add Python implementation

calibrate.py

@@ -0,0 +1,42 @@
+#!/usr/bin/python
+import cv
+import sys
+
+if __name__ == "__main__":
+    cv.NamedWindow("win")
+    filename = sys.argv[1]
+    im = cv.LoadImage(filename, cv.CV_LOAD_IMAGE_GRAYSCALE)
+    im3 = cv.LoadImage(filename, cv.CV_LOAD_IMAGE_COLOR)
+    board_width, board_height = (4, 6)
+    corner_count = board_width * board_height
+
+    found_all, corners = cv.FindChessboardCorners( im, (board_width, board_height))
+    print found_all, corners
+
+    if found_all and len(corners) == corner_count:
+        cv.DrawChessboardCorners( im3, (board_width, board_height), corners, found_all )
+
+        camera_intrinsic_mat = cv.CreateMat(3, 3, cv.CV_32FC1)
+        distortion_mat = cv.CreateMat(5, 1, cv.CV_32FC1)
+        rotation_vecs = cv.CreateMat(1, 3, cv.CV_32FC1)
+        translation_vecs = cv.CreateMat(1, 3, cv.CV_32FC1)
+        object_points = cv.CreateMat(corner_count, 3, cv.CV_32FC1)
+        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(image_points, jj, 0, corners[jj][0])
+            cv.Set2D(image_points, jj, 1, corners[jj][1])
+        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.WaitKey()
+    else:
+        print "not found"