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 ```import numpy as np ``` ```import cv2 ``` ```import glob ``` ``` ``` ```# termination criteria ``` ```criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 50, 0.001) ``` ```# criteria=cv2.CALIB_CB_FAST_CHECK ``` ``` ``` ```# prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0) ``` ```objp = np.zeros((6*7,3), np.float32) ``` ```objp[:,:2] = np.mgrid[0:7,0:6].T.reshape(-1,2) ``` ``` ``` ```# Arrays to store object points and image points from all the images. ``` ```objpoints = [] # 3d point in real world space ``` ```imgpoints = [] # 2d points in image plane. ``` ``` ``` ```images = glob.glob('calibrate/*.png') ``` ``` ``` ```for fname in images: ``` ``` print(fname) ``` ``` img = cv2.imread(fname) ``` ``` gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY) ``` ```# gray = cv2.resize(gray, (640, 360)) ``` ``` ``` ``` # Find the chess board corners ``` ``` ret, corners = cv2.findChessboardCorners(gray, (3,3),None) ``` ``` print(ret) ``` ``` ``` ``` # If found, add object points, image points (after refining them) ``` ``` if ret == True: ``` ``` objpoints.append(objp) ``` ``` ``` ``` corners2 = cv2.cornerSubPix(gray,corners,(11,11),(-1,-1),criteria) ``` ``` imgpoints.append(corners2) ``` ``` ``` ``` # Draw and display the corners ``` ``` img = cv2.drawChessboardCorners(gray, (7,6), corners2,ret) ``` ``` cv2.imshow('img',img) ``` ``` cv2.waitKey(5000) ``` ``` ``` ```cv2.destroyAllWindows() ``` ``` ``` ```ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1],None,None) ``` `print(ret, mtx, dist, rvecs, tvecs)`