120 lines
4.4 KiB
Python
120 lines
4.4 KiB
Python
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import cv2
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import numpy as np
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import glob
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import os
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import sys
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import argparse
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#
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# Create calibration .npz from checkerboard images
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# Usage:
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# python callibriate.py --camera cam0 --input-dir data/calibration/20260610_143022 [--output-dir ...]
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#
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# ── CLI-Parameter ──────────────────────────────────────────────────────────────
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parser = argparse.ArgumentParser(description='Camera calibration from checkerboard images')
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parser.add_argument('--camera', required=True, help='Camera ID prefix, e.g. cam0')
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parser.add_argument('--input-dir', default='.', help='Directory containing calibration images')
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parser.add_argument('--output-dir', default=None, help='Directory to save .npz (default: same as --input-dir)')
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args = parser.parse_args()
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camera = args.camera
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input_dir = os.path.abspath(args.input_dir)
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output_dir = os.path.abspath(args.output_dir) if args.output_dir else input_dir
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def log(msg):
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print(msg, flush=True) # flush=True → Node.js sieht die Zeile sofort
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# ── Parameters ────────────────────────────────────────────────────────────────
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CHECKERBOARD = (10, 7) # inner corners
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square_size = 25.0 / 1000.0 # 25 mm -> meters
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# Prepare object points
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objp = np.zeros((CHECKERBOARD[0] * CHECKERBOARD[1], 3), np.float32)
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objp[:, :2] = np.mgrid[0:CHECKERBOARD[0], 0:CHECKERBOARD[1]].T.reshape(-1, 2)
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objp *= square_size
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objpoints = [] # 3D points
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imgpoints = [] # 2D points
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# ── Load images ───────────────────────────────────────────────────────────────
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pattern = os.path.join(input_dir, f"{camera}_*.jpg")
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images = sorted(glob.glob(pattern))
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log(f"Camera: {camera}")
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log(f"Input-Dir: {input_dir}")
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log(f"Output-Dir: {output_dir}")
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log(f"Pattern: {pattern}")
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log(f"Found images: {len(images)}")
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img_size = None
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for fname in images:
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img = cv2.imread(fname)
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log(f"Processing {os.path.basename(fname)} ...")
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if img is None:
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log(f" Warning: could not read {fname}")
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continue
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gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
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if img_size is None:
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img_size = gray.shape[::-1]
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ret, corners = cv2.findChessboardCorners(
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gray,
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CHECKERBOARD,
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flags=cv2.CALIB_CB_ADAPTIVE_THRESH +
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cv2.CALIB_CB_NORMALIZE_IMAGE +
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cv2.CALIB_CB_FAST_CHECK
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)
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if ret:
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corners2 = cv2.cornerSubPix(
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gray,
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corners,
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(11, 11),
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(-1, -1),
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(cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 1e-6)
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)
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objpoints.append(objp)
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imgpoints.append(corners2)
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log(f" ✅ Corners found")
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else:
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log(f" ❌ No corners found")
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log(f"\nTotal valid images: {len(objpoints)} / {len(images)}")
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# ── Sanity checks ─────────────────────────────────────────────────────────────
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if img_size is None:
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log("ERROR: No images were successfully loaded.")
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sys.exit(1)
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if len(objpoints) == 0:
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log("ERROR: No chessboard corners detected in any image. Calibration failed.")
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sys.exit(1)
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log("\n=== Sanity Checks Passed ===")
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# ── Calibration ───────────────────────────────────────────────────────────────
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ret, K, D, rvecs, tvecs = cv2.calibrateCamera(
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objpoints,
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imgpoints,
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img_size,
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None,
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None
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)
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log("\n=== Calibration Results ===")
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log(f"RMS reprojection error: {ret}")
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log(f"Camera matrix:\n{K}")
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log(f"Distortion coefficients:\n{D}")
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# ── Save calibration ──────────────────────────────────────────────────────────
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os.makedirs(output_dir, exist_ok=True)
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output_path = os.path.join(output_dir, f"{camera}_calibration.npz")
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np.savez(output_path, camera_matrix=K, dist_coeffs=D)
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log(f"\n✅ Calibration saved to {output_path}")
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