1 #!/usr/bin/env python 2 3 import numpy as np 4 import cv2 5 6 # local modules 7 from common import splitfn 8 9 # built-in modules 10 import os 11 12 13 USAGE = ''' 14 USAGE: calib.py [--save <filename>] [--debug <output path>] [--square_size] [<image mask>] 15 ''' 16 17 18 19 if __name__ == '__main__': 20 import sys 21 import getopt 22 from glob import glob 23 24 args, img_mask = getopt.getopt(sys.argv[1:], '', ['save=', 'debug=', 'square_size=']) 25 args = dict(args) 26 try: 27 img_mask = img_mask[0] 28 except: 29 img_mask = '../data/left*.jpg' 30 31 img_names = glob(img_mask) 32 debug_dir = args.get('--debug') 33 square_size = float(args.get('--square_size', 1.0)) 34 35 pattern_size = (9, 6) 36 pattern_points = np.zeros( (np.prod(pattern_size), 3), np.float32 ) 37 pattern_points[:,:2] = np.indices(pattern_size).T.reshape(-1, 2) 38 pattern_points *= square_size 39 40 obj_points = [] 41 img_points = [] 42 h, w = 0, 0 43 for fn in img_names: 44 print 'processing %s...' % fn, 45 img = cv2.imread(fn, 0) 46 if img is None: 47 print "Failed to load", fn 48 continue 49 50 h, w = img.shape[:2] 51 found, corners = cv2.findChessboardCorners(img, pattern_size) 52 if found: 53 term = ( cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_COUNT, 30, 0.1 ) 54 cv2.cornerSubPix(img, corners, (5, 5), (-1, -1), term) 55 if debug_dir: 56 vis = cv2.cvtColor(img, cv2.COLOR_GRAY2BGR) 57 cv2.drawChessboardCorners(vis, pattern_size, corners, found) 58 path, name, ext = splitfn(fn) 59 cv2.imwrite('%s/%s_chess.bmp' % (debug_dir, name), vis) 60 if not found: 61 print 'chessboard not found' 62 continue 63 img_points.append(corners.reshape(-1, 2)) 64 obj_points.append(pattern_points) 65 66 print 'ok' 67 68 rms, camera_matrix, dist_coefs, rvecs, tvecs = cv2.calibrateCamera(obj_points, img_points, (w, h), None, None) 69 print "RMS:", rms 70 print "camera matrix:\n", camera_matrix 71 print "distortion coefficients: ", dist_coefs.ravel() 72 cv2.destroyAllWindows() 73
