<reponame>Lavabar/obj_tracking
"""
Result - camera matric and distortion coeffs
"""

from __future__ import print_function
import numpy as np
import cv2
from common import splitfn
import os

if __name__ == '__main__':
    import sys
    import getopt
    from glob import glob

    img_mask = 'chess_images/*.jpg'
    square_size = 1.0

    img_names = glob(img_mask)

    pattern_size = (9, 6)
    pattern_points = np.zeros((np.prod(pattern_size), 3), np.float32)
    pattern_points[:, :2] = np.indices(pattern_size).T.reshape(-1, 2)
    pattern_points *= square_size

    obj_points = []
    img_points = []
    h, w = 0, 0
    img_names_undistort = []
    for fn in img_names:
        print(fn)
        img = cv2.imread(fn, 0)
        if img is None:
            print("Failed to load", fn)
            continue

        h, w = img.shape[:2]
        found, corners = cv2.findChessboardCorners(img, pattern_size)
        print(corners)
        if found:
            term = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_COUNT, 30, 0.1)
            cv2.cornerSubPix(img, corners, (5, 5), (-1, -1), term)

        if not found:
            print('chessboard not found')
            continue

        img_points.append(corners.reshape(-1, 2))
        obj_points.append(pattern_points)

        print('ok')

    rms, camera_matrix, dist_coefs, rvecs, tvecs = cv2.calibrateCamera(obj_points, img_points, (w, h), None, None)

    print("\nRMS:", rms)
    print("camera matrix:\n", camera_matrix)
    print("distortion coefficients: ", dist_coefs.ravel())

    cv2.destroyAllWindows()