adding directories, code will follow as testing is completed

README.md

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+

contributors.txt

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+

undistort/undistort.py

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+#!/bin/python
+import numpy as np
+import cv2
+import glob
+
+grid_size = [8,8]
+
+#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),(2,00),...,(6,5,0)
+objp = np.zeros((grid_size[0]*grid_size[1],3),np.float32)
+objp[:,:,2] = np.mgrid[0:grid_size[0],0:grid_size[1]].T.reshape(-1,2)
+
+objpoints = []#3D real space points 
+imgpoints = []#2D image plane points
+
+images = glob.glob('*.jpg')
+
+for filename in images:
+   img = cv2.imread(filename)
+   grey = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
+
+   #find chessboard corners
+   ret,corners = cv2.findChessboardCorners(gray,
+   (grid_size[0],grid_size[1]),
+   None)
+
+   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,(grid_size[0],grid_size[1]),corners2,ret)
+       cv2.imshow(img)
+       cv2.waitKet(500);
+cv2.destroyAllWindows()
+
+ret,mtx,dist,rvecs,tvecs = cv2.calibrateCamera(objpoints,
+imgpoints,
+gray.shape[::-1],
+None,
+None)
+
+img = cv2.imread('00001.jpg')
+h,w = img.shape[:2]
+newcameramtx, roi = cv2.getOptimalNewCameraMatrix(mtx,dist,(w,h),1,(w,h))
+
+#undistort
+mapx,mapy = cv2.initUndistortRectifyMap(mtx,dist,None,newcameramtx,(w,h),5)
+dst = cv2.remap(img,mapx,mapy,cv2.INTER_LINEAR)
+
+#crop the image
+x,y,w,h = roi
+dst = dst[y:y+h,x:x+w]
+cv2.imwrite('calibrated_image.jpg',dst)
+
+np.savetxt('camera_matrix.txt',mtx)
+np.savetxt('distortion_coefficients.txt',dist)
+np.savetxt('rotation_vectors.txt',rvecs)
+np.savetxt('translation_vectors.txt',tvecs)
+
+print "Camera calibration Complete"
+print "Matrix information saved in .txt format"