Network change

test/files/cam2/callibriate.py

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+
+import cv2
+import numpy as np
+import glob
+
+#
+# Create calibration .npz from checkerboard images
+#
+
+# Parameters
+CHECKERBOARD = (10, 7)         # inner corners
+square_size = 25.0 / 1000.0  # 25 mm -> meters
+
+# Prepare object points
+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 = []  # 3D points
+imgpoints = []  # 2D points
+
+# Load images
+images = glob.glob("*.jpg")
+print("Found images:", len(images))
+
+img_size = None
+
+for fname in images:
+    img = cv2.imread(fname)
+
+    print(f"Processing {fname}...")
+    if img is None:
+        print(f"Warning: could not read {fname}")
+        continue
+
+    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+
+    # Save image size once
+    if img_size is None:
+        img_size = gray.shape[::-1]
+
+    print(f"    Gray")
+    ret, corners = cv2.findChessboardCorners(
+        gray,
+        CHECKERBOARD,
+        flags=cv2.CALIB_CB_ADAPTIVE_THRESH +
+              cv2.CALIB_CB_NORMALIZE_IMAGE +
+              cv2.CALIB_CB_FAST_CHECK
+    )
+    print("     Corners found")
+
+    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)
+
+        print(f"✅ Corners found in {fname}")
+    else:
+        print(f"❌ No corners found in {fname}")
+
+print(f"\nTotal valid images: {len(objpoints)} / {len(images)}" )
+# Sanity checks
+if img_size is None:
+    raise RuntimeError("No images were successfully loaded.")
+
+if len(objpoints) == 0:
+    raise RuntimeError("No chessboard corners detected in any image. Calibration failed.")
+
+print("\n=== Sanity Checks Passed ===")
+# Calibration
+ret, K, D, rvecs, tvecs = cv2.calibrateCamera(
+    objpoints,
+    imgpoints,
+    img_size,
+    None,
+    None
+)
+
+
+print("\n=== Calibration Results ===")
+print("RMS reprojection error:", ret)
+print("Camera matrix:\n", K)
+print("Distortion coefficients:\n", D)
+
+# Save calibration
+np.savez(
+    "calibration_XPro2_16mm.npz",
+    camera_matrix=K,
+    dist_coeffs=D
+)
+
+print("\n✅ Calibration saved to calibration_XPro2_16mm.npz")