In [1]:

    

import numpy as np
import cv2
import glob


    

In [2]:

    

criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 20, 0.001)


    

In [3]:

    

objp = np.zeros((7*10, 3), np.float32)
objp[:, :2] = np.mgrid[0:7, 0:10].T.reshape(-1, 2)


    

In [4]:

    

objpoints = []
imgpoints = []


    

In [5]:

    

cap = cv2.VideoCapture(0)


    

In [6]:

    

# capture images and store them into calibration folder after space key is hit
c = 0
while True:
    ret, im = cap.read()
    if not ret:
        continue
    cv2.imshow('video test', im)
    key = cv2.waitKey(10)
    if key == 27:
        break;
    if key == ord(' '):
        cv2.imwrite('calibration/vid_result'+str(c)+'.jpg', im)
        c += 1


    

In [7]:

    

images = glob.glob('./calibration/*.jpg')


    

In [42]:

    

# find corners
for fname in images:
    img = cv2.imread(fname)
    grayimg = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
    ret, corners = cv2.findChessboardCorners(grayimg, (7, 10), None)
    if ret:
        objpoints.append(objp)
        cv2.cornerSubPix(grayimg, corners, (11, 11), (-1, -1), criteria)
        imgpoints.append(corners)
        # cv2.drawChessboardCorners(img, (7, 10), corners, ret)
        # cv2.imshow('img', img)
        # cv2.waitKey(5000)
cv2.destroyAllWindows()


    

In [18]:

    

ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, grayimg.shape[::-1], None, None)


    

In [34]:

    

img = cv2.imread('calibration/vid_result1.jpg')
h, w = img.shape[:2]
newcameramtx, roi = cv2.getOptimalNewCameraMatrix(mtx, dist, (w, h), 1, (w, h))


    

In [35]:

    

dst = cv2.undistort(img, mtx, dist, None, newcameramtx)


    

In [36]:

    

x, y, w, h = roi
dst = dst[y:y+h, x:x+w]
cv2.imwrite('calibration/calibresult.png', dst)


    

    
Out[36]:





True

In [41]:

    

cv2.imshow('calibrated', cv2.imread('calibration/calibresult.png'))
cv2.waitKey(5000)
cv2.destroyAllWindows()


    

In [28]:

    

# Show images without distortion

c = 0
while True:
    ret, img = cap.read()
    if not ret:
        continue
    h, w = img.shape[:2]
    newcameramtx, roi = cv2.getOptimalNewCameraMatrix(mtx, dist, (w, h), 1, (w, h))
    dst = cv2.undistort(img, mtx, dist, None, newcameramtx)
    x, y, w, h = roi
    dst = dst[y:y+h, x:x+w]
    cv2.imshow('video test', dst)
    key = cv2.waitKey(10)
    if key == 27:
        break;
    if key == ord(' '):
        cv2.imwrite('calibration/calibrated_result'+str(c)+'.jpg', dst)
cv2.destroyAllWindows()


    

In [ ]: