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import cv2
import numpy as np
from pathlib import Path
def save_coefficients(mtx, dist, path):
"""Save camera matrix and distortion coefficients to file."""
cv_file = cv2.FileStorage(path, cv2.FILE_STORAGE_WRITE)
cv_file.write('K', mtx)
cv_file.write('D', dist)
cv_file.release()
def load_coefficients(path):
"""Load camera matrix and distortion coefficients from file."""
cv_file = cv2.FileStorage(path, cv2.FILE_STORAGE_READ)
camera_matrix = cv_file.getNode('K').mat()
dist_matrix = cv_file.getNode('D').mat()
cv_file.release()
return [camera_matrix, dist_matrix]
def generate_matrix(filename, board_vert, board_horz):
"""Main function to calibrate camera and undistort image."""
filename_stem = Path(filename).stem
# Define the checkerboard pattern size and criteria for corner detection
CHECKERBOARD = (int(board_vert)-1, int(board_horz)-1)
#CHECKERBOARD = (9, 7)
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
# Initialize object points and image points arrays
object_points = [] # 3D points in real world space
image_points = [] # 2D points in image plane
# Create the object points for the chessboard corners
objectp3d = np.zeros((1, CHECKERBOARD[0] * CHECKERBOARD[1], 3), np.float32)
objectp3d[0, :, :2] = np.mgrid[0:CHECKERBOARD[0], 0:CHECKERBOARD[1]].T.reshape(-1, 2)
# Load the image and convert to grayscale
image = cv2.imread(filename)
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
# Find chessboard corners
ret, corners = cv2.findChessboardCorners(gray, CHECKERBOARD, cv2.CALIB_CB_ADAPTIVE_THRESH
+ cv2.CALIB_CB_FAST_CHECK + cv2.CALIB_CB_NORMALIZE_IMAGE)
# If corners found, add object points and image points to arrays
if ret:
object_points.append(objectp3d)
corners2 = cv2.cornerSubPix(gray, corners, (11, 11), (-1, -1), criteria)
image_points.append(corners2)
image = cv2.drawChessboardCorners(image, CHECKERBOARD, corners2, ret)
# Calibrate camera using object points and image points
h, w = gray.shape[:2]
try:
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(object_points, image_points, gray.shape[::-1], None, None)
# Save camera matrix and distortion coefficients to file
save_coefficients(mtx, dist, f"{filename_stem}.yml")
return f"{filename_stem}.yml"
except:
print("Please check the Chessboard Dimensions")
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