#!/usr/bin/env python import numpy as np import cv2 import os from common import splitfn USAGE = ''' USAGE: calib.py [--save <filename>] [--debug <output path>] [--square_size] [<image mask>] ''' if __name__ == '__main__': import sys, getopt from glob import glob args, img_mask = getopt.getopt(sys.argv[1:], '', ['save=', 'debug=', 'square_size=']) args = dict(args) try: img_mask = img_mask[0] except: img_mask = '../cpp/left*.jpg' img_names = glob(img_mask) debug_dir = args.get('--debug') square_size = float(args.get('--square_size', 1.0)) pattern_size = (9, 6) pattern_points = np.zeros( (np.prod(pattern_size), 3), np.float32 ) pattern_points[:,:2] = np.indices(pattern_size).T.reshape(-1, 2) pattern_points *= square_size obj_points = [] img_points = [] h, w = 0, 0 for fn in img_names: print 'processing %s...' % fn, img = cv2.imread(fn, 0) h, w = img.shape[:2] found, corners = cv2.findChessboardCorners(img, pattern_size) if found: term = ( cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_COUNT, 30, 0.1 ) cv2.cornerSubPix(img, corners, (5, 5), (-1, -1), term) if debug_dir: vis = cv2.cvtColor(img, cv2.COLOR_GRAY2BGR) cv2.drawChessboardCorners(vis, pattern_size, corners, found) path, name, ext = splitfn(fn) cv2.imwrite('%s/%s_chess.bmp' % (debug_dir, name), vis) if not found: print 'chessboard not found' continue img_points.append(corners.reshape(-1, 2)) obj_points.append(pattern_points) print 'ok' rms, camera_matrix, dist_coefs, rvecs, tvecs = cv2.calibrateCamera(obj_points, img_points, (w, h)) print "RMS:", rms print "camera matrix:\n", camera_matrix print "distortion coefficients: ", dist_coefs.ravel() cv2.destroyAllWindows()