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