55 lines
1.7 KiB
Python
55 lines
1.7 KiB
Python
# Set the path to the images captured by the left and right cameras
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import cv2
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import numpy as np
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import tqdm as tqdm
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pathL = "/home/ros/Bureau/ca_ur5/1.jpg"
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pathR = "/home/ros/Bureau/ca_ur5/2.jpg"
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# Termination criteria for refining the detected corners
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criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
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objp = np.zeros((8*5,3), np.float32)
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objp[:,:2] = np.mgrid[0:8,0:5].T.reshape(-1,2)
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img_ptsL = []
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img_ptsR = []
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obj_pts = []
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for i in tqdm(range(1,12)):
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imgL = cv2.imread(pathL+"img%d.png"%i)
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imgR = cv2.imread(pathR+"img%d.png"%i)
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imgL_gray = cv2.imread(pathL+"img%d.png"%i,0)
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imgR_gray = cv2.imread(pathR+"img%d.png"%i,0)
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outputL = imgL.copy()
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outputR = imgR.copy()
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retR, cornersR = cv2.findChessboardCorners(outputR,(8,5),None)
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retL, cornersL = cv2.findChessboardCorners(outputL,(8,5),None)
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if retR and retL:
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obj_pts.append(objp)
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cv2.cornerSubPix(imgR_gray,cornersR,(11,11),(-1,-1),criteria)
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cv2.cornerSubPix(imgL_gray,cornersL,(11,11),(-1,-1),criteria)
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cv2.drawChessboardCorners(outputR,(8,5),cornersR,retR)
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cv2.drawChessboardCorners(outputL,(8,5),cornersL,retL)
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cv2.imshow('cornersR',outputR)
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cv2.imshow('cornersL',outputL)
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cv2.waitKey(0)
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img_ptsL.append(cornersL)
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img_ptsR.append(cornersR)
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# Calibrating left camera
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retL, mtxL, distL, rvecsL, tvecsL = cv2.calibrateCamera(obj_pts,img_ptsL,imgL_gray.shape[::-1],None,None)
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hL,wL= imgL_gray.shape[:2]
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new_mtxL, roiL= cv2.getOptimalNewCameraMatrix(mtxL,distL,(wL,hL),1,(wL,hL))
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# Calibrating right camera
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retR, mtxR, distR, rvecsR, tvecsR = cv2.calibrateCamera(obj_pts,img_ptsR,imgR_gray.shape[::-1],None,None)
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hR,wR= imgR_gray.shape[:2]
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new_mtxR, roiR= cv2.getOptimalNewCameraMatrix(mtxR,distR,(wR,hR),1,(wR,hR))
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