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https://github.com/ruhyadi/camera-calibration
Camera Calibration
https://github.com/ruhyadi/camera-calibration
Last synced: about 10 hours ago
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Camera Calibration
- Host: GitHub
- URL: https://github.com/ruhyadi/camera-calibration
- Owner: ruhyadi
- License: apache-2.0
- Created: 2022-02-22T04:32:32.000Z (almost 3 years ago)
- Default Branch: main
- Last Pushed: 2022-04-29T03:32:19.000Z (over 2 years ago)
- Last Synced: 2024-11-08T20:51:09.510Z (about 2 months ago)
- Language: Python
- Size: 13.3 MB
- Stars: 2
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Monocular Camera Calibration
This repository contains code for calibrating monocular cameras with a [chessboard pattern](docs/Checkerboard-A4-25mm-10x7.svg).
In order to calibrating the camera you can put the calibration photos into a separate folder (like `demo` or `yourfolder`) or take pictures using a webcam. To take pictures using the webcam you can run the code `get_images.py`
### Installation
You have to install some libraries first, run the code below:
```
pip install -r requirments.txt
```
### Get Image form Webcam
The code below can be run to take pictures via webcam. Press `s` to save the image and `q` to end the program.
```
python src/get_images.py ./directory_to_save start_index prefix
python src/get_images.py ./data 0 images_webcam
```
### Calibrating Camera
The purpose of camera calibration is to generate an intrinsic matrix (K). The program below will take the input image and generate a calibration matrix in `yml` file.
```
python src/calibration.py \
--image_dir ./demo/data01 \
--image_format png \
--prefix img \
--square_size 0.025 \
--width 9 \
--height 6 \
--save_file ./demo/calib_data01.yml
```
```
usage: src/calibration.py [-h] --image_dir IMAGE_DIR --image_format
IMAGE_FORMAT --prefix PREFIX
[--square_size SQUARE_SIZE] [--width WIDTH]
[--height HEIGHT] --save_file SAVE_FILE
optional arguments:
-h, --help show this help message and exit
--image_dir IMAGE_DIR
image directory path
--image_format IMAGE_FORMAT
image format, png/jpg
--prefix PREFIX image prefix
--square_size SQUARE_SIZE
chessboard square size
--width WIDTH chessboard width size, default is 9
--height HEIGHT chessboard height size, default is 6
--save_file SAVE_FILE
YML file to save calibration matrices
```
The calibration file `yml` contains an intrinsic matrix (K) and a distortion matrix (D). As below:
```
%YAML:1.0
---
K: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 8.2074718315015139e+02, 0., 5.2705661714841142e+02, 0.,
8.2003814588104046e+02, 2.3642917366196548e+02, 0., 0., 1. ]
D: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ 3.0124329351197032e-01, -1.7139992852268171e+00,
2.5721068961795258e-03, 2.7230187591786039e-03,
4.5098343258595559e+00 ]
```
One of the uses of a calibration matrix is for image distortion, the image on the left is a distorted image, while the right is an image that has been undistorted, such as:
### Undistortion Image
In order undistortion image with calibration matrix, run:
```
python src/undistortion.py \
--image_dir ./demo/data01 \
--calib ./demo/calib_data01.yml \
--output_dir ./demo/newdata01
```
### With Docker
You can also run programs using docker. Follow the commands below.
#### Build Docker
Pull docker image, run:
```
docker image pull ruhyadi/calibration:latest
```
#### Run Calibration Inside Docker
To make running the program easier, run `runDocker.sh`. If permission is denied run `chmod +x runDocker.sh` first.
```
./runDocker.sh
```
After that you will enter the docker terminal. Run the command below to calibrating camera.
```
python src/calibration.py \
--image_dir ./demo/data02 \
--image_format jpeg \
--prefix M30_ \
--square_size 0.025 \
--width 9 \
--height 6 \
--save_file M30_calibration.yml
```
## Reference
- [Calibration OpenCV Docs](https://docs.opencv.org/3.4/dc/dbb/tutorial_py_calibration.html)
- [aliyasineser/stereoDepth](https://github.com/aliyasineser/stereoDepth)