josch/calibrate_camera_opencv
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use different method to calculate object points

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josch 2012-09-18 21:57:23 +02:00
parent 0763819ffc
commit 662929e1fb
1 changed files with 11 additions and 4 deletions
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15
calibrate.py
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@ -8,6 +8,7 @@ if __name__ == "__main__":
im = cv.LoadImage(filename, cv.CV_LOAD_IMAGE_GRAYSCALE)
im3 = cv.LoadImage(filename, cv.CV_LOAD_IMAGE_COLOR)
board_width, board_height = (4, 6)
square_size = 4
corner_count = board_width * board_height
found_all, corners = cv.FindChessboardCorners( im, (board_width, board_height))
@ -24,19 +25,25 @@ if __name__ == "__main__":
image_points = cv.CreateMat(corner_count, 2, cv.CV_32FC1)
point_counts = cv.CreateMat(1, 1, cv.CV_32SC1)
for jj in range(corner_count):
cv.Set2D(object_points, jj, 0, float(jj/board_width))
cv.Set2D(object_points, jj, 1, float(jj%board_width))
cv.Set2D(object_points, jj, 2, float(0.0))
#cv.Set2D(object_points, jj, 0, float(jj/board_width))
#cv.Set2D(object_points, jj, 1, float(jj%board_width))
#cv.Set2D(object_points, jj, 2, float(0.0))
cv.Set2D(image_points, jj, 0, corners[jj][0])
cv.Set2D(image_points, jj, 1, corners[jj][1])
for i in range(board_height):
for j in range(board_width):
cv.Set2D(object_points, i*board_width+j, 0, float(i*square_size))
cv.Set2D(object_points, i*board_width+j, 1, float(j*square_size))
cv.Set2D(object_points, i*board_width+j, 2, float(0.0))
print i*board_width+j, i*square_size, j*square_size
cv.Set1D(point_counts, 0, corner_count)
cv.CalibrateCamera2(object_points, image_points, point_counts, cv.GetSize(im3), camera_intrinsic_mat, distortion_mat, rotation_vecs, translation_vecs)
undistorted = cv.CloneImage(im3);
cv.Undistort2(im3, undistorted, camera_intrinsic_mat, distortion_mat)
cv.ShowImage("win", undistorted);
#cv.ShowImage("win", im3);
cv.WaitKey()
else:
print "not found"