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- import numpy as np
- import cv2
- import glob
-
-
- def calculareCameraCalibration():
- # termination criteria
- criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 23, 0.001)
-
- # 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('./img_calibrate/*.jpg')
-
- for fname in images:
- img = cv2.imread(fname)
- gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
-
- # Find the chess board corners
- ret, corners = cv2.findChessboardCorners(gray, (7,6),None)
-
- # 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)
-
- ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)
- return ret, mtx, dist, rvecs, tvecs
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