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calibrate.py
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calibrate.py
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import cv2 as cv
import numpy as np
import os
import json
import glob
# Termination Criteria
criteria = (cv.TERM_CRITERIA_EPS + cv.TERM_CRITERIA_MAX_ITER, 30, 0.001)
cwd = os.getcwd()
calibImgPath = os.path.join(cwd, "Images/Calibration/")
imgList = os.listdir(calibImgPath)
imgList = glob.glob("Images/Calibration/*.jpg")
chessboardSize = (17, 11)
frameSize = (4032, 3024)
# prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0)
objp = np.zeros((chessboardSize[0] * chessboardSize[1], 3), np.float32)
objp[:,:2] = np.mgrid[0:chessboardSize[0],0:chessboardSize[1]].T.reshape(-1,2)
size_of_chessboard_squares_mm = 9
objp = objp * size_of_chessboard_squares_mm
# Arrays to store object points and image points from all the images.
objpoints = [] # 3d point in real world space
imgpoints = [] # 2d points in image plane.
def calibrate():
for imgName in imgList:
# imgPath = os.path.join(calibImgPath, imgName)
img = cv.imread(imgName)
gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
# Find the chess board corners
ret, corners = cv.findChessboardCorners(gray, chessboardSize, None)
# If found, add object points, image points (after refining them)
if ret == True:
objpoints.append(objp)
imgpoints.append(corners)
ret, cameraMatrix, dist, rvecs, tvecs = cv.calibrateCamera(objpoints, imgpoints, frameSize, None, None)
return cameraMatrix
if __name__ == "__main__":
cameraMatrix = calibrate()
dictionary = {
"cameraMatrix": cameraMatrix.tolist()
}
# Serializing json
json_object = json.dumps(dictionary, indent=4)
# Writing to sample.json
with open("calibration.json", "w") as outfile:
outfile.write(json_object)
print("Calibrated")