Add calibration data

data/callibration/callibriate.py

@@ -0,0 +1,54 @@
+import cv2
+import numpy as np
+import glob
+
+#
+#   Create callibration .npz from checkerboard images.
+#
+#
+
+
+# Parameter
+CHECKERBOARD = (9, 6)        # innere Ecken
+square_size = 25.0 / 1000.0 # 25 mm → Meter
+
+# Objektpunkte vorbereiten
+objp = np.zeros((CHECKERBOARD[0]*CHECKERBOARD[1], 3), np.float32)
+objp[:, :2] = np.mgrid[0:CHECKERBOARD[0], 0:CHECKERBOARD[1]].T.reshape(-1, 2)
+objp *= square_size
+
+objpoints = []
+imgpoints = []
+
+images = glob.glob("calib_images/*.jpg")
+
+for fname in images:
+    img = cv2.imread(fname)
+    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+
+    ret, corners = cv2.findChessboardCorners(
+        gray, CHECKERBOARD,
+        flags=cv2.CALIB_CB_ADAPTIVE_THRESH +
+              cv2.CALIB_CB_NORMALIZE_IMAGE +
+              cv2.CALIB_CB_FAST_CHECK
+    )
+
+    if ret:
+        corners2 = cv2.cornerSubPix(
+            gray, corners, (11,11), (-1,-1),
+            (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 1e-6)
+        )
+        objpoints.append(objp)
+        imgpoints.append(corners2)
+
+# Kalibrieren
+ret, K, D, rvecs, tvecs = cv2.calibrateCamera(
+    objpoints, imgpoints, gray.shape[::-1], None, None
+)
+
+print("RMS reprojection error:", ret)
+
+# Speichern
+np.savez("calibration_cam0.npz",
+         camera_matrix=K,
+         dist_coeffs=D)