import numpy as np
import cv2
import glob
# 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), (2,0,0) ....,(6,5,0)
objp = np.zeros((5*3,3), np.float32)
objp[:,:2] = np.mgrid[0:5,0:3].T.reshape(-1,2)
# Arrays to store object points and image points from all the images.
objpoints = [] # 3d point in real world space
imgpoints = [] # 2d points in image plane.
images = glob.glob('E:/3Drebuild/newfolder/newfolder/*.jpg')
for fname in images:
img = cv2.imread(fname)
gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
# Find the chess board corners
ret, corners = cv2.findChessboardCorners(gray, (5,3),None)
# If found, add object points, image points (after refining them)
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, (5,3), corners2,ret)
cv2.imshow('img',img)
cv2.waitKey(500)
cv2.destroyAllWindows()
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1],None,None)
'''
error: OpenCV(3.4.7) C:\projects\opencv-python\opencv\modules\calib3d\src\calibration.cpp:3120: error: (-215:Assertion failed) nimages > 0 && nimages == (int)imagePoints1.total() && (!imgPtMat2 || nimages == (int)imagePoints2.total()) in function 'cv::collectCalibrationData'
一定是因为objp = np.zeros((5*3,3), np.float32)
objp[:,:2] = np.mgrid[0:5,0:3].T.reshape(-1,2)
个数不对，因为默认是7*6，要记住修改
