import numpy as np
import cv2
import glob
# 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 = np.zeros((6*7,3), np.float32)
objp[:,:2] = np.mgrid[0:7,0:6].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.
images = glob.glob('F://Program Files//zengqiang//img//*.jpg')
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, (7,6),None)
# If found, add object points, image points (after refining them)
if ret == True:
objpoints.append(objp)
corners2 = cv2.cornerSubPix(gray,corners,(11,11),(-1,-1),criteria)
imgpoints.append(corners2)
# Draw and display the corners
img = cv2.drawChessboardCorners(img, (7,6), corners2,ret)
cv2.imshow('img',img)
cv2.waitKey(300)
'''ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)
print ("ret:", ret)
print ("内参数矩阵mtx:\n", mtx) # 内参数矩阵
print ("dist:\n", dist) # 畸变系数 distortion cofficients = (k_1,k_2,p_1,p_2,k_3)
print ("rvecs:\n", rvecs) # 旋转向量 # 外参数
print ("tvecs:\n", tvecs) # 平移向量 # 外参数'''
#cv2.destroyAllWindows()