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comparison python/cvutils.py @ 897:f5a49b603e8b

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author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 14 Jun 2017 01:11:56 -0400
parents 739acd338cc0
children 81ee5aaf213d
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896:6624484c0d55 897:f5a49b603e8b
432 invMap2[y,x] = res[1] 432 invMap2[y,x] = res[1]
433 return invMap1, invMap2 433 return invMap1, invMap2
434 434
435 def cameraIntrinsicCalibration(path, checkerBoardSize=[6,7], secondPassSearch=False, display=False): 435 def cameraIntrinsicCalibration(path, checkerBoardSize=[6,7], secondPassSearch=False, display=False):
436 ''' Camera calibration searches through all the images (jpg or png) located 436 ''' Camera calibration searches through all the images (jpg or png) located
437 in _path_ for matches to a checkerboard pattern of size checkboardSize. 437 in _path_ for matches to a checkerboard pattern of size checkboardSize.
438 These images should all be of the same camera with the same resolution. 438 These images should all be of the same camera with the same resolution.
439 439
440 For best results, use an asymetric board and ensure that the image has 440 For best results, use an asymetric board and ensure that the image has
441 very high contrast, including the background. Suitable checkerboard: 441 very high contrast, including the background.
442 http://ftp.isr.ist.utl.pt/pub/roswiki/attachments/camera_calibration(2f)Tutorials(2f)StereoCalibration/check-108.png 442
443 443 cherckerBoardSize is the number of internal corners (7x10 squares have 6x9 internal corners)
444 The code below is based off of: 444
445 https://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html 445 The code below is based off of:
446 Modified by Paul St-Aubin 446 https://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html
447 ''' 447 Modified by Paul St-Aubin
448 '''
448 import glob, os 449 import glob, os
449 450
450 # termination criteria 451 # termination criteria
451 criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001) 452 criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
452 453