ChessBoardCalibration.py

import numpy as np
import cv2
import glob
import matplotlib.pyplot as plt

# prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0)
objp = np.zeros((6*8, 3), np.float32)
objp[:, :2] = np.mgrid[0:8, 0:6].T.reshape(-1, 2)

# Arrays to store object points and image points from all the images.
objpoints = [] # 3d points in real world space
imgpoints = [] # 2d points in image plane.

# Make a list of calibration images
images = glob.glob('calibration_wide/GO*.jpg')

# Step through the list and search for chessboard corners
for idx, fname in enumerate(images):
    img = cv2.imread(fname)
    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)

    # Find the chessboard corners
    ret, corners = cv2.findChessboardCorners(gray, (8,6), None)

    # If found, add object points, image points
    if ret == True:
        objpoints.append(objp)
        imgpoints.append(corners)

        # Draw and display the corners
        cv2.drawChessboardCorners(img, (8,6), corners, ret)
        # cv2.imshow('img', img)
        # cv2.waitKey(0)

cv2.destroyAllWindows()
testing_image = cv2.imread('./calibration_wide/test_image.jpg')
cv2.imshow('DISTORTED IMAGE', testing_image)
cv2.waitKey(0)
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)
dst = cv2.undistort(testing_image, mtx, dist, None, mtx)
cv2.imshow('UNDISTORTED IMAGE', dst)
cv2.waitKey(0)