calibration ipynb py: code tyding up

Author: jimin-kiim

calibration.ipynb

@@ -778,6 +778,109 @@
     "    cv.destroyAllWindows()\n",
     "    cv.waitKey(1000)"
    ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Code tyding up"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Are Chessboard corners detected:\n",
+      " True \n",
+      "\n",
+      "0.2789344851009926\n",
+      "Camera Matrix:\n",
+      " [[459.49635782   0.         462.98078123]\n",
+      " [  0.         425.93925902 332.55096499]\n",
+      " [  0.           0.           1.        ]] \n",
+      "\n",
+      "Distortion Coefficient:\n",
+      " [[-0.13575781  0.02472651  0.00342986  0.00018729 -0.00074961]] \n",
+      "\n",
+      "(array([[-0.07403562],\n",
+      "       [ 0.00389051],\n",
+      "       [ 0.07810778]]),) \n",
+      " (array([[-12.0383291 ],\n",
+      "       [-13.96143052],\n",
+      "       [ 20.05135661]]),)\n"
+     ]
+    }
+   ],
+   "source": [
+    "import cv2 as cv\n",
+    "import numpy as np\n",
+    "import matplotlib.pyplot as plt\n",
+    "\n",
+    "def showimg(windowname, img, atthelast = False):\n",
+    "    cv.imshow(windowname, img)\n",
+    "    cv.waitKey(0)\n",
+    "    cv.destroyAllWindows()\n",
+    "\n",
+    "    if atthelast:\n",
+    "        cv.waitKey(1000)\n",
+    "\n",
+    "\n",
+    "criteria = (cv.TERM_CRITERIA_EPS + cv.TERM_CRITERIA_MAX_ITER, 30, 0.001)\n",
+    "\n",
+    "W = 23\n",
+    "L = 31\n",
+    "\n",
+    "objp = np.zeros((W*L, 3), np.float32)\n",
+    "objp[:,:2] = np.mgrid[0:L,0:W].T.reshape(-1,2)\n",
+    "\n",
+    "objpoints = [] \n",
+    "imgpoints = [] \n",
+    "\n",
+    "imgname = 'camera_calib5.jpg'\n",
+    "imgpath = f'images/{imgname}'\n",
+    "\n",
+    "\n",
+    "img = cv.imread(imgpath)\n",
+    "showimg(imgname, img)\n",
+    "\n",
+    "grayscaledimg = cv.cvtColor(img, cv.COLOR_BGR2GRAY)\n",
+    "grayscaledimgtitle = imgname + \" grayscaled\"\n",
+    "showimg(grayscaledimgtitle, grayscaledimg)\n",
+    "\n",
+    "ret, corners = cv.findChessboardCorners(grayscaledimg, (L,W), None)\n",
+    "print(\"Are Chessboard corners detected:\\n\", ret, \"\\n\")\n",
+    "\n",
+    "if ret:\n",
+    "    objpoints.append(objp)\n",
+    "\n",
+    "    corners2 = cv.cornerSubPix(grayscaledimg, corners, (11, 11), (-1, -1), criteria)\n",
+    "    imgpoints.append(corners2)\n",
+    "\n",
+    "    cv.drawChessboardCorners(img, (L, W), corners2, ret)\n",
+    "    window_name = imgpath + ' with corner'\n",
+    "    showimg(window_name, img)\n",
+    "\n",
+    "    ret, mtx, dist, rvecs, tvecs = cv.calibrateCamera(objpoints, imgpoints, grayscaledimg.shape[::-1], None, None)\n",
+    "    print(ret)\n",
+    "    print(\"Camera Matrix:\\n\", mtx, \"\\n\")\n",
+    "    print(\"Distortion Coefficient:\\n\", dist, \"\\n\")\n",
+    "    print(rvecs, \"\\n\", tvecs)\n",
+    "\n",
+    "    h,  w = grayscaledimg.shape[:2]\n",
+    "    newcameramtx, roi = cv.getOptimalNewCameraMatrix(mtx, dist, (w,h), 1, (w,h))\n",
+    "\n",
+    "    dst = cv.undistort(grayscaledimg, mtx, dist, None, newcameramtx)\n",
+    "    \n",
+    "    x, y, w, h = roi\n",
+    "    dst = dst[y:y+h, x:x+w]\n",
+    "    outputpath = f\"output/{imgname}\"\n",
+    "    showimg(window_name, dst, True)"
+   ]
   }
  ],
  "metadata": {

calibration.py

@@ -2,6 +2,15 @@
 import numpy as np
 import matplotlib.pyplot as plt
 
+def showimg(windowname, img, atthelast = False):
+    cv.imshow(windowname, img)
+    cv.waitKey(0)
+    cv.destroyAllWindows()
+
+    if atthelast:
+        cv.waitKey(1000)
+
+
 criteria = (cv.TERM_CRITERIA_EPS + cv.TERM_CRITERIA_MAX_ITER, 30, 0.001)
 
 W = 23
@@ -15,32 +24,27 @@
 
 imgname = 'camera_calib5.jpg'
 imgpath = f'images/{imgname}'
+
+
 img = cv.imread(imgpath)
-cv.imshow(imgname, img)
-cv.waitKey(0)
-cv.destroyAllWindows()
+showimg(imgname, img)
 
 grayscaledimg = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
 grayscaledimgtitle = imgname + " grayscaled"
-cv.imshow(grayscaledimgtitle, grayscaledimg)
-cv.waitKey(0)
-cv.destroyAllWindows()
+showimg(grayscaledimgtitle, grayscaledimg)
 
 ret, corners = cv.findChessboardCorners(grayscaledimg, (L,W), None)
 print("Are Chessboard corners detected:\n", ret, "\n")
 
-if ret == True:
+if ret:
     objpoints.append(objp)
 
     corners2 = cv.cornerSubPix(grayscaledimg, corners, (11, 11), (-1, -1), criteria)
     imgpoints.append(corners2)
 
-    # Draw and display the corners
     cv.drawChessboardCorners(img, (L, W), corners2, ret)
     window_name = imgpath + ' with corner'
-    cv.imshow(window_name,img)
-    cv.waitKey(0)
-    cv.destroyAllWindows()
+    showimg(window_name, img)
 
     ret, mtx, dist, rvecs, tvecs = cv.calibrateCamera(objpoints, imgpoints, grayscaledimg.shape[::-1], None, None)
     print(ret)
@@ -56,8 +60,4 @@
     x, y, w, h = roi
     dst = dst[y:y+h, x:x+w]
     outputpath = f"output/{imgname}"
-    cv.imshow(window_name, dst)
-    cv.waitKey(0)
-
-    cv.destroyAllWindows()
-    cv.waitKey(1000)
+    showimg(window_name, dst, True)