camposest.py

import numpy as np
import cv2
import glob


# termination criteria
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)

# prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0)
objp = np.zeros((7*9,3), np.float32)
objp[:,:2] = np.mgrid[0:9,0:7].T.reshape(-1,2)*20 #20 mm of square

# 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.

images = glob.glob('/Users/William/brdfm/biao/*.jpg')

for fname in images:
    gray = cv2.imread(fname, cv2.IMREAD_GRAYSCALE)

    # Find the chess board corners
    ret, corners = cv2.findChessboardCorners(gray, (9,7),None)

    # If found, add object points, image points (after refining them)
    if ret == True:
        objpoints.append(objp)

        corners2 = cv2.cornerSubPix(gray,corners,(11,11),(-1,-1),criteria)
        imgpoints.append(corners2)

        # Draw and display the corners 可以取消掉
        #img = cv2.drawChessboardCorners(img, (9,7), corners2,ret)
        #cv2.imshow('img',img)
        #cv2.waitKey(700)

#cv2.destroyAllWindows()

ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)

img = cv2.imread('volleyball.jpg')
h,  w = img.shape[:2]
newcameramtx, roi = cv2.getOptimalNewCameraMatrix(mtx, dist, (w,h), 1, (w,h))

# undistort
dst = cv2.undistort(img, mtx, dist, None, newcameramtx)
# crop the image
x, y, w, h = roi
dst = dst[y:y+h, x:x+w]
cv2.imwrite('calibresult.png', dst)




axis = np.float32([[20,0,0], [0,20,0], [0,0,-20]]).reshape(-1,3)

for fname in glob.glob('/Users/William/brdfm/biao/*.jpg'):
    img = cv2.imread(fname)
    gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
    ret, corners = cv2.findChessboardCorners(gray, (9,7),None)
    if ret == True:
        corners2 = cv2.cornerSubPix(gray,corners,(11,11),(-1,-1),criteria)
        # Find the rotation and translation vectors.
        ret,rvecs, tvecs = cv2.solvePnP(objp, corners2, mtx, dist)
        # project 3D points to image plane
        imgpts, jac = cv2.projectPoints(axis, rvecs, tvecs, mtx, dist)
        img = draw(img,corners2,imgpts)
        cv2.imshow('img',img)
        k = cv2.waitKey(0) & 0xFF
        if k == ord('s'):
            cv2.imwrite(fname[:6]+'.png', img)
cv2.destroyAllWindows()