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