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*7,3), np.float32)
objp[:,:2] = np.mgrid[0:7,0:7].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.
cap = cv2.VideoCapture(0)

print('obtendo pontos')

count = 0
while count < 50:
    ret, img = cap.read()
    if not ret:
        break
    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
    # Find the chess board corners
    ret, corners = cv2.findChessboardCorners(gray, (7,7), None)
    # If found, add object points, image points (after refining them)
    if ret == True:
        count += 1
        objpoints.append(objp)
        #corners2 = cv2.cornerSubPix(gray,corners, (11,11), (-1,-1), criteria)
        imgpoints.append(corners)
        # Draw and display the corners
        #cv2.drawChessboardCorners(gray, (7,7), corners2, ret)
    print(gray.shape)
    if cv2.waitKey(1) & 0xFF == ord('q'):
        break
    cv2.imshow("Window", gray)
cv2.destroyAllWindows()

print('calibrando camera...')

ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)

print('escrevendo output')

if ret:
    output = cv2.FileStorage('intrinsic.yml', cv2.FILE_STORAGE_WRITE)
    output.write('mtx', mtx)
    output.write('dist', dist)
    output.release()
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*7,3), np.float32)
objp[:,:2] = np.mgrid[0:7,0:7].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.
cap = cv2.VideoCapture(0)

print('obtendo pontos')

count = 0
while count < 50:
    ret, img = cap.read()
    if not ret:
        break
    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
    # Find the chess board corners
    ret, corners = cv2.findChessboardCorners(gray, (7,7), None)
    # If found, add object points, image points (after refining them)
    if ret == True:
        count += 1
        objpoints.append(objp)
        #corners2 = cv2.cornerSubPix(gray,corners, (11,11), (-1,-1), criteria)
        imgpoints.append(corners)
        # Draw and display the corners
        #cv2.drawChessboardCorners(gray, (7,7), corners2, ret)
    print(gray.shape)
    if cv2.waitKey(1) & 0xFF == ord('q'):
        break
    cv2.imshow("Window", gray)
cv2.destroyAllWindows()

print('calibrando camera...')

ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)

print('escrevendo output')

if ret:
    output = cv2.FileStorage('intrinsic.yml', cv2.FILE_STORAGE_WRITE)
    output.write('mtx', mtx)
    output.write('dist', dist)
    output.release()
# 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) # Arrays to store object points and image points from all the images. # 3d point in real world space # 2d points in image plane. # Find the chess board corners # If found, add object points, image points (after refining them) #corners2 = cv2.cornerSubPix(gray,corners, (11,11), (-1,-1), criteria) # Draw and display the corners #cv2.drawChessboardCorners(gray, (7,7), corners2, ret)