<reponame>fatcloud/PyCV-Climbing-Wall<filename>projects/3D_Cube_Rending_with_calibration/calibration.py
import numpy as np
import cv2
import glob

# termination criteria
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)

# prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0)
objp = np.zeros((7*8,3), np.float32)
objp[:,:2] = np.mgrid[0:8,0:7].T.reshape(-1,2)

# Arrays to store object points and image points from all the images.
objpoints = [] # 3d point in real world space
imgpoints = [] # 2d points in image plane.

images = glob.glob('*.jpg')

for fname in images:
    img_in = cv2.imread(fname)
    img = cv2.resize(img_in,None,fx=0.5, fy=0.5, interpolation = cv2.INTER_CUBIC)
    gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
    ret, corners = cv2.findChessboardCorners(gray, (8,7),None)
# If found, add object points, image points (after refining them)
    if ret == True:
        objpoints.append(objp)
        cv2.cornerSubPix(gray,corners,(11,11),(-1,-1),criteria)
        imgpoints.append(corners)
        # Draw and display the corners
        cv2.drawChessboardCorners(img, (8,7), corners,ret)
        cv2.imshow('img',img)
        cv2.waitKey(500)
cv2.destroyAllWindows()
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1],None,None)

np.save("ret", ret)
np.save("mtx", mtx)
np.save("dist", dist)
np.save("rvecs", rvecs)
np.save("tvecs", tvecs)

import numpy as np
import cv2
import glob

# termination criteria
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)

# prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0)
objp = np.zeros((7*8,3), np.float32)
objp[:,:2] = np.mgrid[0:8,0:7].T.reshape(-1,2)

# Arrays to store object points and image points from all the images.
objpoints = [] # 3d point in real world space
imgpoints = [] # 2d points in image plane.

images = glob.glob('*.jpg')

for fname in images:
    img_in = cv2.imread(fname)
    img = cv2.resize(img_in,None,fx=0.5, fy=0.5, interpolation = cv2.INTER_CUBIC)
    gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
    ret, corners = cv2.findChessboardCorners(gray, (8,7),None)
# If found, add object points, image points (after refining them)
    if ret == True:
        objpoints.append(objp)
        cv2.cornerSubPix(gray,corners,(11,11),(-1,-1),criteria)
        imgpoints.append(corners)
        # Draw and display the corners
        cv2.drawChessboardCorners(img, (8,7), corners,ret)
        cv2.imshow('img',img)
        cv2.waitKey(500)
cv2.destroyAllWindows()
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1],None,None)

np.save("ret", ret)
np.save("mtx", mtx)
np.save("dist", dist)
np.save("rvecs", rvecs)
np.save("tvecs", tvecs)
# termination criteria # prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0) # Arrays to store object points and image points from all the images. # 3d point in real world space # 2d points in image plane. # If found, add object points, image points (after refining them) # Draw and display the corners