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calibration.py

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# -*- coding: utf-8 -*-

import numpy as np

import cv2

from glob import glob

def main():

square_size = 1.0 # 正方形のサイズ

pattern_size = (9, 6) # 模様のサイズ

pattern_points = np.zeros( (np.prod(pattern_size), 3), np.float32 )

pattern_points[:,:2] = np.indices(pattern_size).T.reshape(-1, 2)

pattern_points *= square_size

obj_points = []

img_points = []

for fn in glob("*.jpg"):

# 画像の取得

im = cv2.imread(fn, 0)

print "loading..." + fn

# チェスボードのコーナーを検出

found, corner = cv2.findChessboardCorners(im, pattern_size)

# コーナーがあれば

if found:

term = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_COUNT, 30, 0.1)

cv2.cornerSubPix(im, corner, (5,5), (-1,-1), term)

# コーナーがない場合のエラー処理

if not found:

print 'chessboard not found'

continue

img_points.append(corner.reshape(-1, 2))

obj_points.append(pattern_points)

# 内部パラメータを計算

rms, K, d, r, t = cv2.calibrateCamera(obj_points,img_points,(im.shape[1],im.shape[0]))

# 計算結果を表示

print "RMS = ", rms

print "K = \n", K

print "d = ", d.ravel()

if __name__ == '__main__':

main()