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Stereo Camera Calibration using Python-OpenCV

Python 100.00%

stereo_calibration's Introduction

stereo_calibration - StereoCamera Calibration using Python-OpenCV

Python Implementation of Stereo Camera Calibration using checkerboard pattern images.

Features

Prints -or- Returns dict object containing Camera Matrices and R, T, E and F
Takes Stereo Camera Images path as an input

Requirements

cv2
numpy

Example

Run using the command line

python camera_calibration.py /path/to/stereo/camera/images/

Run using Python

>>> from camera_calibration import StereoCalibration
>>> cal = StereoCalibration('/path/to/stereo/camera/images')
>>> cal.camera_model

Results

$python camera_calibration.py /path/to/stereo/camera/images/
('Intrinsic_mtx_1', array([[  4.14602008e+03,   0.00000000e+00,   7.59295870e+02],
       [  0.00000000e+00,   4.21635719e+03,   4.42260382e+02],
       [  0.00000000e+00,   0.00000000e+00,   1.00000000e+00]]))
('dist_1', array([[ -2.73378180e+00,   1.41433393e+02,  -1.36677475e-02,
          1.01134046e-01,  -5.17885999e+03]]))
('Intrinsic_mtx_2', array([[  4.16808926e+03,   0.00000000e+00,   7.33997545e+02],
       [  0.00000000e+00,   4.20937958e+03,   7.02753997e+01],
       [  0.00000000e+00,   0.00000000e+00,   1.00000000e+00]]))
('dist_2', array([[ -7.91010976e-01,   4.49627502e+01,  -1.55972074e-02,
         -3.95037927e-03,  -1.24662356e+03]]))
('R', array([[ 0.99869078,  0.00100433,  0.05114416],
       [-0.00564778,  0.99585969,  0.09072808],
       [-0.05084128, -0.09089815,  0.99456156]]))
('T', array([[-9.87912629],
       [ 0.24163047],
       [ 1.61658844]]))
('E', array([[ -3.15467525e-03,  -1.63185902e+00,   9.36464101e-02],
       [  1.11220449e+00,  -8.96370670e-01,   9.90807829e+00],
       [ -1.85519033e-01,  -9.83846631e+00,  -9.08672125e-01]]))
('F', array([[  3.44154284e-09,   1.75055259e-06,  -1.20037917e-03],
       [ -1.20144000e-06,   9.52136218e-07,  -4.38838342e-02],
       [  9.25481179e-04,   4.26384886e-02,   1.00000000e+00]]))

Output Parameters

Intrinsic_mtx_1 – output first camera matrix

dist_1 – output vector of distortion coefficients (k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]]) of 4, 5, or 8 elements. The output vector length depends on the flags.

Intrinsic_mtx_2 – output second camera matrix

dist_2 – output lens distortion coefficients for the second camera

R – Output rotation matrix between the 1st and the 2nd camera coordinate systems.

T – Output translation vector between the coordinate systems of the cameras.

E – Output essential matrix.

F – Output fundamental matrix.

More reference on R, T, E and F can be found here

Notes

Assumption here is that given image path contains two folders of checkerboard images named LEFT and RIGHT. User can change these relative folder paths.
User may also change flags as per calibration output requirements.

References

Stereo Camera Calibration using OpenCV

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stereo_calibration's Issues

Add docstring

cv2.error: /io/opencv/modules/calib3d/src/calibration.cpp:3083: error: (-215) nimages > 0 && nimages == (int)imagePoints1.total() && (!imgPtMat2 || nimages == (int)imagePoints2.total()) in function collectCalibrationData

When I run the code, I get the following error:

OpenCV Error: Assertion failed (nimages > 0 && nimages == (int)imagePoints1.total() && (!imgPtMat2 || nimages == (int)imagePoints2.total())) in collectCalibrationData, file /io/opencv/modules/calib3d/src/calibration.cpp, line 3083 Traceback (most recent call last): File "test.py", line 129, in <module> cal_data = StereoCalibration(args.filepath) File "test.py", line 25, in __init__ self.read_images(self.cal_path) File "test.py", line 71, in read_images self.objpoints, self.imgpoints_l, img_shape, None, None) cv2.error: /io/opencv/modules/calib3d/src/calibration.cpp:3083: error: (-215) nimages > 0 && nimages == (int)imagePoints1.total() && (!imgPtMat2 || nimages == (int)imagePoints2.total()) in function collectCalibrationData

Is there a solution?

Return camera matrix parameters as a dictionary

File "E:\new stereo\camera_calibration.py", line 75, in read_images rt, self.M1, self.d1, self.r1, self.t1 = cv2.calibrateCamera( cv2.error: OpenCV(4.5.5) D:\a\opencv-python\opencv-python\opencv\modules\calib3d\src\calibration.cpp:3339: error: (-2:Unspecified error) in function 'void __cdecl cv::collectCalibrationData(const class cv::_InputArray &,const class cv::_InputArray &,const class cv::_InputArray &,int,class cv::Mat &,class cv::Mat &,class cv::Mat *,class cv::Mat &)' > (expected: 'nimages == (int)imagePoints1.total()'), where > 'nimages' is 7 > must be equal to > '(int)imagePoints1.total()' is 0

when I run the code, I got this error. and I have 7 pairs of the images.

File "E:\new stereo\camera_calibration.py", line 75, in read_images
rt, self.M1, self.d1, self.r1, self.t1 = cv2.calibrateCamera(
cv2.error: OpenCV(4.5.5) D:\a\opencv-python\opencv-python\opencv\modules\calib3d\src\calibration.cpp:3339: error: (-2:Unspecified error) in function 'void __cdecl cv::collectCalibrationData(const class cv::_InputArray &,const class cv::_InputArray &,const class cv::_InputArray &,int,class cv::Mat &,class cv::Mat &,class cv::Mat *,class cv::Mat &)'
(expected: 'nimages == (int)imagePoints1.total()'), where
'nimages' is 7
must be equal to
'(int)imagePoints1.total()' is 0

Can anyone help me solve this issue...??

Do we need to undistort chessboard image before calcating the Rotation and Translation?

Hi, thanks for your job. I have a question about the undistortion as described in the title. Do you have any idea about this?

filepath

I keep on getting error when I try to put the file path at the end and I don't know why it is getting that it says " file path must start with character-"

UnboundLocalError: local variable 'img_shape' referenced before assignment

Hi,

I am trying to run the code using Visual Studio Code in Anaconda. I am getting an error.

Traceback (most recent call last):
File "c:/Users/William/hello/_runscript.py", line 5, in
cal = StereoCalibration(r'C:\Users\William\hello\images')
File "c:\Users\William\hello\camera_calibration.py", line 25, in init
self.read_images(self.cal_path)
File "c:\Users\William\hello\camera_calibration.py", line 71, in read_images
self.objpoints, self.imgpoints_l, img_shape, None, None)
UnboundLocalError: local variable 'img_shape' referenced before assignment

Anyone know what might be the cause of this error?

Best regards