calibrate.py 文件源码

def find_points(images):
    pattern_size = (9, 6)
    obj_points = []
    img_points = []

    # Assumed object points relation
    a_object_point = np.zeros((PATTERN_SIZE[1] * PATTERN_SIZE[0], 3),
                              np.float32)
    a_object_point[:, :2] = np.mgrid[0:PATTERN_SIZE[0],
                                     0:PATTERN_SIZE[1]].T.reshape(-1, 2)

    # Termination criteria for sub pixel corners refinement
    stop_criteria = (cv.TERM_CRITERIA_EPS + cv.TERM_CRITERIA_MAX_ITER,
                     30, 0.001)

    print('Finding points ', end='')
    debug_images = []
    for (image, color_image) in images:
        found, corners = cv.findChessboardCorners(image, PATTERN_SIZE, None)
        if found:
            obj_points.append(a_object_point)
            cv.cornerSubPix(image, corners, (11, 11), (-1, -1), stop_criteria)
            img_points.append(corners)

            print('.', end='')
        else:
            print('-', end='')

        if DEBUG:
            cv.drawChessboardCorners(color_image, PATTERN_SIZE, corners, found)
            debug_images.append(color_image)

        sys.stdout.flush()

    if DEBUG:
        display_images(debug_images, DISPLAY_SCALE)

    print('\nWas able to find points in %s images' % len(img_points))
    return obj_points, img_points


# images is a lis of tuples: (gray_image, color_image)