hamuchiwa
59 linhas
1.6 KiB
Python
59 linhas
1.6 KiB
Python
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"""
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Reference:
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OpenCV-Python Tutorials - Camera Calibration and 3D Reconstruction
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http://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html
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"""
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import cv2
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import numpy as np
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import glob
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# termination criteria
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criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
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# 6x9 chess board, prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0)
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object_point = np.zeros((6*9, 3), np.float32)
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object_point[:, :2] = np.mgrid[0:9, 0:6].T.reshape(-1, 2)
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# 3d point in real world space
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object_points = []
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# 2d points in image plane
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image_points = []
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h, w = 0, 0
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images = glob.glob('chess_board/*.jpg')
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for file_name in images:
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image = cv2.imread(file_name)
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gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
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h, w = gray.shape[:2]
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# find chess board corners
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ret, corners = cv2.findChessboardCorners(gray, (9, 6), None)
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# add object points, image points
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if ret:
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object_points.append(object_point)
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cv2.cornerSubPix(gray, corners, (11, 11), (-1, -1), criteria)
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image_points.append(corners)
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# draw and display the corners
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cv2.drawChessboardCorners(image, (9, 6), corners, ret)
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cv2.imshow('image', image)
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cv2.waitKey(500)
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# calibration
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retval, cameraMatrix, distCoeffs, rvecs, tvecs = cv2.calibrateCamera(object_points, image_points, (w, h), None, None)
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print "camera matrix:\n", cameraMatrix
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# pi camera intrinsic parameters
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ay = cameraMatrix[1, 1]
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u0 = cameraMatrix[0, 2]
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v0 = cameraMatrix[1, 2]
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print "Ay:", ay
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print "u0:", u0
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print "v0:", v0
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cv2.destroyAllWindows() |