             0.0,
-            836.93529706,
-            475.57774991
+            836.9352939,
+            476.42225023
         ],
         [
             0.0,
@@ -43,16 +43,17 @@
         -0.0447846385
     ],
     "focal_length": 3.6,
-    "height": 1007.0633042608584,
-    "rotation_alpha": 0.8892272342384955,
-    "rotation_beta": 0.6786627929104145,
-    "position_offset_x": 507,
-    "position_offset_y": 32,
-    "rotation_camera": 0.03985022053087201,
+    "height": 1026.4662744946722,
+    "rotation_alpha": 0.8169354601554343,
+    "rotation_beta": 0.8367541143814101,
+    "position_offset_x": 456,
+    "position_offset_y": 33,
+    "rotation_camera": 0.3727577077788678,
     "filter": true,
-    "filt_percent": 0.05,
+    "filt_percent": 0.1,
     "outlier_num": 10,
     "grid_downsample": true,
     "cell_size": 10,
-    "ransac_residual_threshold": 2.5
+    "ransac_residual_threshold": 2.5,
+    "zoom": 1.0
 }