API mit .npz

2026-06-10 07:51:34 +02:00
parent c76cbd39de
commit cdb3165fad
8 changed files with 289 additions and 4 deletions
--- a/setup/calibrate.py
+++ b/setup/calibrate.py
@@ -0,0 +1,77 @@
+"""
+Berechnet eine Kamera-Kalibrierung aus Schachbrett-Fotos und speichert das
+Ergebnis als .npz.
+
+Aufruf:
+    python calibrate.py <Bildordner> <Ausgabedatei.npz>
+
+Beispiel:
+    python setup/calibrate.py test/files/cam0 data/calibration/cam0/calibration.npz
+
+Erwartet *.jpg-Dateien im Bildordner, die ein 10x7-Eck-Schachbrettmuster
+(= 11x8 Felder, 25 mm/Feld) zeigen.
+"""
+
+import sys
+import glob
+import pathlib
+import numpy as np
+import cv2
+
+CHECKERBOARD = (10, 7)       # innere Ecken
+SQUARE_MM    = 25.0 / 1000   # 25 mm in Metern
+
+def calibrate(image_dir: str, out_path: str) -> None:
+    images = sorted(glob.glob(str(pathlib.Path(image_dir) / "*.jpg")))
+    if not images:
+        sys.exit(f"Keine .jpg-Dateien in {image_dir!r}")
+    print(f"Gefundene Bilder: {len(images)}")
+
+    objp = np.zeros((CHECKERBOARD[0] * CHECKERBOARD[1], 3), np.float32)
+    objp[:, :2] = np.mgrid[0:CHECKERBOARD[0], 0:CHECKERBOARD[1]].T.reshape(-1, 2)
+    objp *= SQUARE_MM
+
+    objpoints, imgpoints = [], []
+    img_size = None
+
+    for fname in images:
+        img = cv2.imread(fname)
+        if img is None:
+            print(f"  WARNUNG: konnte nicht lesen: {fname}")
+            continue
+        gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+        if img_size is None:
+            img_size = gray.shape[::-1]
+
+        ret, corners = cv2.findChessboardCorners(
+            gray, CHECKERBOARD,
+            cv2.CALIB_CB_ADAPTIVE_THRESH | cv2.CALIB_CB_NORMALIZE_IMAGE | cv2.CALIB_CB_FAST_CHECK,
+        )
+        if ret:
+            corners2 = cv2.cornerSubPix(
+                gray, corners, (11, 11), (-1, -1),
+                (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_MAX_ITER, 30, 1e-6),
+            )
+            objpoints.append(objp)
+            imgpoints.append(corners2)
+            print(f"  OK  {pathlib.Path(fname).name}")
+        else:
+            print(f"  --  {pathlib.Path(fname).name}  (keine Ecken gefunden)")
+
+    print(f"\nGültige Bilder: {len(objpoints)} / {len(images)}")
+    if not objpoints:
+        sys.exit("Kalibrierung fehlgeschlagen: keine Ecken in keinem Bild gefunden.")
+
+    rms, K, D, _rvecs, _tvecs = cv2.calibrateCamera(objpoints, imgpoints, img_size, None, None)
+    print(f"RMS-Fehler:       {rms:.4f} px")
+    print(f"Kameramatrix:\n{K}")
+    print(f"Verzerrungskoeff: {D}")
+
+    pathlib.Path(out_path).parent.mkdir(parents=True, exist_ok=True)
+    np.savez(out_path, camera_matrix=K, dist_coeffs=D)
+    print(f"\nGespeichert: {out_path}")
+
+if __name__ == "__main__":
+    if len(sys.argv) != 3:
+        sys.exit(__doc__)
+    calibrate(sys.argv[1], sys.argv[2])