Python OpenCV实践，相机标定

前言

本篇主要是使用python opencv标定相机内参和畸变参数的记录，主要参考opencv官方文档中的示例。

本篇不会涉及标定原理。

准备棋盘格

一张棋盘格图（最好把棋盘格图粘贴到一块平板上，保证棋盘上的角点都在同一平面）。

这里提供一个简单的棋盘格生成程序，在A4纸打印分辨率为96ppi时，棋盘每个格子的宽度为cube_cm：

def generate_chessboard(cube_cm=2., pattern_size=(8, 6), scale=37.79527559055118):
    """
    generate chessboard image with given cube length, which adapts to A4 paper print
    :param cube_cm: float, single cube length in cm
    :param pattern_size: (x, y), the number of points in x, y axes in the chessboard
    :param scale: float, scale pixel/cm in A4 paper
    """
    # convert cm to pixel
    cube_pixel = cube_cm * scale
    width = round(pattern_size[0] * cube_cm * scale)
    height = round(pattern_size[1] * cube_cm * scale)

    # generate canvas
    image = np.zeros([width, height, 3], dtype=np.uint8)
    image.fill(255)
    color = (255, 255, 255)
    fill_color = 0
    # drawing the chessboard
    for j in range(0, height + 1):
        y = round(j * cube_pixel)
        for i in range(0, width + 1):
            x0 = round(i * cube_pixel)
            y0 = y
            rect_start = (x0, y0)

            x1 = round