import numpy as np
import cv2
import pickle
import glob
import matplotlib.pyplot as plt
from ipywidgets import interact, interactive, fixed
from moviepy.editor import VideoFileClip
from IPython.display import HTML

print('...')

# prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0)
objp = np.zeros((6 * 9, 3), np.float32)
objp[:, :2] = np.mgrid[0:9, 0:6].T.reshape(-1, 2)

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

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

# Make a list of calibration images
images = glob.glob('./camera_cal/calibration*.jpg')

# img = cv2.imread(images[0])
# cv2.imshow('image', img)
# cv2.waitKey(0)
# cv2.destroyAllWindows()

fig, axs = plt.subplots(5, 4, figsize=(16, 11))
fig.subplots_adjust(hspace=.2, wspace=.001)
axs = axs.ravel()

# Step through the list and search for chessboard corners
for i, fname in enumerate(images):
    img = cv2.imread(fname)
    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
    # Find the chessboard corners
    ret, corners = cv2.findChessboardCorners(gray, (9, 6), None)

    # If found, add object points, image points
    if ret == True:
        objpoints.append(objp)

        # this step to refine image points was taken from:
        # http://opencv-python-tutroals.readthedocs.io/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html
        corners2 = cv2.cornerSubPix(gray, corners, (11, 11), (-1, -1), criteria)
        imgpoints.append(corners2)

        # Draw and display the corners
        img = cv2.drawChessboardCorners(img, (9, 6), corners, ret)
        # axs[i].axis('off')
        # axs[i].imshow(img)
        # cv2.waitKey(500)
        cv2.imshow('image', img)
        cv2.waitKey(0)
        cv2.destroyAllWindows()
import numpy as np
import cv2
import pickle
import glob
import matplotlib.pyplot as plt
from ipywidgets import interact, interactive, fixed
from moviepy.editor import VideoFileClip
from IPython.display import HTML

print('...')

# prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0)
objp = np.zeros((6 * 9, 3), np.float32)
objp[:, :2] = np.mgrid[0:9, 0:6].T.reshape(-1, 2)

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

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

# Make a list of calibration images
images = glob.glob('./camera_cal/calibration*.jpg')

# img = cv2.imread(images[0])
# cv2.imshow('image', img)
# cv2.waitKey(0)
# cv2.destroyAllWindows()

fig, axs = plt.subplots(5, 4, figsize=(16, 11))
fig.subplots_adjust(hspace=.2, wspace=.001)
axs = axs.ravel()

# Step through the list and search for chessboard corners
for i, fname in enumerate(images):
    img = cv2.imread(fname)
    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
    # Find the chessboard corners
    ret, corners = cv2.findChessboardCorners(gray, (9, 6), None)

    # If found, add object points, image points
    if ret == True:
        objpoints.append(objp)

        # this step to refine image points was taken from:
        # http://opencv-python-tutroals.readthedocs.io/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html
        corners2 = cv2.cornerSubPix(gray, corners, (11, 11), (-1, -1), criteria)
        imgpoints.append(corners2)

        # Draw and display the corners
        img = cv2.drawChessboardCorners(img, (9, 6), corners, ret)
        # axs[i].axis('off')
        # axs[i].imshow(img)
        # cv2.waitKey(500)
        cv2.imshow('image', img)
        cv2.waitKey(0)
        cv2.destroyAllWindows()
# prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0) # termination criteria # Arrays to store object points and image points from all the images. # 3d points in real world space # 2d points in image plane. # Make a list of calibration images # img = cv2.imread(images[0]) # cv2.imshow('image', img) # cv2.waitKey(0) # cv2.destroyAllWindows() # Step through the list and search for chessboard corners # Find the chessboard corners # If found, add object points, image points # this step to refine image points was taken from: # http://opencv-python-tutroals.readthedocs.io/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html # Draw and display the corners # axs[i].axis('off') # axs[i].imshow(img) # cv2.waitKey(500)