DUOCalibrator.py 文件源码

def extract_checkerboard_and_draw_corners(self, image, chbrd_size):
        image = CvBridge().imgmsg_to_cv2(image, 'mono8')
        image_color = cv2.cvtColor(image, cv2.COLOR_GRAY2BGR)
        ret, corners = cv2.findChessboardCorners(image_color, chbrd_size)

        if not ret:
            cv2.putText(image_color, 'Checkerboard not found', (0, self.res_height - 5), cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 0, 255))

        cv2.drawChessboardCorners(image_color, chbrd_size, corners, ret)

        return ret, corners, image_color