ZED2相机在windows上pycharm标定后，出现错误，总是无法标定，根据网上的思路，没有中文路径，opencv卸载了，也重新安装，还是没用。
import glob
import pyzed.sl as sl
import cv2
import numpy as np
import os
class CameraZed2:
def __init__(self,resolution=None,fps=30,depthMode = None):
self.zed = sl.Camera()
self.input_type = sl.InputType()
self.init_params = sl.InitParameters(input_t=self.input_type)
# 设置分辨率
if resolution == "2K":
self.init_params.camera_resolution = sl.RESOLUTION.HD2K
elif resolution == "1080":
self.init_params.camera_resolution = sl.RESOLUTION.HD1080
else: # 默认
self.init_params.camera_resolution = sl.RESOLUTION.HD720
self.init_params.camera_fps = fps # 设置帧率
# 设置获取深度信息的模式
if depthMode == "PERFORMANCE":
self.init_params.depth_mode = sl.DEPTH_MODE.PERFORMANCE
elif depthMode == "QUALITY":
self.init_params.depth_mode = sl.DEPTH_MODE.QUALITY
else:
self.init_params.depth_mode = sl.DEPTH_MODE.ULTRA
self.init_params.coordinate_units = sl.UNIT.MILLIMETER # 单位毫米
# 打开相机
err = self.zed.open(self.init_params)
if err != sl.ERROR_CODE.SUCCESS:
print(repr(err))
self.zed.close()
exit(1)
self.runtime = sl.RuntimeParameters()
self.runtime.sensing_mode = sl.SENSING_MODE.STANDARD
self.savepath = '' # 标定图像保存的路径
def grab_imgs(self): # 捕获左右图像用于相机标定（文件夹自动创建）
img_l = sl.Mat()
img_r = sl.Mat()
num = 0
# 自动创建保存文件夹
import time
name = time.strftime("%Y-%m-%d-%H-%M", time.localtime())
self.savepath = 'A:/zed1/images/%s'% name
if not os.path.exists(self.savepath):
os.mkdir(self.savepath)
while True:
if self.zed.grab(self.runtime) == sl.ERROR_CODE.SUCCESS:
self.zed.retrieve_image(img_l,sl.VIEW.LEFT)
self.img_l = img_l.get_data()
self.zed.retrieve_image(img_r,sl.VIEW.RIGHT)
self.img_r = img_r.get_data()
view = np.concatenate((self.img_l,self.img_r),axis=1)
cv2.imshow('View',cv2.resize(view,(1920,540)))
key = cv2.waitKey(1)
if key & 0xFF == ord('s'):
savePath = os.path.join(self.savepath, "L{:0>3d}.png".format(num))
cv2.imwrite(savePath, self.img_l)
# savePath = os.path.join(self.savepath, "R{:0>3d}.png".format(num))
# cv2.imwrite(savePath, self.img_r)
num += 1
if key & 0xFF == 27:
break
# 以上保存图像，先保存，把下面的注释
# 类二：相机标定执行函数(单目校正)
class Cam_calibrate(): # 执行校正
def __init__(self):
# 终止条件
self.criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
# 准备对象点，棋盘方块交界点排列：6行8列 如 (0,0,0), (1,0,0), (2,0,0) ....,(6,8,0)
self.row,self.col = 8,11
self.objpoints = np.zeros((self.row * self.col, 3), np.float32)
self.objpoints[:, :2] = np.mgrid[0:self.row, 0:self.col].T.reshape(-1, 2)
def exe(self,dir):
objectpoints = [] # 真实世界中的3d点
imgpoints = []
# 标定所用图像
images = glob.glob('%s/*'%dir)
for fname in images:
img = cv2.imread(fname)
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
# 寻找到棋盘角点
ret, corners = cv2.findChessboardCorners(img, (self.row, self.col), None)
# 如果找到，添加对象点，图像点（细化之后）
if ret == True:
# 添加每幅图的对应3D-2D坐标
objectpoints.append(self.objpoints)
corners = cv2.cornerSubPix(gray, corners, (11, 11), (-1, -1),self.criteria)
imgpoints.append(corners)
# 绘制并显示拐角
cv2.drawChessboardCorners(img, (self.row, self.col), corners, ret)
cv2.namedWindow('View')
cv2.imshow("View", img)
cv2.waitKey(0)
cv2.destroyAllWindows()
# 输出：相机内参、畸变系数、旋转矩阵（每个点都会得到一个）、平移矩阵（同左）
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objectpoints, imgpoints, gray.shape[::-1], None, None)
print(ret,'\n返回相机矩阵：%s\n失真系数:%s\n旋转矩阵:%s\n%s\n平移向量::%s\n%s '%(mtx, dist, rvecs[0].shape,rvecs, tvecs[0].shape,tvecs))
if __name__ == "__main__":
cam = CameraZed2(resolution='1080',fps=30)
# cam.grab_imgs() # 获取标定图像
# 进行相机标定
path = r'A:\zed1\images\2022-10-08-19-48' # 棋盘格图片路径
cal = Cam_calibrate()
cal.exe(path)
cv2.error: OpenCV(4.6.0) D:\a\opencv-python\opencv-python\opencv\modules\calib3d\src\calibration.cpp:3694: error: (-215:Assertion failed) nimages > 0 in function 'cv::calibrateCameraRO'
请问各路神仙，如何解决啊？