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calibrate_process.py
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calibrate_process.py
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# Author: William Healey http://billhealey.com
from __future__ import print_function
from time import sleep
import glob
import numpy as np
import cv2
if __name__ == '__main__':
img_names = glob.glob('superx/*.png')
pattern_size = (5, 4)
pattern_points = np.zeros((np.prod(pattern_size), 3), np.float32)
pattern_points[:, :2] = np.indices(pattern_size).T.reshape(-1, 2)
obj_points = []
img_points = []
h, w = 0, 0
img_names_undistort = []
for fn in img_names:
print('processing %s... ' % fn, end='')
img = cv2.imread(fn, 0)
if img is None:
print("Failed to load", fn)
continue
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, (6, 7), (-1, -1), term)
print('found1 ')
vis = cv2.cvtColor(img, cv2.COLOR_GRAY2BGR)
cv2.drawChessboardCorners(vis, pattern_size, corners, found)
cv2.imshow('vis', vis)
k = cv2.waitKey(30) & 0xff
if k == 27:
break
sleep(.2)
if not found:
print('chessboard not found')
continue
img_points.append(corners.reshape(-1, 2))
obj_points.append(pattern_points)
print('ok')
# calculate camera distortion
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(obj_points, img_points, (w, h), None, None)
np.savez("webcam_calibration_ouput.npz", ret=ret, mtx=mtx, dist=dist, rvecs=rvecs, tvecs=tvecs)
print("\nRMS:", ret)
print("camera matrix:\n", mtx)
print("distortion coefficients: ", dist.ravel(), '\n')
print('Camera.fx: {:.09}'.format(mtx[0][0]))
print('Camera.fy: {:.09}'.format(mtx[1][1]))
print('Camera.cx: {:.09}'.format(mtx[0][2]))
print('Camera.cy: {:.09}'.format(mtx[1][2]))
print('Camera.k1: {:.09}'.format(dist.ravel()[0]))
print('Camera.k2: {:.09}'.format(dist.ravel()[1]))
print('Camera.p1: {:.09}'.format(dist.ravel()[2]))
print('Camera.p2: {:.09}'.format(dist.ravel()[3]))
print('Camera.k3: {:.09}'.format(dist.ravel()[4]))
cv2.destroyAllWindows()