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pro_calib.py
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pro_calib.py
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import numpy as np
import cv2 as cv
import glob
import matplotlib
import matplotlib.pyplot as plt
# termination criteria
criteria = (cv.TERM_CRITERIA_EPS + cv.TERM_CRITERIA_MAX_ITER, 30, 0.001)
# prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0)
objp = np.zeros((6*7,3), np.float32)
objp[:,:2] = np.mgrid[0:7,0:6].T.reshape(-1,2)
# Arrays to store object points and image points from all the images.
objpoints = [] # 3d point in real world space
imgpoints = [] # 2d points in image plane.
images = glob.glob('*.jpeg')
for fname in images:
img = cv.imread(fname)
new_img = img.copy()
gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
invgray = cv.bitwise_not(gray)
orgHeight, orgWidth = img.shape[:2]
for i in range(orgHeight):
for j in range(orgWidth):
b = img[i][j][0]
g = img[i][j][1]
r = img[i][j][2]
if b > 230 and g > 230 and r > 230:
img[i][j][0] = 0
img[i][j][1] = 0
img[i][j][2] = 0
gray_for_circle = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
# Find the chess board corners
ret, corners = cv.findChessboardCorners(gray, (9,7), None)
ret2, circles = cv.findCirclesGrid(gray_for_circle, (10,7), flags = cv.CALIB_CB_SYMMETRIC_GRID)
# If found, add object points, image points (after refining them)
if ret == True:
objpoints.append(objp)
corners2 = cv.cornerSubPix(gray,corners, (11,11), (-1,-1), criteria)
imgpoints.append(corners)
# Draw and display the corners
cv.drawChessboardCorners(new_img, (9,7), corners2, ret)
if ret2 == True:
objpoints.append(objp)
imgpoints.append(circles)
cv.drawChessboardCorners(new_img, (10, 7), circles, ret2)
cv.imshow('img', new_img)
#cv.imshow('inv_img',invgray)
cv.waitKey(1000)
cv.destroyAllWindows()