Create 9

9/2.py

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+import glob
+import os
+
+import cv2
+import numpy as np
+
+# Defining the dimensions of checkerboard
+CHECKERBOARD = (6, 9)
+criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
+
+# Creating vector to store vectors of 3D points for each checkerboard image
+objpoints = []
+# Creating vector to store vectors of 2D points for each checkerboard image
+imgpoints = []
+
+
+# Defining the world coordinates for 3D 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)
+prev_img_shape = None
+
+# Extracting path of individual image stored in a given directory
+images = glob.glob("9/images/*.jpg")
+for fname in images:
+    img = cv2.imread(fname)
+    img = cv2.resize(img, (960, 720))
+    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+    # Find the chess board corners
+    ret, corners = cv2.findChessboardCorners(
+        gray,
+        CHECKERBOARD,
+        cv2.CALIB_CB_ADAPTIVE_THRESH
+        + cv2.CALIB_CB_FAST_CHECK
+        + cv2.CALIB_CB_NORMALIZE_IMAGE,
+    )
+
+    """
+    If desired number of corner are detected,
+    we refine the pixel coordinates and display 
+    them on the images of checker board
+    """
+
+    if ret == True:
+        objpoints.append(objp)
+        # Refining pixel coordinates for given 2d points.
+        corners2 = cv2.cornerSubPix(gray, corners, (11, 11), (-1, -1), criteria)
+        imgpoints.append(corners2)
+
+        # Draw and display the corners
+        img = cv2.drawChessboardCorners(img, CHECKERBOARD, corners2, ret)
+
+    cv2.imshow("img", img)
+    cv2.waitKey(0)
+
+cv2.destroyAllWindows()
+
+h, w = img.shape[:2]
+
+"""
+Performing camera calibration by 
+passing the value of known 3D points (objpoints)
+and corresponding pixel coordinates of the 
+detected corners (imgpoints)
+"""
+ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(
+    objpoints, imgpoints, gray.shape[::-1], None, None
+)
+
+print("Camera matrix : \n")
+print(mtx)
+print("dist : \n")
+print(dist)
+print("rvecs : \n")
+print(rvecs)
+print("tvecs : \n")
+print(tvecs)