diff --git a/.ipynb_checkpoints/CameraCalibration-checkpoint.ipynb b/.ipynb_checkpoints/CameraCalibration-checkpoint.ipynb
index 9fa3bbe9119284a0bb75236a837087385bbee808..1c9923e924c9a8e72171ac3b3e6513ac5f13effd 100644
--- a/.ipynb_checkpoints/CameraCalibration-checkpoint.ipynb
+++ b/.ipynb_checkpoints/CameraCalibration-checkpoint.ipynb
@@ -2,111 +2,9 @@
"cells": [
{
"cell_type": "code",
- "execution_count": 35,
+ "execution_count": 2,
"id": "2a7d76f9-118d-495f-bce1-8d502caa3f4d",
"metadata": {},
- "outputs": [
- {
- "ename": "error",
- "evalue": "OpenCV(4.5.5) /Users/runner/miniforge3/conda-bld/libopencv_1648505779078/work/modules/calib3d/src/calibration.cpp:3694: error: (-215:Assertion failed) nimages > 0 in function 'calibrateCameraRO'\n",
- "output_type": "error",
- "traceback": [
- "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
- "\u001b[0;31merror\u001b[0m Traceback (most recent call last)",
- "\u001b[0;32m<ipython-input-35-f93f09ea17d7>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m\u001b[0m\n\u001b[1;32m 66\u001b[0m \u001b[0mdetected\u001b[0m \u001b[0mcorners\u001b[0m \u001b[0;34m(\u001b[0m\u001b[0mimgpoints\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 67\u001b[0m \"\"\"\n\u001b[0;32m---> 68\u001b[0;31m \u001b[0mret\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mmtx\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mdist\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mrvecs\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mtvecs\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mcv2\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mcalibrateCamera\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mobjpoints\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mimgpoints\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mgray\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mshape\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m-\u001b[0m\u001b[0;36m1\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;32mNone\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;32mNone\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 69\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 70\u001b[0m \u001b[0mprint\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m\"Camera matrix : \\n\"\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
- "\u001b[0;31merror\u001b[0m: OpenCV(4.5.5) /Users/runner/miniforge3/conda-bld/libopencv_1648505779078/work/modules/calib3d/src/calibration.cpp:3694: error: (-215:Assertion failed) nimages > 0 in function 'calibrateCameraRO'\n"
- ]
- }
- ],
- "source": [
- "import cv2\n",
- "import numpy as np\n",
- "import os\n",
- "import glob\n",
- "\n",
- "# Defining the dimensions of checkerboard\n",
- "CHECKERBOARD = (6,9)\n",
- "criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)\n",
- "\n",
- "# Creating vector to store vectors of 3D points for each checkerboard image\n",
- "objpoints = []\n",
- "# Creating vector to store vectors of 2D points for each checkerboard image\n",
- "imgpoints = [] \n",
- "\n",
- "\n",
- "# Defining the world coordinates for 3D points\n",
- "objp = np.zeros((1, CHECKERBOARD[0] * CHECKERBOARD[1], 3), np.float32)\n",
- "objp[0,:,:2] = np.mgrid[0:CHECKERBOARD[0], 0:CHECKERBOARD[1]].T.reshape(-1, 2)\n",
- "prev_img_shape = None\n",
- "\n",
- "# Extracting path of individual image stored in a given directory\n",
- "images = glob.glob('./images/*.jpg')\n",
- "a = 1\n",
- "for fname in images:\n",
- " print(\"Load images\")\n",
- " img = cv2.imread(fname)\n",
- " gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)\n",
- " # Find the chess board corners\n",
- " # If desired number of corners are found in the image then ret = true\n",
- " print(\"Finding chessboard corners\")\n",
- " ret, corners = cv2.findChessboardCorners(gray, CHECKERBOARD, cv2.CALIB_CB_ADAPTIVE_THRESH + cv2.CALIB_CB_FAST_CHECK + cv2.CALIB_CB_NORMALIZE_IMAGE)\n",
- " \n",
- " print(\"corners \\n\")\n",
- " print(corners)\n",
- " print(\"ret \\n\")\n",
- " print(ret)\n",
- " \n",
- " \"\"\"\n",
- " If desired number of corner are detected,\n",
- " we refine the pixel coordinates and display \n",
- " them on the images of checker board\n",
- " \"\"\"\n",
- " if ret == True:\n",
- " print(\"Corners detected\")\n",
- " objpoints.append(objp)\n",
- " # refining pixel coordinates for given 2d points.\n",
- " corners2 = cv2.cornerSubPix(gray, corners, (11,11),(-1,-1), criteria)\n",
- " \n",
- " imgpoints.append(corners2)\n",
- "\n",
- " # Draw and display the corners\n",
- " img = cv2.drawChessboardCorners(img, CHECKERBOARD, corners2, ret)\n",
- " \n",
- " print(\"Show images\")\n",
- " # cv2.imshow('img',img)\n",
- " nome='foto_processada' + str(a) + '.jpg'\n",
- " cv2.imwrite(nome, img)\n",
- " a+=1\n",
- "\n",
- "h,w = img.shape[:2]\n",
- "\n",
- "\"\"\"\n",
- "Performing camera calibration by \n",
- "passing the value of known 3D points (objpoints)\n",
- "and corresponding pixel coordinates of the \n",
- "detected corners (imgpoints)\n",
- "\"\"\"\n",
- "ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)\n",
- "\n",
- "print(\"Camera matrix : \\n\")\n",
- "print(mtx)\n",
- "print(\"dist : \\n\")\n",
- "print(dist)\n",
- "print(\"rvecs : \\n\")\n",
- "print(rvecs)\n",
- "print(\"tvecs : \\n\")\n",
- "print(tvecs)\n",
- "\n",
- "\n",
- "\n",
- "\n"
- ]
- },
- {
- "cell_type": "code",
- "execution_count": 44,
- "id": "ff6380f6-b96f-469c-bd7f-17fbb3721389",
- "metadata": {},
"outputs": [
{
"name": "stdout",
@@ -116,113 +14,113 @@
"Finding chessboard corners\n",
"corners \n",
"\n",
- "[[[142.64168 254.9432 ]]\n",
+ "[[[ 639.0235 777.7686 ]]\n",
"\n",
- " [[146.75854 225.61407 ]]\n",
+ " [[ 656.3923 690.53076]]\n",
"\n",
- " [[150.54066 196.51573 ]]\n",
+ " [[ 674.9845 606.9241 ]]\n",
"\n",
- " [[154.04866 167.27895 ]]\n",
+ " [[ 692. 525. ]]\n",
"\n",
- " [[157.64587 138.57889 ]]\n",
+ " [[ 707.58185 447.59378]]\n",
"\n",
- " [[161.52353 110.188255]]\n",
+ " [[ 724. 368. ]]\n",
"\n",
- " [[173.47812 258.40778 ]]\n",
+ " [[ 734.77203 789.1524 ]]\n",
"\n",
- " [[176.93672 229.4982 ]]\n",
+ " [[ 751. 705. ]]\n",
"\n",
- " [[180.49413 200.70557 ]]\n",
+ " [[ 766.5 622.5 ]]\n",
"\n",
- " [[184.05624 171.98401 ]]\n",
+ " [[ 782.3176 540.9585 ]]\n",
"\n",
- " [[187.66382 144.17943 ]]\n",
+ " [[ 798.43463 461.30405]]\n",
"\n",
- " [[190.79807 116.24408 ]]\n",
+ " [[ 813.51874 385.8128 ]]\n",
"\n",
- " [[203.03679 261.4418 ]]\n",
+ " [[ 827.7263 805.1897 ]]\n",
"\n",
- " [[206.62283 232.9877 ]]\n",
+ " [[ 843. 720.5 ]]\n",
"\n",
- " [[209.51048 204.94817 ]]\n",
+ " [[ 857.1475 635.7256 ]]\n",
"\n",
- " [[212.91487 176.95428 ]]\n",
+ " [[ 872. 556.5 ]]\n",
"\n",
- " [[216.23514 149.11143 ]]\n",
+ " [[ 884.3218 476.75677]]\n",
"\n",
- " [[219.46265 121.66086 ]]\n",
+ " [[ 898.5 400.5 ]]\n",
"\n",
- " [[231.7584 264.68643 ]]\n",
+ " [[ 921.5 820.5 ]]\n",
"\n",
- " [[234.71873 236.5048 ]]\n",
+ " [[ 935.05347 734.5652 ]]\n",
"\n",
- " [[237.93755 209.0442 ]]\n",
+ " [[ 948. 651. ]]\n",
"\n",
- " [[241.19179 181.42677 ]]\n",
+ " [[ 960.5 570.5 ]]\n",
"\n",
- " [[243.81526 154.10678 ]]\n",
+ " [[ 973.5 492. ]]\n",
"\n",
- " [[246.94101 126.50662 ]]\n",
+ " [[ 985. 415.5 ]]\n",
"\n",
- " [[259.238 267.7193 ]]\n",
+ " [[1015.50037 834.7283 ]]\n",
"\n",
- " [[262.34668 240.02777 ]]\n",
+ " [[1025.472 748.0957 ]]\n",
"\n",
- " [[265.4873 213.02408 ]]\n",
+ " [[1037.5 665. ]]\n",
"\n",
- " [[268.29196 185.80069 ]]\n",
+ " [[1048.5 584. ]]\n",
"\n",
- " [[271.08856 158.79974 ]]\n",
+ " [[1059.5 506. ]]\n",
"\n",
- " [[274.03 131.71118 ]]\n",
+ " [[1070.5 429.5 ]]\n",
"\n",
- " [[285.894 270.6857 ]]\n",
+ " [[1106.956 847.92126]]\n",
"\n",
- " [[288.91974 243.85074 ]]\n",
+ " [[1115.0891 761.4487 ]]\n",
"\n",
- " [[291.67294 216.57468 ]]\n",
+ " [[1126.5 678.5 ]]\n",
"\n",
- " [[294.623 189.9902 ]]\n",
+ " [[1136.5 597.5 ]]\n",
"\n",
- " [[297.21625 163.05467 ]]\n",
+ " [[1146.0726 520.7383 ]]\n",
"\n",
- " [[300.24863 136.88556 ]]\n",
+ " [[1155.7115 443.53973]]\n",
"\n",
- " [[312.1065 273.9727 ]]\n",
+ " [[1196.5 862.5 ]]\n",
"\n",
- " [[314.64572 246.71307 ]]\n",
+ " [[1206. 776. ]]\n",
"\n",
- " [[317.157 220.33134 ]]\n",
+ " [[1214.7263 690.3805 ]]\n",
"\n",
- " [[320.10812 193.81598 ]]\n",
+ " [[1224.8032 610.88086]]\n",
"\n",
- " [[322.75974 167.55089 ]]\n",
+ " [[1232.2605 534.73206]]\n",
"\n",
- " [[325.6024 141.55737 ]]\n",
+ " [[1240.46 455.15988]]\n",
"\n",
- " [[336.9503 276.28848 ]]\n",
+ " [[1286.4667 875.8089 ]]\n",
"\n",
- " [[339.49103 249.95747 ]]\n",
+ " [[1293.4906 790.2898 ]]\n",
"\n",
- " [[341.7496 224.4254 ]]\n",
+ " [[1301.4453 706.9651 ]]\n",
"\n",
- " [[344.58643 197.6241 ]]\n",
+ " [[1308.9545 625.94543]]\n",
"\n",
- " [[347.26367 172.06337 ]]\n",
+ " [[1315.6184 549.94824]]\n",
"\n",
- " [[350.02148 146.011 ]]\n",
+ " [[1324.0688 473.57166]]\n",
"\n",
- " [[361.31314 279.1676 ]]\n",
+ " [[1375.5 889.5 ]]\n",
"\n",
- " [[363.75967 252.91393 ]]\n",
+ " [[1381.2177 803.77344]]\n",
"\n",
- " [[365.80142 227.11314 ]]\n",
+ " [[1387.5 721.5 ]]\n",
"\n",
- " [[368.71347 201.5229 ]]\n",
+ " [[1393.3751 641.66 ]]\n",
"\n",
- " [[371.02176 176.04767 ]]\n",
+ " [[1399.0804 562.1033 ]]\n",
"\n",
- " [[373.48065 150.7466 ]]]\n",
+ " [[1405.5 487. ]]]\n",
"ret \n",
"\n",
"True\n",
@@ -232,113 +130,113 @@
"Finding chessboard corners\n",
"corners \n",
"\n",
- "[[[290.16937 306.88214]]\n",
+ "[[[ 899. 811.5 ]]\n",
"\n",
- " [[290.53278 280.11667]]\n",
+ " [[ 900.9093 732.8598 ]]\n",
"\n",
- " [[290.77576 252.93272]]\n",
+ " [[ 903. 655. ]]\n",
"\n",
- " [[291.0845 225.27896]]\n",
+ " [[ 904.7568 577.04236]]\n",
"\n",
- " [[291.53607 197.0897 ]]\n",
+ " [[ 905.261 498.64136]]\n",
"\n",
- " [[292.41327 168.24815]]\n",
+ " [[ 905.5192 420.97415]]\n",
"\n",
- " [[315.06952 311.0208 ]]\n",
+ " [[ 977.46826 812.2247 ]]\n",
"\n",
- " [[315.6739 283.6647 ]]\n",
+ " [[ 978.5013 734.5584 ]]\n",
"\n",
- " [[316.2393 256.1716 ]]\n",
+ " [[ 979.78827 654.0643 ]]\n",
"\n",
- " [[316.59756 227.64337]]\n",
+ " [[ 982.199 577.5845 ]]\n",
"\n",
- " [[317.8294 198.79442]]\n",
+ " [[ 982.4727 498.89465]]\n",
"\n",
- " [[318.80643 169.55096]]\n",
+ " [[ 983.3333 421.7891 ]]\n",
"\n",
- " [[340.638 315.39575]]\n",
+ " [[1055.0134 812.9318 ]]\n",
"\n",
- " [[341.63934 287.54718]]\n",
+ " [[1056.5 734.5 ]]\n",
"\n",
- " [[342.54242 259.35623]]\n",
+ " [[1058.3977 654.84265]]\n",
"\n",
- " [[343.91376 230.37785]]\n",
+ " [[1058.6539 577.316 ]]\n",
"\n",
- " [[345.06934 201.05199]]\n",
+ " [[1060.2124 499.55264]]\n",
"\n",
- " [[346.2913 171.26308]]\n",
+ " [[1060.6967 421.66638]]\n",
"\n",
- " [[367.9363 319.6347 ]]\n",
+ " [[1133.1223 814.6864 ]]\n",
"\n",
- " [[368.97598 291.21472]]\n",
+ " [[1135. 734.5 ]]\n",
"\n",
- " [[370.40988 262.52164]]\n",
+ " [[1136.3137 656.0311 ]]\n",
"\n",
- " [[371.5862 233.02112]]\n",
+ " [[1137.4664 576.1803 ]]\n",
"\n",
- " [[373.30624 203.30626]]\n",
+ " [[1138.9259 498.6442 ]]\n",
"\n",
- " [[374.47787 172.69196]]\n",
+ " [[1138.9785 420.476 ]]\n",
"\n",
- " [[396.0801 324.31546]]\n",
+ " [[1213.2064 815.01306]]\n",
"\n",
- " [[397.2893 295.3254 ]]\n",
+ " [[1213.5 736.5 ]]\n",
"\n",
- " [[398.77914 265.93915]]\n",
+ " [[1215.4124 656.16595]]\n",
"\n",
- " [[400.4216 236.04366]]\n",
+ " [[1215.8533 574.62036]]\n",
"\n",
- " [[402.11496 205.60799]]\n",
+ " [[1215.4424 498.2347 ]]\n",
"\n",
- " [[403.97397 174.59514]]\n",
+ " [[1217.0138 418.6937 ]]\n",
"\n",
- " [[425.58887 328.73993]]\n",
+ " [[1293.519 815.7207 ]]\n",
"\n",
- " [[427.1569 299.32626]]\n",
+ " [[1292.6182 735.82324]]\n",
"\n",
- " [[428.80847 269.61078]]\n",
+ " [[1294. 656. ]]\n",
"\n",
- " [[430.6196 238.81488]]\n",
+ " [[1294.969 574.61597]]\n",
"\n",
- " [[432.5938 207.88199]]\n",
+ " [[1295.47 497.0397 ]]\n",
"\n",
- " [[434.81232 176.30792]]\n",
+ " [[1295.677 418.06848]]\n",
"\n",
- " [[456.30505 333.57922]]\n",
+ " [[1373.5 817. ]]\n",
"\n",
- " [[458.36752 303.69302]]\n",
+ " [[1372.4941 735.5689 ]]\n",
"\n",
- " [[460.31778 273.17523]]\n",
+ " [[1375. 657. ]]\n",
"\n",
- " [[462.44522 242.11354]]\n",
+ " [[1374.3657 575.5632 ]]\n",
"\n",
- " [[464.63388 210.30637]]\n",
+ " [[1374.0066 496.8773 ]]\n",
"\n",
- " [[467.06512 178.04515]]\n",
+ " [[1375.1532 417.1456 ]]\n",
"\n",
- " [[488.32422 338.7988 ]]\n",
+ " [[1453.5 817.5 ]]\n",
"\n",
- " [[490.48627 308.26813]]\n",
+ " [[1454.364 736.8835 ]]\n",
"\n",
- " [[492.9652 276.772 ]]\n",
+ " [[1454.3115 656.4444 ]]\n",
"\n",
- " [[495.6021 245.111 ]]\n",
+ " [[1452.9922 576.58405]]\n",
"\n",
- " [[498.3957 212.66432]]\n",
+ " [[1455.4373 495.94016]]\n",
"\n",
- " [[501.15192 179.73419]]\n",
+ " [[1455.9219 417.03937]]\n",
"\n",
- " [[521.8725 344.20172]]\n",
+ " [[1535. 818. ]]\n",
"\n",
- " [[524.48047 312.59525]]\n",
+ " [[1535. 737. ]]\n",
"\n",
- " [[527.2914 281.0416 ]]\n",
+ " [[1534.9042 658.02075]]\n",
"\n",
- " [[530.3484 248.3829 ]]\n",
+ " [[1535.9644 576.5009 ]]\n",
"\n",
- " [[533.45984 215.4207 ]]\n",
+ " [[1536.0394 497.4465 ]]\n",
"\n",
- " [[536.5843 181.58168]]]\n",
+ " [[1537. 416. ]]]\n",
"ret \n",
"\n",
"True\n",
@@ -348,113 +246,113 @@
"Finding chessboard corners\n",
"corners \n",
"\n",
- "[[[181.65076 240.43515 ]]\n",
+ "[[[ 910.5 863. ]]\n",
"\n",
- " [[182.98524 216.97383 ]]\n",
+ " [[ 912.0601 780.9294 ]]\n",
"\n",
- " [[184.64604 192.23103 ]]\n",
+ " [[ 916.3868 700.79675]]\n",
"\n",
- " [[186.13664 165.44173 ]]\n",
+ " [[ 916.4013 618.77167]]\n",
"\n",
- " [[187.51831 136.71654 ]]\n",
+ " [[ 915. 538. ]]\n",
"\n",
- " [[188.62773 106.87892 ]]\n",
+ " [[ 916.6916 456.92923]]\n",
"\n",
- " [[209.48434 240.83936 ]]\n",
+ " [[ 976. 864.5 ]]\n",
"\n",
- " [[211.59288 217.80495 ]]\n",
+ " [[ 977.92334 782.85736]]\n",
"\n",
- " [[213.6713 193.07858 ]]\n",
+ " [[ 980.5 698.5 ]]\n",
"\n",
- " [[215.5483 166.35489 ]]\n",
+ " [[ 981. 616. ]]\n",
"\n",
- " [[217.48494 138.31812 ]]\n",
+ " [[ 981. 533.5 ]]\n",
"\n",
- " [[219.43669 108.85271 ]]\n",
+ " [[ 982.5 451. ]]\n",
"\n",
- " [[236.70854 241.51544 ]]\n",
+ " [[1045.821 865.69116]]\n",
"\n",
- " [[239.46967 218.49294 ]]\n",
+ " [[1047.502 780.5138 ]]\n",
"\n",
- " [[241.6721 194.00006 ]]\n",
+ " [[1047.4427 696.52747]]\n",
"\n",
- " [[244.1657 167.18895 ]]\n",
+ " [[1050.3116 611.98834]]\n",
"\n",
- " [[246.48727 139.78937 ]]\n",
+ " [[1049.6863 529.2744 ]]\n",
"\n",
- " [[249.17108 111.17387 ]]\n",
+ " [[1051.3126 445.43124]]\n",
"\n",
- " [[263.09882 241.98895 ]]\n",
+ " [[1116.5 868. ]]\n",
"\n",
- " [[266.31976 218.94453 ]]\n",
+ " [[1117.6089 782.20636]]\n",
"\n",
- " [[269.2836 194.60536 ]]\n",
+ " [[1119. 694.5 ]]\n",
"\n",
- " [[272.11176 168.56544 ]]\n",
+ " [[1120.5 608. ]]\n",
"\n",
- " [[275.07178 141.52344 ]]\n",
+ " [[1120.5 522.5 ]]\n",
"\n",
- " [[278.2868 113.34714 ]]\n",
+ " [[1120. 436.5 ]]\n",
"\n",
- " [[288.6269 242.41682 ]]\n",
+ " [[1190. 869.5 ]]\n",
"\n",
- " [[292.33762 219.4731 ]]\n",
+ " [[1191. 780. ]]\n",
"\n",
- " [[295.634 195.30553 ]]\n",
+ " [[1191.2645 691.77313]]\n",
"\n",
- " [[299.0187 169.72737 ]]\n",
+ " [[1193. 604. ]]\n",
"\n",
- " [[302.50778 143.14719 ]]\n",
+ " [[1193.2755 518.85846]]\n",
"\n",
- " [[306.42252 115.552376]]\n",
+ " [[1192.6993 429.5434 ]]\n",
"\n",
- " [[313.5622 242.52242 ]]\n",
+ " [[1266.5 871.5 ]]\n",
"\n",
- " [[317.43845 219.64905 ]]\n",
+ " [[1267.7905 782.69824]]\n",
"\n",
- " [[321.32867 195.67903 ]]\n",
+ " [[1267.5435 690.26495]]\n",
"\n",
- " [[325.13644 170.68053 ]]\n",
+ " [[1268.5 600. ]]\n",
"\n",
- " [[329.4506 144.55687 ]]\n",
+ " [[1268.3308 508.62192]]\n",
"\n",
- " [[333.65683 117.407425]]\n",
+ " [[1268.5 420.5 ]]\n",
"\n",
- " [[337.9189 242.53233 ]]\n",
+ " [[1347. 873.5 ]]\n",
"\n",
- " [[342.0708 219.9899 ]]\n",
+ " [[1346.8035 779.1707 ]]\n",
"\n",
- " [[346.30737 196.3446 ]]\n",
+ " [[1348.4983 687.9501 ]]\n",
"\n",
- " [[350.5993 171.67969 ]]\n",
+ " [[1348.5 596.5 ]]\n",
"\n",
- " [[355.18494 146.09834 ]]\n",
+ " [[1349.139 505.66098]]\n",
"\n",
- " [[360.2282 119.398865]]\n",
+ " [[1349.8224 412.16586]]\n",
"\n",
- " [[361.50598 242.38771 ]]\n",
+ " [[1430.4133 874.297 ]]\n",
"\n",
- " [[365.82083 220.18697 ]]\n",
+ " [[1431.0417 779.15344]]\n",
"\n",
- " [[370.56412 196.69379 ]]\n",
+ " [[1431.3235 687.3505 ]]\n",
"\n",
- " [[375.1744 172.38173 ]]\n",
+ " [[1430.9745 591.34973]]\n",
"\n",
- " [[380.44196 147.4049 ]]\n",
+ " [[1430.9946 498.30103]]\n",
"\n",
- " [[386.07758 121.229385]]\n",
+ " [[1432.9409 403.4933 ]]\n",
"\n",
- " [[384.24615 242.4664 ]]\n",
+ " [[1517.503 876.30194]]\n",
"\n",
- " [[389.10178 220.35866 ]]\n",
+ " [[1520.8458 779.0301 ]]\n",
"\n",
- " [[394.30902 197.43806 ]]\n",
+ " [[1521.7913 685.1628 ]]\n",
"\n",
- " [[399.71222 173.47057 ]]\n",
+ " [[1520.3414 586.98047]]\n",
"\n",
- " [[405.3322 148.5755 ]]\n",
+ " [[1520.7906 491.8553 ]]\n",
"\n",
- " [[411.4092 122.746666]]]\n",
+ " [[1521.6085 393.3422 ]]]\n",
"ret \n",
"\n",
"True\n",
@@ -464,113 +362,113 @@
"Finding chessboard corners\n",
"corners \n",
"\n",
- "[[[287.53036 361.7949 ]]\n",
+ "[[[ 764.8656 964.9498 ]]\n",
"\n",
- " [[282.58374 342.85358]]\n",
+ " [[ 763.7977 863.50116]]\n",
"\n",
- " [[278.01462 325.26227]]\n",
+ " [[ 764.5 761.5 ]]\n",
"\n",
- " [[272.65985 307.25195]]\n",
+ " [[ 767. 660.5 ]]\n",
"\n",
- " [[268.46243 289.60532]]\n",
+ " [[ 768.2549 557.984 ]]\n",
"\n",
- " [[263.20535 271.30942]]\n",
+ " [[ 771. 457.5 ]]\n",
"\n",
- " [[305.57693 356.4085 ]]\n",
+ " [[ 853.5 959.5 ]]\n",
"\n",
- " [[300.56805 337.95624]]\n",
+ " [[ 853.7181 859.34436]]\n",
"\n",
- " [[295.50082 319.71555]]\n",
+ " [[ 853.5 762. ]]\n",
"\n",
- " [[290.40643 301.90472]]\n",
+ " [[ 855.1204 663.6305 ]]\n",
"\n",
- " [[285.50308 284.46655]]\n",
+ " [[ 859.298 565.66095]]\n",
"\n",
- " [[281.19418 267.06412]]\n",
+ " [[ 861.1883 467.44714]]\n",
"\n",
- " [[323.32886 351.0642 ]]\n",
+ " [[ 938.68677 956.2966 ]]\n",
"\n",
- " [[318.34674 332.87128]]\n",
+ " [[ 937.5229 859.72 ]]\n",
"\n",
- " [[313.38998 314.55502]]\n",
+ " [[ 940.53265 764.71063]]\n",
"\n",
- " [[307.87402 296.82272]]\n",
+ " [[ 940. 668. ]]\n",
"\n",
- " [[303.11688 279.44043]]\n",
+ " [[ 942.329 572.6662 ]]\n",
"\n",
- " [[298.32162 261.79645]]\n",
+ " [[ 944.5 476.5 ]]\n",
"\n",
- " [[340.5354 345.56195]]\n",
+ " [[1018. 951. ]]\n",
"\n",
- " [[335.7001 327.50388]]\n",
+ " [[1018. 857.5 ]]\n",
"\n",
- " [[330.57962 310.177 ]]\n",
+ " [[1021.6408 763.639 ]]\n",
"\n",
- " [[325.31915 292.1104 ]]\n",
+ " [[1021.5 671.5 ]]\n",
"\n",
- " [[320.627 274.28772]]\n",
+ " [[1023.432 580.4555 ]]\n",
"\n",
- " [[315.36737 257.47568]]\n",
+ " [[1026. 485. ]]\n",
"\n",
- " [[358.15817 340.35425]]\n",
+ " [[1096.802 948.1617 ]]\n",
"\n",
- " [[352.91727 322.5884 ]]\n",
+ " [[1096.4911 859.1596 ]]\n",
"\n",
- " [[347.64328 304.45084]]\n",
+ " [[1098.4639 766.04407]]\n",
"\n",
- " [[342.7978 287.11328]]\n",
+ " [[1100.124 675.1677 ]]\n",
"\n",
- " [[337.47632 269.54434]]\n",
+ " [[1102.5116 583.58484]]\n",
"\n",
- " [[332.27792 253.0178 ]]\n",
+ " [[1105.1619 491.93616]]\n",
"\n",
- " [[375.521 334.54907]]\n",
+ " [[1169.0957 944.1795 ]]\n",
"\n",
- " [[370.54572 317.49283]]\n",
+ " [[1170.1423 853.6245 ]]\n",
"\n",
- " [[365.13348 300.1963 ]]\n",
+ " [[1173.897 766.3536 ]]\n",
"\n",
- " [[359.96573 282.50775]]\n",
+ " [[1175. 678. ]]\n",
"\n",
- " [[354.63464 264.84613]]\n",
+ " [[1177. 588.5 ]]\n",
"\n",
- " [[349.94232 247.95018]]\n",
+ " [[1180. 500. ]]\n",
"\n",
- " [[392.5023 330.13177]]\n",
+ " [[1238.7026 942.0214 ]]\n",
"\n",
- " [[387.49005 312.34338]]\n",
+ " [[1238.2155 855.17236]]\n",
"\n",
- " [[381.98724 294.8061 ]]\n",
+ " [[1243.5 768. ]]\n",
"\n",
- " [[376.97012 277.55432]]\n",
+ " [[1246. 680.5 ]]\n",
"\n",
- " [[371.30545 260.40204]]\n",
+ " [[1248.4957 594.08026]]\n",
"\n",
- " [[366.55707 243.28087]]\n",
+ " [[1249.9844 507.89417]]\n",
"\n",
- " [[409.58173 325.1956 ]]\n",
+ " [[1304.9393 940.1299 ]]\n",
"\n",
- " [[404.145 307.3832 ]]\n",
+ " [[1307.5906 853.12744]]\n",
"\n",
- " [[398.70715 289.91235]]\n",
+ " [[1308.3942 768.86584]]\n",
"\n",
- " [[393.5826 272.64722]]\n",
+ " [[1314.2432 683.94366]]\n",
"\n",
- " [[388.28845 255.7331 ]]\n",
+ " [[1313.9456 600.66425]]\n",
"\n",
- " [[384.17352 239.4941 ]]\n",
+ " [[1317.7017 514.2484 ]]\n",
"\n",
- " [[426.2251 320.06195]]\n",
+ " [[1370. 935. ]]\n",
"\n",
- " [[420.66238 302.5737 ]]\n",
+ " [[1373.642 851.369 ]]\n",
"\n",
- " [[414.9943 284.84647]]\n",
+ " [[1374.1757 770.3433 ]]\n",
"\n",
- " [[410.52255 267.81345]]\n",
+ " [[1377.4613 686.7194 ]]\n",
"\n",
- " [[405.14496 251.26006]]\n",
+ " [[1379.1792 603.9471 ]]\n",
"\n",
- " [[400.21164 234.16982]]]\n",
+ " [[1380.5 521. ]]]\n",
"ret \n",
"\n",
"True\n",
@@ -578,35 +476,35 @@
"Show images\n",
"Camera matrix : \n",
"\n",
- "[[603.52572321 0. 326.41229818]\n",
- " [ 0. 603.65899926 235.9537242 ]\n",
- " [ 0. 0. 1. ]]\n",
+ "[[2.17972257e+03 0.00000000e+00 1.13428062e+03]\n",
+ " [0.00000000e+00 2.18761121e+03 7.75245832e+02]\n",
+ " [0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"dist : \n",
"\n",
- "[[ 1.78080527e-01 -1.34103119e+00 -4.51376510e-03 2.52476784e-03\n",
- " 4.71440744e+00]]\n",
+ "[[-2.84714302e-01 6.49693067e+00 -3.24989380e-03 -4.82367998e-03\n",
+ " -3.72192794e+01]]\n",
"rvecs : \n",
"\n",
- "(array([[ 0.19951224],\n",
- " [-0.31463841],\n",
- " [-1.43904688]]), array([[-0.19044869],\n",
- " [ 0.44388641],\n",
- " [-1.47868386]]), array([[ 0.61618287],\n",
- " [ 0.13666227],\n",
- " [-1.44098723]]), array([[ 0.01147331],\n",
- " [-0.24455644],\n",
- " [-1.83474358]]))\n",
+ "(array([[-0.19428481],\n",
+ " [-0.36544876],\n",
+ " [-1.41455536]]), array([[-0.11712846],\n",
+ " [ 0.04631453],\n",
+ " [-1.55829611]]), array([[-0.46588682],\n",
+ " [ 0.42968983],\n",
+ " [-1.52120256]]), array([[ 0.48904751],\n",
+ " [-0.45473758],\n",
+ " [-1.50249023]]))\n",
"tvecs : \n",
"\n",
- "(array([[-6.18074691],\n",
- " [ 0.64577552],\n",
- " [20.4775399 ]]), array([[-1.33022191],\n",
- " [ 2.5755565 ],\n",
- " [21.87116664]]), array([[-5.25095778],\n",
- " [ 0.22170776],\n",
- " [22.06269285]]), array([[-2.0724692 ],\n",
- " [ 6.70679783],\n",
- " [32.30219442]]))\n"
+ "(array([[-5.23636392e+00],\n",
+ " [ 2.21828316e-02],\n",
+ " [ 2.30990979e+01]]), array([[-2.98810499],\n",
+ " [ 0.46553616],\n",
+ " [27.74220497]]), array([[-2.73101383],\n",
+ " [ 1.07991409],\n",
+ " [26.86513256]]), array([[-3.72306159],\n",
+ " [ 1.86386959],\n",
+ " [21.74654085]]))\n"
]
}
],
@@ -632,7 +530,7 @@
"prev_img_shape = None\n",
"\n",
"# Extracting path of individual image stored in a given directory\n",
- "images = glob.glob('./images/*.jpeg')\n",
+ "images = glob.glob('./images/*.jpg')\n",
"a = 1\n",
"for fname in images:\n",
" print(\"Load images\")\n",
@@ -641,7 +539,7 @@
" # Find the chess board corners\n",
" # If desired number of corners are found in the image then ret = true\n",
" print(\"Finding chessboard corners\")\n",
- " ret, corners = cv2.findChessboardCorners(gray, CHECKERBOARD, None)\n",
+ " ret, corners = cv2.findChessboardCorners(gray, CHECKERBOARD, cv2.CALIB_CB_ADAPTIVE_THRESH + cv2.CALIB_CB_FAST_CHECK + cv2.CALIB_CB_NORMALIZE_IMAGE)\n",
" \n",
" print(\"corners \\n\")\n",
" print(corners)\n",
@@ -691,17 +589,8 @@
"\n",
"\n",
"\n",
- "\n",
"\n"
]
- },
- {
- "cell_type": "code",
- "execution_count": null,
- "id": "f1dd04b0-6ae7-49a6-bb70-9dbb9adbc5c4",
- "metadata": {},
- "outputs": [],
- "source": []
}
],
"metadata": {
diff --git a/CameraCalibration.ipynb b/CameraCalibration.ipynb
index 9fa3bbe9119284a0bb75236a837087385bbee808..1c9923e924c9a8e72171ac3b3e6513ac5f13effd 100644
--- a/CameraCalibration.ipynb
+++ b/CameraCalibration.ipynb
@@ -2,111 +2,9 @@
"cells": [
{
"cell_type": "code",
- "execution_count": 35,
+ "execution_count": 2,
"id": "2a7d76f9-118d-495f-bce1-8d502caa3f4d",
"metadata": {},
- "outputs": [
- {
- "ename": "error",
- "evalue": "OpenCV(4.5.5) /Users/runner/miniforge3/conda-bld/libopencv_1648505779078/work/modules/calib3d/src/calibration.cpp:3694: error: (-215:Assertion failed) nimages > 0 in function 'calibrateCameraRO'\n",
- "output_type": "error",
- "traceback": [
- "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
- "\u001b[0;31merror\u001b[0m Traceback (most recent call last)",
- "\u001b[0;32m<ipython-input-35-f93f09ea17d7>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m\u001b[0m\n\u001b[1;32m 66\u001b[0m \u001b[0mdetected\u001b[0m \u001b[0mcorners\u001b[0m \u001b[0;34m(\u001b[0m\u001b[0mimgpoints\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 67\u001b[0m \"\"\"\n\u001b[0;32m---> 68\u001b[0;31m \u001b[0mret\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mmtx\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mdist\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mrvecs\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mtvecs\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mcv2\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mcalibrateCamera\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mobjpoints\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mimgpoints\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mgray\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mshape\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m-\u001b[0m\u001b[0;36m1\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;32mNone\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;32mNone\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 69\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 70\u001b[0m \u001b[0mprint\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m\"Camera matrix : \\n\"\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
- "\u001b[0;31merror\u001b[0m: OpenCV(4.5.5) /Users/runner/miniforge3/conda-bld/libopencv_1648505779078/work/modules/calib3d/src/calibration.cpp:3694: error: (-215:Assertion failed) nimages > 0 in function 'calibrateCameraRO'\n"
- ]
- }
- ],
- "source": [
- "import cv2\n",
- "import numpy as np\n",
- "import os\n",
- "import glob\n",
- "\n",
- "# Defining the dimensions of checkerboard\n",
- "CHECKERBOARD = (6,9)\n",
- "criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)\n",
- "\n",
- "# Creating vector to store vectors of 3D points for each checkerboard image\n",
- "objpoints = []\n",
- "# Creating vector to store vectors of 2D points for each checkerboard image\n",
- "imgpoints = [] \n",
- "\n",
- "\n",
- "# Defining the world coordinates for 3D points\n",
- "objp = np.zeros((1, CHECKERBOARD[0] * CHECKERBOARD[1], 3), np.float32)\n",
- "objp[0,:,:2] = np.mgrid[0:CHECKERBOARD[0], 0:CHECKERBOARD[1]].T.reshape(-1, 2)\n",
- "prev_img_shape = None\n",
- "\n",
- "# Extracting path of individual image stored in a given directory\n",
- "images = glob.glob('./images/*.jpg')\n",
- "a = 1\n",
- "for fname in images:\n",
- " print(\"Load images\")\n",
- " img = cv2.imread(fname)\n",
- " gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)\n",
- " # Find the chess board corners\n",
- " # If desired number of corners are found in the image then ret = true\n",
- " print(\"Finding chessboard corners\")\n",
- " ret, corners = cv2.findChessboardCorners(gray, CHECKERBOARD, cv2.CALIB_CB_ADAPTIVE_THRESH + cv2.CALIB_CB_FAST_CHECK + cv2.CALIB_CB_NORMALIZE_IMAGE)\n",
- " \n",
- " print(\"corners \\n\")\n",
- " print(corners)\n",
- " print(\"ret \\n\")\n",
- " print(ret)\n",
- " \n",
- " \"\"\"\n",
- " If desired number of corner are detected,\n",
- " we refine the pixel coordinates and display \n",
- " them on the images of checker board\n",
- " \"\"\"\n",
- " if ret == True:\n",
- " print(\"Corners detected\")\n",
- " objpoints.append(objp)\n",
- " # refining pixel coordinates for given 2d points.\n",
- " corners2 = cv2.cornerSubPix(gray, corners, (11,11),(-1,-1), criteria)\n",
- " \n",
- " imgpoints.append(corners2)\n",
- "\n",
- " # Draw and display the corners\n",
- " img = cv2.drawChessboardCorners(img, CHECKERBOARD, corners2, ret)\n",
- " \n",
- " print(\"Show images\")\n",
- " # cv2.imshow('img',img)\n",
- " nome='foto_processada' + str(a) + '.jpg'\n",
- " cv2.imwrite(nome, img)\n",
- " a+=1\n",
- "\n",
- "h,w = img.shape[:2]\n",
- "\n",
- "\"\"\"\n",
- "Performing camera calibration by \n",
- "passing the value of known 3D points (objpoints)\n",
- "and corresponding pixel coordinates of the \n",
- "detected corners (imgpoints)\n",
- "\"\"\"\n",
- "ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)\n",
- "\n",
- "print(\"Camera matrix : \\n\")\n",
- "print(mtx)\n",
- "print(\"dist : \\n\")\n",
- "print(dist)\n",
- "print(\"rvecs : \\n\")\n",
- "print(rvecs)\n",
- "print(\"tvecs : \\n\")\n",
- "print(tvecs)\n",
- "\n",
- "\n",
- "\n",
- "\n"
- ]
- },
- {
- "cell_type": "code",
- "execution_count": 44,
- "id": "ff6380f6-b96f-469c-bd7f-17fbb3721389",
- "metadata": {},
"outputs": [
{
"name": "stdout",
@@ -116,113 +14,113 @@
"Finding chessboard corners\n",
"corners \n",
"\n",
- "[[[142.64168 254.9432 ]]\n",
+ "[[[ 639.0235 777.7686 ]]\n",
"\n",
- " [[146.75854 225.61407 ]]\n",
+ " [[ 656.3923 690.53076]]\n",
"\n",
- " [[150.54066 196.51573 ]]\n",
+ " [[ 674.9845 606.9241 ]]\n",
"\n",
- " [[154.04866 167.27895 ]]\n",
+ " [[ 692. 525. ]]\n",
"\n",
- " [[157.64587 138.57889 ]]\n",
+ " [[ 707.58185 447.59378]]\n",
"\n",
- " [[161.52353 110.188255]]\n",
+ " [[ 724. 368. ]]\n",
"\n",
- " [[173.47812 258.40778 ]]\n",
+ " [[ 734.77203 789.1524 ]]\n",
"\n",
- " [[176.93672 229.4982 ]]\n",
+ " [[ 751. 705. ]]\n",
"\n",
- " [[180.49413 200.70557 ]]\n",
+ " [[ 766.5 622.5 ]]\n",
"\n",
- " [[184.05624 171.98401 ]]\n",
+ " [[ 782.3176 540.9585 ]]\n",
"\n",
- " [[187.66382 144.17943 ]]\n",
+ " [[ 798.43463 461.30405]]\n",
"\n",
- " [[190.79807 116.24408 ]]\n",
+ " [[ 813.51874 385.8128 ]]\n",
"\n",
- " [[203.03679 261.4418 ]]\n",
+ " [[ 827.7263 805.1897 ]]\n",
"\n",
- " [[206.62283 232.9877 ]]\n",
+ " [[ 843. 720.5 ]]\n",
"\n",
- " [[209.51048 204.94817 ]]\n",
+ " [[ 857.1475 635.7256 ]]\n",
"\n",
- " [[212.91487 176.95428 ]]\n",
+ " [[ 872. 556.5 ]]\n",
"\n",
- " [[216.23514 149.11143 ]]\n",
+ " [[ 884.3218 476.75677]]\n",
"\n",
- " [[219.46265 121.66086 ]]\n",
+ " [[ 898.5 400.5 ]]\n",
"\n",
- " [[231.7584 264.68643 ]]\n",
+ " [[ 921.5 820.5 ]]\n",
"\n",
- " [[234.71873 236.5048 ]]\n",
+ " [[ 935.05347 734.5652 ]]\n",
"\n",
- " [[237.93755 209.0442 ]]\n",
+ " [[ 948. 651. ]]\n",
"\n",
- " [[241.19179 181.42677 ]]\n",
+ " [[ 960.5 570.5 ]]\n",
"\n",
- " [[243.81526 154.10678 ]]\n",
+ " [[ 973.5 492. ]]\n",
"\n",
- " [[246.94101 126.50662 ]]\n",
+ " [[ 985. 415.5 ]]\n",
"\n",
- " [[259.238 267.7193 ]]\n",
+ " [[1015.50037 834.7283 ]]\n",
"\n",
- " [[262.34668 240.02777 ]]\n",
+ " [[1025.472 748.0957 ]]\n",
"\n",
- " [[265.4873 213.02408 ]]\n",
+ " [[1037.5 665. ]]\n",
"\n",
- " [[268.29196 185.80069 ]]\n",
+ " [[1048.5 584. ]]\n",
"\n",
- " [[271.08856 158.79974 ]]\n",
+ " [[1059.5 506. ]]\n",
"\n",
- " [[274.03 131.71118 ]]\n",
+ " [[1070.5 429.5 ]]\n",
"\n",
- " [[285.894 270.6857 ]]\n",
+ " [[1106.956 847.92126]]\n",
"\n",
- " [[288.91974 243.85074 ]]\n",
+ " [[1115.0891 761.4487 ]]\n",
"\n",
- " [[291.67294 216.57468 ]]\n",
+ " [[1126.5 678.5 ]]\n",
"\n",
- " [[294.623 189.9902 ]]\n",
+ " [[1136.5 597.5 ]]\n",
"\n",
- " [[297.21625 163.05467 ]]\n",
+ " [[1146.0726 520.7383 ]]\n",
"\n",
- " [[300.24863 136.88556 ]]\n",
+ " [[1155.7115 443.53973]]\n",
"\n",
- " [[312.1065 273.9727 ]]\n",
+ " [[1196.5 862.5 ]]\n",
"\n",
- " [[314.64572 246.71307 ]]\n",
+ " [[1206. 776. ]]\n",
"\n",
- " [[317.157 220.33134 ]]\n",
+ " [[1214.7263 690.3805 ]]\n",
"\n",
- " [[320.10812 193.81598 ]]\n",
+ " [[1224.8032 610.88086]]\n",
"\n",
- " [[322.75974 167.55089 ]]\n",
+ " [[1232.2605 534.73206]]\n",
"\n",
- " [[325.6024 141.55737 ]]\n",
+ " [[1240.46 455.15988]]\n",
"\n",
- " [[336.9503 276.28848 ]]\n",
+ " [[1286.4667 875.8089 ]]\n",
"\n",
- " [[339.49103 249.95747 ]]\n",
+ " [[1293.4906 790.2898 ]]\n",
"\n",
- " [[341.7496 224.4254 ]]\n",
+ " [[1301.4453 706.9651 ]]\n",
"\n",
- " [[344.58643 197.6241 ]]\n",
+ " [[1308.9545 625.94543]]\n",
"\n",
- " [[347.26367 172.06337 ]]\n",
+ " [[1315.6184 549.94824]]\n",
"\n",
- " [[350.02148 146.011 ]]\n",
+ " [[1324.0688 473.57166]]\n",
"\n",
- " [[361.31314 279.1676 ]]\n",
+ " [[1375.5 889.5 ]]\n",
"\n",
- " [[363.75967 252.91393 ]]\n",
+ " [[1381.2177 803.77344]]\n",
"\n",
- " [[365.80142 227.11314 ]]\n",
+ " [[1387.5 721.5 ]]\n",
"\n",
- " [[368.71347 201.5229 ]]\n",
+ " [[1393.3751 641.66 ]]\n",
"\n",
- " [[371.02176 176.04767 ]]\n",
+ " [[1399.0804 562.1033 ]]\n",
"\n",
- " [[373.48065 150.7466 ]]]\n",
+ " [[1405.5 487. ]]]\n",
"ret \n",
"\n",
"True\n",
@@ -232,113 +130,113 @@
"Finding chessboard corners\n",
"corners \n",
"\n",
- "[[[290.16937 306.88214]]\n",
+ "[[[ 899. 811.5 ]]\n",
"\n",
- " [[290.53278 280.11667]]\n",
+ " [[ 900.9093 732.8598 ]]\n",
"\n",
- " [[290.77576 252.93272]]\n",
+ " [[ 903. 655. ]]\n",
"\n",
- " [[291.0845 225.27896]]\n",
+ " [[ 904.7568 577.04236]]\n",
"\n",
- " [[291.53607 197.0897 ]]\n",
+ " [[ 905.261 498.64136]]\n",
"\n",
- " [[292.41327 168.24815]]\n",
+ " [[ 905.5192 420.97415]]\n",
"\n",
- " [[315.06952 311.0208 ]]\n",
+ " [[ 977.46826 812.2247 ]]\n",
"\n",
- " [[315.6739 283.6647 ]]\n",
+ " [[ 978.5013 734.5584 ]]\n",
"\n",
- " [[316.2393 256.1716 ]]\n",
+ " [[ 979.78827 654.0643 ]]\n",
"\n",
- " [[316.59756 227.64337]]\n",
+ " [[ 982.199 577.5845 ]]\n",
"\n",
- " [[317.8294 198.79442]]\n",
+ " [[ 982.4727 498.89465]]\n",
"\n",
- " [[318.80643 169.55096]]\n",
+ " [[ 983.3333 421.7891 ]]\n",
"\n",
- " [[340.638 315.39575]]\n",
+ " [[1055.0134 812.9318 ]]\n",
"\n",
- " [[341.63934 287.54718]]\n",
+ " [[1056.5 734.5 ]]\n",
"\n",
- " [[342.54242 259.35623]]\n",
+ " [[1058.3977 654.84265]]\n",
"\n",
- " [[343.91376 230.37785]]\n",
+ " [[1058.6539 577.316 ]]\n",
"\n",
- " [[345.06934 201.05199]]\n",
+ " [[1060.2124 499.55264]]\n",
"\n",
- " [[346.2913 171.26308]]\n",
+ " [[1060.6967 421.66638]]\n",
"\n",
- " [[367.9363 319.6347 ]]\n",
+ " [[1133.1223 814.6864 ]]\n",
"\n",
- " [[368.97598 291.21472]]\n",
+ " [[1135. 734.5 ]]\n",
"\n",
- " [[370.40988 262.52164]]\n",
+ " [[1136.3137 656.0311 ]]\n",
"\n",
- " [[371.5862 233.02112]]\n",
+ " [[1137.4664 576.1803 ]]\n",
"\n",
- " [[373.30624 203.30626]]\n",
+ " [[1138.9259 498.6442 ]]\n",
"\n",
- " [[374.47787 172.69196]]\n",
+ " [[1138.9785 420.476 ]]\n",
"\n",
- " [[396.0801 324.31546]]\n",
+ " [[1213.2064 815.01306]]\n",
"\n",
- " [[397.2893 295.3254 ]]\n",
+ " [[1213.5 736.5 ]]\n",
"\n",
- " [[398.77914 265.93915]]\n",
+ " [[1215.4124 656.16595]]\n",
"\n",
- " [[400.4216 236.04366]]\n",
+ " [[1215.8533 574.62036]]\n",
"\n",
- " [[402.11496 205.60799]]\n",
+ " [[1215.4424 498.2347 ]]\n",
"\n",
- " [[403.97397 174.59514]]\n",
+ " [[1217.0138 418.6937 ]]\n",
"\n",
- " [[425.58887 328.73993]]\n",
+ " [[1293.519 815.7207 ]]\n",
"\n",
- " [[427.1569 299.32626]]\n",
+ " [[1292.6182 735.82324]]\n",
"\n",
- " [[428.80847 269.61078]]\n",
+ " [[1294. 656. ]]\n",
"\n",
- " [[430.6196 238.81488]]\n",
+ " [[1294.969 574.61597]]\n",
"\n",
- " [[432.5938 207.88199]]\n",
+ " [[1295.47 497.0397 ]]\n",
"\n",
- " [[434.81232 176.30792]]\n",
+ " [[1295.677 418.06848]]\n",
"\n",
- " [[456.30505 333.57922]]\n",
+ " [[1373.5 817. ]]\n",
"\n",
- " [[458.36752 303.69302]]\n",
+ " [[1372.4941 735.5689 ]]\n",
"\n",
- " [[460.31778 273.17523]]\n",
+ " [[1375. 657. ]]\n",
"\n",
- " [[462.44522 242.11354]]\n",
+ " [[1374.3657 575.5632 ]]\n",
"\n",
- " [[464.63388 210.30637]]\n",
+ " [[1374.0066 496.8773 ]]\n",
"\n",
- " [[467.06512 178.04515]]\n",
+ " [[1375.1532 417.1456 ]]\n",
"\n",
- " [[488.32422 338.7988 ]]\n",
+ " [[1453.5 817.5 ]]\n",
"\n",
- " [[490.48627 308.26813]]\n",
+ " [[1454.364 736.8835 ]]\n",
"\n",
- " [[492.9652 276.772 ]]\n",
+ " [[1454.3115 656.4444 ]]\n",
"\n",
- " [[495.6021 245.111 ]]\n",
+ " [[1452.9922 576.58405]]\n",
"\n",
- " [[498.3957 212.66432]]\n",
+ " [[1455.4373 495.94016]]\n",
"\n",
- " [[501.15192 179.73419]]\n",
+ " [[1455.9219 417.03937]]\n",
"\n",
- " [[521.8725 344.20172]]\n",
+ " [[1535. 818. ]]\n",
"\n",
- " [[524.48047 312.59525]]\n",
+ " [[1535. 737. ]]\n",
"\n",
- " [[527.2914 281.0416 ]]\n",
+ " [[1534.9042 658.02075]]\n",
"\n",
- " [[530.3484 248.3829 ]]\n",
+ " [[1535.9644 576.5009 ]]\n",
"\n",
- " [[533.45984 215.4207 ]]\n",
+ " [[1536.0394 497.4465 ]]\n",
"\n",
- " [[536.5843 181.58168]]]\n",
+ " [[1537. 416. ]]]\n",
"ret \n",
"\n",
"True\n",
@@ -348,113 +246,113 @@
"Finding chessboard corners\n",
"corners \n",
"\n",
- "[[[181.65076 240.43515 ]]\n",
+ "[[[ 910.5 863. ]]\n",
"\n",
- " [[182.98524 216.97383 ]]\n",
+ " [[ 912.0601 780.9294 ]]\n",
"\n",
- " [[184.64604 192.23103 ]]\n",
+ " [[ 916.3868 700.79675]]\n",
"\n",
- " [[186.13664 165.44173 ]]\n",
+ " [[ 916.4013 618.77167]]\n",
"\n",
- " [[187.51831 136.71654 ]]\n",
+ " [[ 915. 538. ]]\n",
"\n",
- " [[188.62773 106.87892 ]]\n",
+ " [[ 916.6916 456.92923]]\n",
"\n",
- " [[209.48434 240.83936 ]]\n",
+ " [[ 976. 864.5 ]]\n",
"\n",
- " [[211.59288 217.80495 ]]\n",
+ " [[ 977.92334 782.85736]]\n",
"\n",
- " [[213.6713 193.07858 ]]\n",
+ " [[ 980.5 698.5 ]]\n",
"\n",
- " [[215.5483 166.35489 ]]\n",
+ " [[ 981. 616. ]]\n",
"\n",
- " [[217.48494 138.31812 ]]\n",
+ " [[ 981. 533.5 ]]\n",
"\n",
- " [[219.43669 108.85271 ]]\n",
+ " [[ 982.5 451. ]]\n",
"\n",
- " [[236.70854 241.51544 ]]\n",
+ " [[1045.821 865.69116]]\n",
"\n",
- " [[239.46967 218.49294 ]]\n",
+ " [[1047.502 780.5138 ]]\n",
"\n",
- " [[241.6721 194.00006 ]]\n",
+ " [[1047.4427 696.52747]]\n",
"\n",
- " [[244.1657 167.18895 ]]\n",
+ " [[1050.3116 611.98834]]\n",
"\n",
- " [[246.48727 139.78937 ]]\n",
+ " [[1049.6863 529.2744 ]]\n",
"\n",
- " [[249.17108 111.17387 ]]\n",
+ " [[1051.3126 445.43124]]\n",
"\n",
- " [[263.09882 241.98895 ]]\n",
+ " [[1116.5 868. ]]\n",
"\n",
- " [[266.31976 218.94453 ]]\n",
+ " [[1117.6089 782.20636]]\n",
"\n",
- " [[269.2836 194.60536 ]]\n",
+ " [[1119. 694.5 ]]\n",
"\n",
- " [[272.11176 168.56544 ]]\n",
+ " [[1120.5 608. ]]\n",
"\n",
- " [[275.07178 141.52344 ]]\n",
+ " [[1120.5 522.5 ]]\n",
"\n",
- " [[278.2868 113.34714 ]]\n",
+ " [[1120. 436.5 ]]\n",
"\n",
- " [[288.6269 242.41682 ]]\n",
+ " [[1190. 869.5 ]]\n",
"\n",
- " [[292.33762 219.4731 ]]\n",
+ " [[1191. 780. ]]\n",
"\n",
- " [[295.634 195.30553 ]]\n",
+ " [[1191.2645 691.77313]]\n",
"\n",
- " [[299.0187 169.72737 ]]\n",
+ " [[1193. 604. ]]\n",
"\n",
- " [[302.50778 143.14719 ]]\n",
+ " [[1193.2755 518.85846]]\n",
"\n",
- " [[306.42252 115.552376]]\n",
+ " [[1192.6993 429.5434 ]]\n",
"\n",
- " [[313.5622 242.52242 ]]\n",
+ " [[1266.5 871.5 ]]\n",
"\n",
- " [[317.43845 219.64905 ]]\n",
+ " [[1267.7905 782.69824]]\n",
"\n",
- " [[321.32867 195.67903 ]]\n",
+ " [[1267.5435 690.26495]]\n",
"\n",
- " [[325.13644 170.68053 ]]\n",
+ " [[1268.5 600. ]]\n",
"\n",
- " [[329.4506 144.55687 ]]\n",
+ " [[1268.3308 508.62192]]\n",
"\n",
- " [[333.65683 117.407425]]\n",
+ " [[1268.5 420.5 ]]\n",
"\n",
- " [[337.9189 242.53233 ]]\n",
+ " [[1347. 873.5 ]]\n",
"\n",
- " [[342.0708 219.9899 ]]\n",
+ " [[1346.8035 779.1707 ]]\n",
"\n",
- " [[346.30737 196.3446 ]]\n",
+ " [[1348.4983 687.9501 ]]\n",
"\n",
- " [[350.5993 171.67969 ]]\n",
+ " [[1348.5 596.5 ]]\n",
"\n",
- " [[355.18494 146.09834 ]]\n",
+ " [[1349.139 505.66098]]\n",
"\n",
- " [[360.2282 119.398865]]\n",
+ " [[1349.8224 412.16586]]\n",
"\n",
- " [[361.50598 242.38771 ]]\n",
+ " [[1430.4133 874.297 ]]\n",
"\n",
- " [[365.82083 220.18697 ]]\n",
+ " [[1431.0417 779.15344]]\n",
"\n",
- " [[370.56412 196.69379 ]]\n",
+ " [[1431.3235 687.3505 ]]\n",
"\n",
- " [[375.1744 172.38173 ]]\n",
+ " [[1430.9745 591.34973]]\n",
"\n",
- " [[380.44196 147.4049 ]]\n",
+ " [[1430.9946 498.30103]]\n",
"\n",
- " [[386.07758 121.229385]]\n",
+ " [[1432.9409 403.4933 ]]\n",
"\n",
- " [[384.24615 242.4664 ]]\n",
+ " [[1517.503 876.30194]]\n",
"\n",
- " [[389.10178 220.35866 ]]\n",
+ " [[1520.8458 779.0301 ]]\n",
"\n",
- " [[394.30902 197.43806 ]]\n",
+ " [[1521.7913 685.1628 ]]\n",
"\n",
- " [[399.71222 173.47057 ]]\n",
+ " [[1520.3414 586.98047]]\n",
"\n",
- " [[405.3322 148.5755 ]]\n",
+ " [[1520.7906 491.8553 ]]\n",
"\n",
- " [[411.4092 122.746666]]]\n",
+ " [[1521.6085 393.3422 ]]]\n",
"ret \n",
"\n",
"True\n",
@@ -464,113 +362,113 @@
"Finding chessboard corners\n",
"corners \n",
"\n",
- "[[[287.53036 361.7949 ]]\n",
+ "[[[ 764.8656 964.9498 ]]\n",
"\n",
- " [[282.58374 342.85358]]\n",
+ " [[ 763.7977 863.50116]]\n",
"\n",
- " [[278.01462 325.26227]]\n",
+ " [[ 764.5 761.5 ]]\n",
"\n",
- " [[272.65985 307.25195]]\n",
+ " [[ 767. 660.5 ]]\n",
"\n",
- " [[268.46243 289.60532]]\n",
+ " [[ 768.2549 557.984 ]]\n",
"\n",
- " [[263.20535 271.30942]]\n",
+ " [[ 771. 457.5 ]]\n",
"\n",
- " [[305.57693 356.4085 ]]\n",
+ " [[ 853.5 959.5 ]]\n",
"\n",
- " [[300.56805 337.95624]]\n",
+ " [[ 853.7181 859.34436]]\n",
"\n",
- " [[295.50082 319.71555]]\n",
+ " [[ 853.5 762. ]]\n",
"\n",
- " [[290.40643 301.90472]]\n",
+ " [[ 855.1204 663.6305 ]]\n",
"\n",
- " [[285.50308 284.46655]]\n",
+ " [[ 859.298 565.66095]]\n",
"\n",
- " [[281.19418 267.06412]]\n",
+ " [[ 861.1883 467.44714]]\n",
"\n",
- " [[323.32886 351.0642 ]]\n",
+ " [[ 938.68677 956.2966 ]]\n",
"\n",
- " [[318.34674 332.87128]]\n",
+ " [[ 937.5229 859.72 ]]\n",
"\n",
- " [[313.38998 314.55502]]\n",
+ " [[ 940.53265 764.71063]]\n",
"\n",
- " [[307.87402 296.82272]]\n",
+ " [[ 940. 668. ]]\n",
"\n",
- " [[303.11688 279.44043]]\n",
+ " [[ 942.329 572.6662 ]]\n",
"\n",
- " [[298.32162 261.79645]]\n",
+ " [[ 944.5 476.5 ]]\n",
"\n",
- " [[340.5354 345.56195]]\n",
+ " [[1018. 951. ]]\n",
"\n",
- " [[335.7001 327.50388]]\n",
+ " [[1018. 857.5 ]]\n",
"\n",
- " [[330.57962 310.177 ]]\n",
+ " [[1021.6408 763.639 ]]\n",
"\n",
- " [[325.31915 292.1104 ]]\n",
+ " [[1021.5 671.5 ]]\n",
"\n",
- " [[320.627 274.28772]]\n",
+ " [[1023.432 580.4555 ]]\n",
"\n",
- " [[315.36737 257.47568]]\n",
+ " [[1026. 485. ]]\n",
"\n",
- " [[358.15817 340.35425]]\n",
+ " [[1096.802 948.1617 ]]\n",
"\n",
- " [[352.91727 322.5884 ]]\n",
+ " [[1096.4911 859.1596 ]]\n",
"\n",
- " [[347.64328 304.45084]]\n",
+ " [[1098.4639 766.04407]]\n",
"\n",
- " [[342.7978 287.11328]]\n",
+ " [[1100.124 675.1677 ]]\n",
"\n",
- " [[337.47632 269.54434]]\n",
+ " [[1102.5116 583.58484]]\n",
"\n",
- " [[332.27792 253.0178 ]]\n",
+ " [[1105.1619 491.93616]]\n",
"\n",
- " [[375.521 334.54907]]\n",
+ " [[1169.0957 944.1795 ]]\n",
"\n",
- " [[370.54572 317.49283]]\n",
+ " [[1170.1423 853.6245 ]]\n",
"\n",
- " [[365.13348 300.1963 ]]\n",
+ " [[1173.897 766.3536 ]]\n",
"\n",
- " [[359.96573 282.50775]]\n",
+ " [[1175. 678. ]]\n",
"\n",
- " [[354.63464 264.84613]]\n",
+ " [[1177. 588.5 ]]\n",
"\n",
- " [[349.94232 247.95018]]\n",
+ " [[1180. 500. ]]\n",
"\n",
- " [[392.5023 330.13177]]\n",
+ " [[1238.7026 942.0214 ]]\n",
"\n",
- " [[387.49005 312.34338]]\n",
+ " [[1238.2155 855.17236]]\n",
"\n",
- " [[381.98724 294.8061 ]]\n",
+ " [[1243.5 768. ]]\n",
"\n",
- " [[376.97012 277.55432]]\n",
+ " [[1246. 680.5 ]]\n",
"\n",
- " [[371.30545 260.40204]]\n",
+ " [[1248.4957 594.08026]]\n",
"\n",
- " [[366.55707 243.28087]]\n",
+ " [[1249.9844 507.89417]]\n",
"\n",
- " [[409.58173 325.1956 ]]\n",
+ " [[1304.9393 940.1299 ]]\n",
"\n",
- " [[404.145 307.3832 ]]\n",
+ " [[1307.5906 853.12744]]\n",
"\n",
- " [[398.70715 289.91235]]\n",
+ " [[1308.3942 768.86584]]\n",
"\n",
- " [[393.5826 272.64722]]\n",
+ " [[1314.2432 683.94366]]\n",
"\n",
- " [[388.28845 255.7331 ]]\n",
+ " [[1313.9456 600.66425]]\n",
"\n",
- " [[384.17352 239.4941 ]]\n",
+ " [[1317.7017 514.2484 ]]\n",
"\n",
- " [[426.2251 320.06195]]\n",
+ " [[1370. 935. ]]\n",
"\n",
- " [[420.66238 302.5737 ]]\n",
+ " [[1373.642 851.369 ]]\n",
"\n",
- " [[414.9943 284.84647]]\n",
+ " [[1374.1757 770.3433 ]]\n",
"\n",
- " [[410.52255 267.81345]]\n",
+ " [[1377.4613 686.7194 ]]\n",
"\n",
- " [[405.14496 251.26006]]\n",
+ " [[1379.1792 603.9471 ]]\n",
"\n",
- " [[400.21164 234.16982]]]\n",
+ " [[1380.5 521. ]]]\n",
"ret \n",
"\n",
"True\n",
@@ -578,35 +476,35 @@
"Show images\n",
"Camera matrix : \n",
"\n",
- "[[603.52572321 0. 326.41229818]\n",
- " [ 0. 603.65899926 235.9537242 ]\n",
- " [ 0. 0. 1. ]]\n",
+ "[[2.17972257e+03 0.00000000e+00 1.13428062e+03]\n",
+ " [0.00000000e+00 2.18761121e+03 7.75245832e+02]\n",
+ " [0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"dist : \n",
"\n",
- "[[ 1.78080527e-01 -1.34103119e+00 -4.51376510e-03 2.52476784e-03\n",
- " 4.71440744e+00]]\n",
+ "[[-2.84714302e-01 6.49693067e+00 -3.24989380e-03 -4.82367998e-03\n",
+ " -3.72192794e+01]]\n",
"rvecs : \n",
"\n",
- "(array([[ 0.19951224],\n",
- " [-0.31463841],\n",
- " [-1.43904688]]), array([[-0.19044869],\n",
- " [ 0.44388641],\n",
- " [-1.47868386]]), array([[ 0.61618287],\n",
- " [ 0.13666227],\n",
- " [-1.44098723]]), array([[ 0.01147331],\n",
- " [-0.24455644],\n",
- " [-1.83474358]]))\n",
+ "(array([[-0.19428481],\n",
+ " [-0.36544876],\n",
+ " [-1.41455536]]), array([[-0.11712846],\n",
+ " [ 0.04631453],\n",
+ " [-1.55829611]]), array([[-0.46588682],\n",
+ " [ 0.42968983],\n",
+ " [-1.52120256]]), array([[ 0.48904751],\n",
+ " [-0.45473758],\n",
+ " [-1.50249023]]))\n",
"tvecs : \n",
"\n",
- "(array([[-6.18074691],\n",
- " [ 0.64577552],\n",
- " [20.4775399 ]]), array([[-1.33022191],\n",
- " [ 2.5755565 ],\n",
- " [21.87116664]]), array([[-5.25095778],\n",
- " [ 0.22170776],\n",
- " [22.06269285]]), array([[-2.0724692 ],\n",
- " [ 6.70679783],\n",
- " [32.30219442]]))\n"
+ "(array([[-5.23636392e+00],\n",
+ " [ 2.21828316e-02],\n",
+ " [ 2.30990979e+01]]), array([[-2.98810499],\n",
+ " [ 0.46553616],\n",
+ " [27.74220497]]), array([[-2.73101383],\n",
+ " [ 1.07991409],\n",
+ " [26.86513256]]), array([[-3.72306159],\n",
+ " [ 1.86386959],\n",
+ " [21.74654085]]))\n"
]
}
],
@@ -632,7 +530,7 @@
"prev_img_shape = None\n",
"\n",
"# Extracting path of individual image stored in a given directory\n",
- "images = glob.glob('./images/*.jpeg')\n",
+ "images = glob.glob('./images/*.jpg')\n",
"a = 1\n",
"for fname in images:\n",
" print(\"Load images\")\n",
@@ -641,7 +539,7 @@
" # Find the chess board corners\n",
" # If desired number of corners are found in the image then ret = true\n",
" print(\"Finding chessboard corners\")\n",
- " ret, corners = cv2.findChessboardCorners(gray, CHECKERBOARD, None)\n",
+ " ret, corners = cv2.findChessboardCorners(gray, CHECKERBOARD, cv2.CALIB_CB_ADAPTIVE_THRESH + cv2.CALIB_CB_FAST_CHECK + cv2.CALIB_CB_NORMALIZE_IMAGE)\n",
" \n",
" print(\"corners \\n\")\n",
" print(corners)\n",
@@ -691,17 +589,8 @@
"\n",
"\n",
"\n",
- "\n",
"\n"
]
- },
- {
- "cell_type": "code",
- "execution_count": null,
- "id": "f1dd04b0-6ae7-49a6-bb70-9dbb9adbc5c4",
- "metadata": {},
- "outputs": [],
- "source": []
}
],
"metadata": {
diff --git a/foto_processada1.jpg b/foto_processada1.jpg
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