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((6*8,3), np.float32)
objp[:,:2] = np.mgrid[0:6,0:8].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.

cap = cv2.VideoCapture('tests/MVI_1533.MOV')
images = glob.glob('*.jpg')

for i in range(0, 800):
    ret,img = cap.read()
    if not ret:
        break
    if i%20 != 0:
        continue
    #img = cv2.imread(fname)
    gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
    #cv2.imshow('img', gray)
    #cv2.waitKey(100)

    # Find the chess board corners
    ret, corners = cv2.findChessboardCorners(gray, (6, 8), None, cv2.CALIB_CB_ADAPTIVE_THRESH)

    # If found, add object points, image points (after refining them)
    if ret == True:
        objpoints.append(objp)

        corners2 = corners #cv2.cornerSubPix(gray,corners,(11,11),(-1,-1),criteria)
        imgpoints.append(corners2)

        # Draw and display the corners
        cv2.drawChessboardCorners(img, (7,6), corners2,ret)
        cv2.imshow('img', img)
        cv2.waitKey(500)

ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)
print "Calibration matrix: "
print mtx
print "Distortion coefficients: "
print dist
np.save('calib_mtx', mtx)
np.save('calib_dist', dist)
cv2.destroyAllWindows()