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calib_camera.py
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calib_camera.py
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# From Asadullah-Dal17
import cv2 as cv
import os
import numpy as np
# Checker board size
CHESS_BOARD_DIM = (8, 5)
# The size of Square in the checker board.
SQUARE_SIZE = 29.5 # millimeters
# termination criteria
criteria = (cv.TERM_CRITERIA_EPS + cv.TERM_CRITERIA_MAX_ITER, 30, 0.001)
calib_data_path = "../calib_data"
CHECK_DIR = os.path.isdir(calib_data_path)
if not CHECK_DIR:
os.makedirs(calib_data_path)
print(f'"{calib_data_path}" Directory is created')
else:
print(f'"{calib_data_path}" Directory already Exists.')
# prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0)
obj_3D = np.zeros((CHESS_BOARD_DIM[0] * CHESS_BOARD_DIM[1], 3), np.float32)
obj_3D[:, :2] = np.mgrid[0 : CHESS_BOARD_DIM[0], 0 : CHESS_BOARD_DIM[1]].T.reshape(
-1, 2
)
obj_3D *= SQUARE_SIZE
print(obj_3D)
# Arrays to store object points and image points from all the images.
obj_points_3D = [] # 3d point in real world space
img_points_2D = [] # 2d points in image plane.
# The images directory path
image_dir_path = "images"
files = os.listdir(image_dir_path)
for file in files:
print(file)
imagePath = os.path.join(image_dir_path, file)
# print(imagePath)
image = cv.imread(imagePath)
grayScale = cv.cvtColor(image, cv.COLOR_BGR2GRAY)
ret, corners = cv.findChessboardCorners(image, CHESS_BOARD_DIM, None)
if ret == True:
obj_points_3D.append(obj_3D)
corners2 = cv.cornerSubPix(grayScale, corners, (3, 3), (-1, -1), criteria)
img_points_2D.append(corners2)
img = cv.drawChessboardCorners(image, CHESS_BOARD_DIM, corners2, ret)
cv.destroyAllWindows()
# h, w = image.shape[:2]
ret, mtx, dist, rvecs, tvecs = cv.calibrateCamera(
obj_points_3D, img_points_2D, grayScale.shape[::-1], None, None
)
print("calibrated")
print("duming the data into one files using numpy ")
np.savez(
f"{calib_data_path}/MultiMatrix",
camMatrix=mtx,
distCoef=dist,
rVector=rvecs,
tVector=tvecs,
)
print("-------------------------------------------")
print("loading data stored using numpy savez function\n \n \n")
data = np.load(f"{calib_data_path}/MultiMatrix.npz")
camMatrix = data["camMatrix"]
distCof = data["distCoef"]
rVector = data["rVector"]
tVector = data["tVector"]
print("loaded calibration data successfully")