Camera Calibration.ipynb

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      " Camera matrix:\n",
      "[[81.30738386  0.         83.34301325]\n",
      " [ 0.         81.79288775 89.29112336]\n",
      " [ 0.          0.          1.        ]]\n",
      "\n",
      " Distortion coefficient:\n",
      "[[ 0.02492663 -0.05784454 -0.01679264 -0.00466377  0.02481461]]\n",
      "\n",
      " Rotation Vectors:\n",
      "(array([[-0.0990877 ],\n",
      "       [ 0.19139989],\n",
      "       [-0.08127205]]), array([[-3.06377347e-01],\n",
      "       [-2.17234562e-03],\n",
      "       [ 3.06666055e+00]]), array([[-0.18125369],\n",
      "       [ 0.14325047],\n",
      "       [ 1.50809295]]))\n",
      "\n",
      " Translation Vectors:\n",
      "(array([[-3.04562814],\n",
      "       [-3.03232775],\n",
      "       [ 5.66281688]]), array([[2.3379225 ],\n",
      "       [4.36774935],\n",
      "       [5.34070257]]), array([[ 4.68713674],\n",
      "       [-3.30821254],\n",
      "       [ 5.39689924]]))\n"
     ]
    }
   ],
   "source": [
    "\n",
    "import cv2\n",
    "import numpy as np\n",
    "import os\n",
    "import glob\n",
    "  \n",
    "  \n",
    "CHECKERBOARD = (6, 9)\n",
    "  \n",
    "  \n",
    "\n",
    "criteria = (cv2.TERM_CRITERIA_EPS + \n",
    "            cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)\n",
    "  \n",
    "  \n",
    "threedpoints = []\n",
    "  \n",
    "twodpoints = []\n",
    "  \n",
    "  \n",
    "objectp3d = np.zeros((1, CHECKERBOARD[0] \n",
    "                      * CHECKERBOARD[1], \n",
    "                      3), np.float32)\n",
    "objectp3d[0, :, :2] = np.mgrid[0:CHECKERBOARD[0],\n",
    "                               0:CHECKERBOARD[1]].T.reshape(-1, 2)\n",
    "prev_img_shape = None\n",
    "  \n",
    "  \n",
    "images = glob.glob('C:/Users/Abbas/Downloads/images/*.jpg')\n",
    "  \n",
    "for filename in images:\n",
    "    image = cv2.imread(filename)\n",
    "    grayColor = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)\n",
    "  \n",
    "    ret, corners = cv2.findChessboardCorners(\n",
    "                    grayColor, CHECKERBOARD, \n",
    "                    cv2.CALIB_CB_ADAPTIVE_THRESH \n",
    "                    + cv2.CALIB_CB_FAST_CHECK + \n",
    "                    cv2.CALIB_CB_NORMALIZE_IMAGE)\n",
    "    if ret == True:\n",
    "        threedpoints.append(objectp3d)\n",
    "        corners2 = cv2.cornerSubPix(\n",
    "            grayColor, corners, (11, 11), (-1, -1), criteria)\n",
    "  \n",
    "        twodpoints.append(corners2)\n",
    "  \n",
    "        image = cv2.drawChessboardCorners(image, \n",
    "                                          CHECKERBOARD, \n",
    "                                          corners2, ret)\n",
    "  \n",
    "    cv2.imshow('img', image)\n",
    "    cv2.waitKey(0)\n",
    "  \n",
    "cv2.destroyAllWindows()\n",
    "  \n",
    "h, w = image.shape[:2]\n",
    "  \n",
    "  \n",
    "ret, matrix, distortion, r_vecs, t_vecs = cv2.calibrateCamera(\n",
    "    threedpoints, twodpoints, grayColor.shape[::-1], None, None)\n",
    "  \n",
    "  \n",
    "print(\" Camera matrix:\")\n",
    "print(matrix)\n",
    "  \n",
    "print(\"\\n Distortion coefficient:\")\n",
    "print(distortion)\n",
    "  \n",
    "print(\"\\n Rotation Vectors:\")\n",
    "print(r_vecs)\n",
    "  \n",
    "print(\"\\n Translation Vectors:\")\n",
    "print(t_vecs)"
   ]
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   "execution_count": null,
   "id": "243f35c0",
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