100 lines
2.2 KiB
Python
100 lines
2.2 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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#
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# Create calibration .npz from checkerboard images
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#
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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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images = glob.glob("*.jpg")
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print("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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print(f"Processing {fname}...")
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if img is None:
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print(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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# Save image size once
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if img_size is None:
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img_size = gray.shape[::-1]
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print(f" Gray")
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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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print(" Corners found")
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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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print(f"✅ Corners found in {fname}")
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else:
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print(f"❌ No corners found in {fname}")
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print(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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raise RuntimeError("No images were successfully loaded.")
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if len(objpoints) == 0:
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raise RuntimeError("No chessboard corners detected in any image. Calibration failed.")
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print("\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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print("\n=== Calibration Results ===")
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print("RMS reprojection error:", ret)
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print("Camera matrix:\n", K)
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print("Distortion coefficients:\n", D)
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# Save calibration
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np.savez(
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"calibration.npz",
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camera_matrix=K,
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dist_coeffs=D
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)
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print("\n✅ Calibration saved to calibration_XPro2_16mm.npz")
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