calibrator.py 文件源码

def _get_circles(img, board, pattern):
    """
    Get circle centers for a symmetric or asymmetric grid
    """
    h = img.shape[0]
    w = img.shape[1]
    if len(img.shape) == 3 and img.shape[2] == 3:
        mono = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
    else:
        mono = img

    flag = cv2.CALIB_CB_SYMMETRIC_GRID
    if pattern == Patterns.ACircles:
        flag = cv2.CALIB_CB_ASYMMETRIC_GRID
    mono_arr = numpy.array(mono)
    (ok, corners) = cv2.findCirclesGrid(mono_arr, (board.n_cols, board.n_rows), flags=flag)

    # In symmetric case, findCirclesGrid does not detect the target if it's turned sideways. So we try
    # again with dimensions swapped - not so efficient.
    # TODO Better to add as second board? Corner ordering will change.
    if not ok and pattern == Patterns.Circles:
        (ok, corners) = cv2.findCirclesGrid(mono_arr, (board.n_rows, board.n_cols), flags=flag)

    return (ok, corners)


# TODO self.size needs to come from CameraInfo, full resolution