59 lines
1.9 KiB
Python
59 lines
1.9 KiB
Python
import numpy as np
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import cv2, cv
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import os
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from common import splitfn
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USAGE = '''
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USAGE: calib.py [--save <filename>] [--debug <output path>] [<image mask>]
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'''
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if __name__ == '__main__':
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import sys, getopt
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from glob import glob
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args, img_mask = getopt.getopt(sys.argv[1:], '', ['save=', 'debug='])
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args = dict(args)
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try: img_mask = img_mask[0]
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except: img_mask = '../cpp/left*.jpg'
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img_names = glob(img_mask)
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debug_dir = args.get('--debug')
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pattern_size = (9, 6)
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pattern_points = np.zeros( (np.prod(pattern_size), 3), np.float32 )
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pattern_points[:,:2] = np.indices(pattern_size).T.reshape(-1, 2)
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obj_points = []
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img_points = []
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h, w = 0, 0
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for fn in img_names:
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print 'processing %s...' % fn,
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img = cv2.imread(fn, 0)
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h, w = img.shape[:2]
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found, corners = cv2.findChessboardCorners(img, pattern_size)
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if found:
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term = ( cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_COUNT, 30, 0.1 )
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cv2.cornerSubPix(img, corners, (5, 5), (-1, -1), term)
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if debug_dir:
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vis = cv2.cvtColor(img, cv.CV_GRAY2BGR)
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cv2.drawChessboardCorners(vis, pattern_size, corners, found)
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path, name, ext = splitfn(fn)
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cv2.imwrite('%s/%s_chess.bmp' % (debug_dir, name), vis)
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if not found:
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print 'chessboard not found'
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continue
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img_points.append(corners.reshape(-1, 2))
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obj_points.append(pattern_points)
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print 'ok'
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camera_matrix = np.zeros((3, 3))
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dist_coefs = np.zeros(4)
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img_n = len(img_points)
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rms, camera_matrix, dist_coefs, rvecs, tvecs = cv2.calibrateCamera(obj_points, img_points, (w, h), camera_matrix, dist_coefs)
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print "RMS:", rms
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print "camera matrix: ", camera_matrix
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print "distortion coefficients: ", dist_coefs
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