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camera_calibration.py
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/
camera_calibration.py
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#!/usr/bin/env python
import cv2
import numpy as np
import os
import glob
RES = (320,240)
folder_name= f"calibration_{RES[0]}_{RES[1]}/"
os.makedirs(folder_name,exist_ok=True)
cam = cv2.VideoCapture(0)
fps = 15
cam.set(cv2.CAP_PROP_FRAME_WIDTH, RES[0])
cam.set(cv2.CAP_PROP_FRAME_HEIGHT, RES[1])
for num in range(30):
ret, image = cam.read()
cv2.imwrite(folder_name+str(num)+".png", image)
print("image"+str(num))
cam.release()
img_folder=glob.glob(folder_name+ "*.png")
# Defining the dimensions of checkerboard
CHECKERBOARD = (6,8)
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.1)
# Creating vector to store vectors of 3D points for each checkerboard image
objpoints = []
# Creating vector to store vectors of 2D points for each checkerboard image
imgpoints = []
# Defining the world coordinates for 3D points
objp = np.zeros((1, CHECKERBOARD[0] * CHECKERBOARD[1], 3), np.float32)
objp[0,:,:2] = np.mgrid[0:CHECKERBOARD[0], 0:CHECKERBOARD[1]].T.reshape(-1, 2)
prev_img_shape = None
# Extracting path of individual image stored in a given directory
for fname in img_folder:
img = cv2.imread(fname)
gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
# Find the chess board corners
# If desired number of corners are found in the image then ret = true
ret, corners = cv2.findChessboardCorners(gray, CHECKERBOARD, cv2.CALIB_CB_ADAPTIVE_THRESH + cv2.CALIB_CB_FAST_CHECK + cv2.CALIB_CB_NORMALIZE_IMAGE)
"""
If desired number of corner are detected,
we refine the pixel coordinates and display
them on the images of checker board
"""
if ret == True:
objpoints.append(objp)
# refining pixel coordinates for given 2d points.
corners2 = cv2.cornerSubPix(gray, corners, (11,11),(-1,-1), criteria)
imgpoints.append(corners2)
h,w = img.shape[:2]
"""
Performing camera calibration by
passing the value of known 3D points (objpoints)
and corresponding pixel coordinates of the
detected corners (imgpoints)
"""
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)
print("Camera matrix : \n")
print(mtx)
"""
print("dist : \n")
print(dist)
print("rvecs : \n")
print(rvecs)
print("tvecs : \n")
print(tvecs)
"""