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zhiyuanyou / Calibration-ZhangZhengyou-Method

Calibrate the camera with ZhangZhengyou method (in both distortion case and no distortion case)
MIT License
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[Dedistortion] 修正畸变后RGB图像输出异常 #4

Closed sonderlau closed 1 year ago

sonderlau commented 1 year ago

Enviroment:

Windows 10 Python 3.10.10 Conda 23.3.1 Opencv-python 4.7.0.72

新建文件夹: ./pic/out

添加一行: 

# run_calib_RGB.py
calibrator.dedistortion("./pic/out")

执行 python run_calib_RGB.py

查看 ./pic/out 文件夹下的图片，均为全黑

执行 python run_calib_IR.py 则能够输出正常的结果

其中程序的输出结果如下

Details ```bash ret: 0.3589505528504342 intrinsic matrix: [[614.63662496 0. 325.54644338] [ 0. 614.54453172 240.49048682] [ 0. 0. 1. ]] distortion cofficients: [[ 2.89444147e-02 7.25547149e-01 6.47776530e-04 -1.59124348e-03 -2.80534645e+00]] rotation vectors: (array([[ 0.32921655], [ 0.38902304], [-0.20588054]]), array([[ 0.38716799], [ 0.40542893], [-0.26872124]]), array([[0.52825573], [0.03181425], [0.13114434]]), array([[0.27360081], [0.01991948], [0.13535478]]), array([[ 0.43303876], [-0.27686533], [ 0.36988017]]), array([[ 0.21465947], [-0.01082683], [ 0.17857765]]), array([[-0.0661331 ], [-0.01557704], [ 0.18464881]]), array([[-0.30854543], [-0.0197305 ], [ 0.18493629]]), array([[-0.14762718], [ 0.42775415], [-0.01521786]]), array([[ 0.04796106], [ 0.71108914], [-0.31425717]]), array([[0.326922 ], [0.04472084], [0.19863675]]), array([[ 0.19164687], [-0.25118224], [ 0.41130588]]), array([[ 0.28943137], [-0.37064556], [-0.22450606]]), array([[ 0.35871117], [-0.30563564], [ 0.2050959 ]]), array([[ 0.34292959], [-0.38990777], [-0.03399842]]), array([[ 0.0856877 ], [-0.20301109], [ 0.77778982]]), array([[-0.10815291], [ 0.2541726 ], [ 0.44638983]]), array([[ 0.0912108 ], [ 0.53356457], [-0.31557546]]), array([[ 0.25483896], [ 0.21970949], [-0.13260016]]), array([[ 4.40326540e-01], [-5.18032933e-03], [ 1.83173056e-04]]), array([[0.04656733], [0.0114811 ], [0.00560543]]), array([[-0.00464196], [ 0.00656343], [ 0.6464811 ]]), array([[ 0.1347218 ], [ 0.18266664], [-0.42291462]]), array([[ 0.18311092], [ 0.15985598], [-0.85733209]]), array([[-0.31269128], [ 0.25520988], [-0.12085377]]), array([[-0.47211653], [-0.16431945], [ 0.42903134]]), array([[-0.0879517 ], [ 0.53908854], [ 0.06455465]]), array([[ 0.05134532], [-0.24394424], [ 0.4972588 ]]), array([[ 0.03991402], [-0.01407845], [ 0.45767241]]), array([[ 0.06846588], [-0.22402447], [ 0.52355169]]), array([[-0.02728241], [-0.12328669], [ 0.45263374]]), array([[-0.27999083], [ 0.01653011], [ 0.46882008]]), array([[-0.39115654], [ 0.2358753 ], [ 0.36959138]]), array([[-0.38434591], [ 0.14323832], [ 0.72358758]]), array([[-0.32175643], [ 0.36040757], [ 0.53319573]]), array([[-0.21193196], [ 0.65000888], [ 0.31975973]]), array([[ 0.31133633], [-0.47068566], [ 1.09654404]]), array([[ 0.23688829], [-0.27529049], [-0.05870385]]), array([[ 0.34118001], [-0.04129057], [-1.21766241]]), array([[ 0.31936745], [ 0.04037847], [-0.71533848]]), array([[-0.04758352], [ 0.15711423], [ 0.48740468]])) translation vectors: (array([[-0.08964413], [ 0.00137993], [ 0.64135769]]), array([[-0.15740514], [-0.03448781], [ 0.64333063]]), array([[-0.11740165], [-0.17543351], [ 0.57855342]]), array([[-0.14019627], [ 0.03695148], [ 0.68282344]]), array([[-0.11572036], [-0.10769263], [ 0.61620667]]), array([[-0.11716945], [ 0.07828635], [ 0.72484508]]), array([[-0.0946633 ], [-0.09533591], [ 0.59207157]]), array([[-0.09180288], [-0.10579107], [ 0.64376994]]), array([[ 0.00471511], [-0.10604917], [ 0.67653162]]), array([[-0.01160595], [-0.0294887 ], [ 0.81938646]]), array([[-0.01885689], [-0.11208433], [ 0.67303087]]), array([[-0.03864911], [ 0.0129961 ], [ 0.64930531]]), array([[-0.18293709], [-0.04363913], [ 0.55969339]]), array([[-0.07035979], [-0.12267593], [ 0.5602048 ]]), array([[-0.07138411], [-0.11927577], [ 0.56752116]]), array([[-0.17764517], [-0.05314887], [ 0.65497619]]), array([[-0.16441606], [ 0.0112919 ], [ 0.82890839]]), array([[-0.04454502], [ 0.10851272], [ 0.80304172]]), array([[-0.15621002], [ 0.03486986], [ 0.53750776]]), array([[-0.16437662], [-0.08038394], [ 0.39959859]]), array([[-0.15964207], [-0.10617654], [ 0.53262168]]), array([[ 0.04853947], [-0.14111229], [ 0.55137814]]), array([[-0.09906887], [-0.05759885], [ 0.57027707]]), array([[-0.18172496], [ 0.02946714], [ 0.57018081]]), array([[-0.0184784 ], [-0.10334359], [ 0.65438968]]), array([[-0.13730065], [-0.0115269 ], [ 0.65234034]]), array([[-0.00427519], [-0.07250393], [ 0.76821021]]), array([[-0.14417319], [-0.12393955], [ 0.52813531]]), array([[-0.0453171 ], [-0.080869 ], [ 0.44136214]]), array([[-0.08647411], [-0.09308957], [ 0.40471387]]), array([[-0.13809794], [-0.08190234], [ 0.61967713]]), array([[ 0.00900247], [-0.0719825 ], [ 0.52961237]]), array([[ 0.02464785], [-0.01638459], [ 0.61696854]]), array([[ 0.08858164], [-0.06494174], [ 0.59532646]]), array([[ 0.04952573], [-0.11860169], [ 0.64033163]]), array([[0.07251157], [0.03138613], [0.84235581]]), array([[-0.00629761], [ 0.50943599]]), array([[-0.17357948], [-0.03641907], [ 0.10617503], [ 0.51301293]]), array([[-0.12490969], [-0.00432736], [ 0.51326929]]), array([[-0.18098651], [-0.1633446 ], [ 0.80059424]])) Average error of reproject: 0.033731469750518175 Dedistorted images have been saved to: ./pic/out ```
sonderlau commented 1 year ago

重新查看好了...应该是我的图片浏览工具有问题...