54 lines
1.3 KiB
Python
Executable File
54 lines
1.3 KiB
Python
Executable File
import cv2
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import numpy as np
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import glob
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#
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# Create callibration .npz from checkerboard images.
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#
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#
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# Parameter
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CHECKERBOARD = (9, 6) # innere Ecken
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square_size = 25.0 / 1000.0 # 25 mm → Meter
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# Objektpunkte vorbereiten
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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 = []
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imgpoints = []
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images = glob.glob("calib_images/*.jpg")
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for fname in images:
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img = cv2.imread(fname)
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gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
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ret, corners = cv2.findChessboardCorners(
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gray, 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, corners, (11,11), (-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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# Kalibrieren
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ret, K, D, rvecs, tvecs = cv2.calibrateCamera(
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objpoints, imgpoints, gray.shape[::-1], None, None
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)
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print("RMS reprojection error:", ret)
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# Speichern
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np.savez("calibration_cam0.npz",
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camera_matrix=K,
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dist_coeffs=D) |