registration_stereo.py 文件源码

def rgb_calib_callback(self,data):
        try:
            self.rgb_img = self.br.imgmsg_to_cv2(data, "bgr8")
        except CvBridgeError as e:
            print(e)

        gray = cv2.cvtColor(self.rgb_img,cv2.COLOR_BGR2GRAY)
        rgb_ret, rgb_corners = cv2.findChessboardCorners(gray, (y_num,x_num),None)

        cv2.imshow('rgb_img',self.rgb_img)
        cv2.waitKey(5)
        if rgb_ret == True:
            rgb_tempimg = self.rgb_img.copy()
            cv2.cornerSubPix(gray,rgb_corners,(11,11),(-1,-1),criteria)            
            cv2.drawChessboardCorners(rgb_tempimg, (y_num,x_num), rgb_corners,rgb_ret)

            rgb_stream = open("/home/chentao/kinect_calibration/rgb_camera_corners.yaml", "w")
            data = {'corners':rgb_corners.tolist()}
            yaml.dump(data, rgb_stream)

            cv2.imshow('rgb_img',rgb_tempimg)
            cv2.waitKey(5)