35 lines
1.2 KiB
Python
35 lines
1.2 KiB
Python
import numpy as np
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import cv2 as cv
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import glob
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# Termination criteria
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criteria = (cv.TERM_CRITERIA_EPS + cv.TERM_CRITERIA_MAX_ITER, 30, 0.001)
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# Prepare object points, assuming a chessboard with 9 by 6 squares of 30mm
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square_size = 30 # in millimeters
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objp = np.zeros((5 * 8, 3), np.float32)
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objp[:, :2] = np.mgrid[0:8, 0:5].T.reshape(-1, 2) * square_size
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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('camera1_images/*.jpg')
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for fname in images:
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img = cv.imread(fname)
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gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
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# Find the chessboard corners
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ret, corners = cv.findChessboardCorners(gray, (8, 5), 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 = cv.cornerSubPix(gray, corners, (11, 11), (-1, -1), criteria)
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imgpoints.append(corners2)
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# Draw and display the corners
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cv.drawChessboardCorners(img, (8, 5), corners2, ret)
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cv.imshow('img', img)
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cv.waitKey(400)
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cv.destroyAllWindows()
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ret, mtx, dist, rvecs, tvecs = cv.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None) |