基于目标检测的OpenCV鱼眼镜头去畸变问题

我使用鱼眼镜头开展目标检测以最大化视场角(FOV)，目前已实现图像去畸变代码，但重投影误差（2.9像素）表现不佳，且图像边缘严重失真。校准过程采用8×11规格的棋盘格（含7×10内角点），并在多个平面采集了大量图像。

相关代码 #

import os
import glob
import cv2 as cv
import numpy as np

def calibrate(showPics=True):
    # Read Image
    root = os.getcwd()
    calibrationDir = os.path.join(root,'snapshots//')
    imgPathList = glob.glob(os.path.join(calibrationDir,'*.jpg'))

    # Initialize  
    nRows = 7 
    nCols = 10
    termCriteria = (cv.TERM_CRITERIA_EPS + cv.TERM_CRITERIA_MAX_ITER,30,0.001)
    worldPtsCur = np.zeros((nRows*nCols,3), np.float32)
    worldPtsCur[:,:2] = np.mgrid[0:nRows,0:nCols].T.reshape(-1,2)
    worldPtsList = []
    imgPtsList = [] 

    # Find Corners 
    for curImgPath in imgPathList:
        imgBGR = cv.imread(curImgPath)
        imgGray = cv.cvtColor(imgBGR, cv.COLOR_BGR2GRAY)
        cornersFound, cornersOrg = cv.findChessboardCorners(imgGray,(nRows,nCols), None)

        if cornersFound == True:
            worldPtsList.append(worldPtsCur)
            cornersRefined = cv.cornerSubPix(imgGray,cornersOrg,(11,11),(-1,-1),termCriteria)
            imgPtsList.append(cornersRefined)

            if showPics: 
                cv.drawChessboardCorners(imgBGR,(nRows,nCols),cornersRefined,cornersFound)
                cv.imshow('Chessboard', imgBGR)
                cv.waitKey(500)
    cv.destroyAllWindows()

    # Calibrate 
    repError,camMatrix,distCoeff,rvecs,tvecs = cv.calibrateCamera(worldPtsList, imgPtsList, imgGray.shape[::-1],None,None)
    print('Camera Matrix:\n',camMatrix)
    print('distCoeff',distCoeff)
    print("Reproj Error (pixels): {:.4f}".format(repError))
 
    
    return camMatrix,distCoeff

def removeDistortion(camMatrix,distCoeff): 
    root = os.getcwd()
    imgPath = os.path.join(root,'snapshots//snapshot_20240310_153742.jpg')
    img = cv.imread(imgPath)
    
    height,width = img.shape[:2]
    camMatrixNew,roi = cv.getOptimalNewCameraMatrix(camMatrix,distCoeff,(width,height),1,(width,height)) 
    imgUndist = cv.undistort(img,camMatrix,distCoeff,None,camMatrixNew)

去畸变效果 #

校正后的图像边缘仍存在严重失真，未达到理想效果，重投影误差处于较高水平。

内容的提问来源于stack exchange，提问作者Luke