--- a/python/cvutils.py	Mon Jul 07 16:59:20 2014 -0400
+++ b/python/cvutils.py	Tue Jul 08 15:32:47 2014 -0400
@@ -121,6 +121,8 @@
 
     def playVideo(filename, firstFrameNum = 0, frameRate = -1, interactive = False, printFrames = True, text = None, rescale = 1.):
         '''Plays the video'''
+        windowName = 'frame'
+        cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
         wait = 5
         if frameRate > 0:
             wait = int(round(1000./frameRate))
@@ -140,7 +142,7 @@
                     frameNum+=1
                     if text != None:
                        cv2.putText(img, text, (10,50), cv2.cv.CV_FONT_HERSHEY_PLAIN, 1, cvRed) 
-                    cvImshow('frame', img, rescale)
+                    cvImshow(windowName, img, rescale)
                     key = cv2.waitKey(wait)
             cv2.destroyAllWindows()
         else:
@@ -220,6 +222,9 @@
         width = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH))
         height = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT))
 
+        windowName = 'frame'
+        #cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
+
         if undistort: # setup undistortion
             [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients)
         if capture.isOpened():
@@ -259,7 +264,7 @@
                                 objDescription += userTypeNames[obj.userType][0].upper()
                             cv2.putText(img, objDescription, obj.projectedPositions[frameNum-obj.getFirstInstant()].asint().astuple(), cv2.cv.CV_FONT_HERSHEY_PLAIN, 1, cvRed)
                     if not saveAllImages:
-                        cvImshow('frame', img, rescale)
+                        cvImshow(windowName, img, rescale)
                         key = cv2.waitKey()
                     if saveAllImages or saveKey(key):
                         cv2.imwrite('image-{{:0{}}}.png'.format(nZerosFilename).format(frameNum), img)
@@ -325,6 +330,70 @@
                     invMap2[y,x] = res[1]
         return invMap1, invMap2
 
+    def cameraIntrinsicCalibration(path, checkerBoardSize=[6,7], secondPassSearch=False, display=False):
+        ''' Camera calibration searches through all the images (jpg or png) located
+            in _path_ for matches to a checkerboard pattern of size checkboardSize.
+            These images should all be of the same camera with the same resolution.
+
+            For best results, use an asymetric board and ensure that the image has
+            very high contrast, including the background. Suitable checkerboard:
+            http://ftp.isr.ist.utl.pt/pub/roswiki/attachments/camera_calibration(2f)Tutorials(2f)StereoCalibration/check-108.png
+
+            The code below is based off of:
+            https://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html
+            Modified by Paul St-Aubin
+            '''
+        from numpy import zeros, mgrid, float32, savetxt
+        import glob, os
+
+        # 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 = zeros((checkerBoardSize[0]*checkerBoardSize[1],3), float32)
+        objp[:,:2] = mgrid[0:checkerBoardSize[1],0:checkerBoardSize[0]].T.reshape(-1,2)
+
+        # 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.
+
+        ## Loop throuhg all images in _path_
+        images = glob.glob(os.path.join(path,'*.[jJ][pP][gG]'))+glob.glob(os.path.join(path,'*.[jJ][pP][eE][gG]'))+glob.glob(os.path.join(path,'*.[pP][nN][gG]'))
+        for fname in images:
+            img = cv2.imread(fname)
+            gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+
+            # Find the chess board corners
+            ret, corners = cv2.findChessboardCorners(gray, (checkerBoardSize[1],checkerBoardSize[0]), None)
+
+            # If found, add object points, image points (after refining them)
+            if ret:
+                print 'Found pattern in '+fname
+                
+                if(secondPassSearch): 
+                    corners = cv2.cornerSubPix(gray, corners, (11,11), (-1,-1), criteria)
+
+                objpoints.append(objp)
+                imgpoints.append(corners)
+
+                # Draw and display the corners
+                if(display):
+                    img = cv2.drawChessboardCorners(img, (checkerBoardSize[1],checkerBoardSize[0]), corners, ret)
+                    if(img):
+                        cv2.imshow('img',img)
+                        cv2.waitKey(0)
+
+        ## Close up image loading and calibrate
+        cv2.destroyAllWindows()
+        if len(objpoints) == 0 or len(imgpoints) == 0: 
+            return False
+        try:
+            ret, camera_matrix, dist_coeffs, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)
+        except NameError:
+            return False
+        savetxt('intrinsic-camera.txt', camera_matrix)
+        return camera_matrix, dist_coeffs
+
 def printCvMat(cvmat, out = stdout):
     '''Prints the cvmat to out'''
     print('Deprecated, use new interface')