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50 lines
2.2 KiB
Python
50 lines
2.2 KiB
Python
#!/usr/bin/python
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import cv
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import sys
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if __name__ == "__main__":
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cv.NamedWindow("win")
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filename = sys.argv[1]
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im = cv.LoadImage(filename, cv.CV_LOAD_IMAGE_GRAYSCALE)
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im3 = cv.LoadImage(filename, cv.CV_LOAD_IMAGE_COLOR)
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board_width, board_height = (4, 6)
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square_size = 4
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corner_count = board_width * board_height
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found_all, corners = cv.FindChessboardCorners( im, (board_width, board_height))
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print found_all, corners
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if found_all and len(corners) == corner_count:
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cv.DrawChessboardCorners( im3, (board_width, board_height), corners, found_all )
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camera_intrinsic_mat = cv.CreateMat(3, 3, cv.CV_32FC1)
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distortion_mat = cv.CreateMat(5, 1, cv.CV_32FC1)
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rotation_vecs = cv.CreateMat(1, 3, cv.CV_32FC1)
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translation_vecs = cv.CreateMat(1, 3, cv.CV_32FC1)
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object_points = cv.CreateMat(corner_count, 3, cv.CV_32FC1)
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image_points = cv.CreateMat(corner_count, 2, cv.CV_32FC1)
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point_counts = cv.CreateMat(1, 1, cv.CV_32SC1)
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for jj in range(corner_count):
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#cv.Set2D(object_points, jj, 0, float(jj/board_width))
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#cv.Set2D(object_points, jj, 1, float(jj%board_width))
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#cv.Set2D(object_points, jj, 2, float(0.0))
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cv.Set2D(image_points, jj, 0, corners[jj][0])
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cv.Set2D(image_points, jj, 1, corners[jj][1])
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for i in range(board_height):
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for j in range(board_width):
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cv.Set2D(object_points, i*board_width+j, 0, float(i*square_size))
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cv.Set2D(object_points, i*board_width+j, 1, float(j*square_size))
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cv.Set2D(object_points, i*board_width+j, 2, float(0.0))
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print i*board_width+j, i*square_size, j*square_size
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cv.Set1D(point_counts, 0, corner_count)
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cv.CalibrateCamera2(object_points, image_points, point_counts, cv.GetSize(im3), camera_intrinsic_mat, distortion_mat, rotation_vecs, translation_vecs)
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undistorted = cv.CloneImage(im3);
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cv.Undistort2(im3, undistorted, camera_intrinsic_mat, distortion_mat)
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cv.ShowImage("win", undistorted);
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#cv.ShowImage("win", im3);
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cv.WaitKey()
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else:
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print "not found"
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