From 164ad2f845c8757e8f229ca1c95e5a81a589bdf9 Mon Sep 17 00:00:00 2001
From: ros <Lucas Daval-Pommier>
Date: Tue, 28 Feb 2023 11:50:49 +0100
Subject: [PATCH] Photo

---
 calib.py |  8 +++----
 test2.py | 71 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 74 insertions(+), 5 deletions(-)
 create mode 100644 test2.py

diff --git a/calib.py b/calib.py
index b9f7605..842245b 100644
--- a/calib.py
+++ b/calib.py
@@ -1,6 +1,4 @@
-import cv2
-
-retval, corners = cv2.findChessboardCorners(image,patternSize, flags)
+#retval, corners = cv2.findChessboardCorners(image,patternSize, flags)
 
 import cv2
 import numpy as np
@@ -18,8 +16,8 @@ image_points_array = []
 
 # Load the images
 images = []
-images.append(cv2.imread("image1.jpg"))
-images.append(cv2.imread("image2.jpg"))
+images.append(cv2.imread("left.jpg"))
+images.append(cv2.imread("right.jpg"))
 # Add more images as needed
 
 # Loop through each image and find the chessboard corners
diff --git a/test2.py b/test2.py
new file mode 100644
index 0000000..fbc4426
--- /dev/null
+++ b/test2.py
@@ -0,0 +1,71 @@
+import cv2
+import numpy as np
+import os
+import glob
+
+# Defining the dimensions of checkerboard
+CHECKERBOARD = (16,22)
+criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
+
+# 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
+
+
+h = 480
+w = 640
+
+# Extracting path of individual image stored in a given directory
+images = glob.glob('/home/ros/Bureau/ca_ur5/*.jpg')
+for fname in images:
+	img = cv2.imread(fname)
+	h,w = img.shape[:2]
+	gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
+	print(gray)
+	# 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)
+
+		# Draw and display the corners
+		img = cv2.drawChessboardCorners(img,CHECKERBOARD,corners2,ret)
+
+	cv2.imshow('img',img)
+	cv2.waitKey(0)
+
+cv2.destroyAllWindows()
+
+#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, (w,h), None, None)
+
+print("Camera matrix : \n")
+print(mtx)
+print("dist : \n")
+print(dist)
+print("rvecs : \n")
+print(rvecs)
+print("tvecs : \n")
+print(tvecs)