def main(camindex = 0, capture_width = 800, capture_height = 600, chessboard_width = 9, chessboard_height = 6, planemode = False, gridsize = 0.029, calibrationFile = "default"):
global save_location
if planemode:
mode = 7
else:
mode = 0
dims = (chessboard_width, chessboard_height)
cam = Camera(camindex, prop_set = { "width": capture_width, "height": capture_height })
d = Display((capture_width, capture_height))
save_location = "" #change this if you want to save your calibration images
calibration_set = [] #calibration images
fc_set = []
introMessage()
while not d.isDone():
time.sleep(0.01)
i = cam.getImage().flipHorizontal()
cb = i.findChessboard(dims, subpixel = False)
if cb:
cb = cb[0]
elif mode != 6:
showText(i, "Put a chessboard in the green outline")
if mode == 0: #10 pictures, chessboard filling 80% of the view space
findLargeFlat(cb, i, calibration_set, dims)
if (len(calibration_set) == 10):
mode = 1
elif mode == 1: #5 pictures, chessboard filling 60% of screen, at 45 deg horiz
findHorizTilted(cb, i, calibration_set, dims)
if (len(calibration_set) == 15):
mode = 2
elif mode == 2: #5 pictures, chessboard filling 60% of screen, at 45 deg vert
findVertTilted(cb, i, calibration_set, dims)
if (len(calibration_set) == 20):
mode = 3
elif mode == 3: #5 pictures, chessboard filling 40% of screen, corners at 45
findCornerTilted(cb, i, calibration_set, dims)
if (len(calibration_set) == 25):
mode = 4
elif mode == 4: #10 pictures, chessboard filling 12% - 25% of view space
findSmallFlat(cb, i, calibration_set, dims)
if (len(calibration_set) == 35):
mode = 5
elif mode == 5:
cam.calibrate(calibration_set, gridsize, dims)
cam.saveCalibration(calibrationFile)
mode = 6
elif mode == 6:
showText(i, "Saved calibration to " + calibrationFile)
elif mode == 7:
findPlane(cb, i, calibration_set, dims)
if (len(calibration_set) == 25):
mode = 5
if cb:
cb.draw()
i.save(d)