calibrate_dark_current.py 文件源码

def vio_sensor_cb(data):
    global cnt, active, imgs
    num_samples = 100  # number of image samples to take

    if cnt == num_samples and active:
        imgs['l'] /= num_samples
        imgs['r'] /= num_samples
        active = 0
        return

    left = np.float32(CvBridge().imgmsg_to_cv2(data.left_image, "mono8"))
    right = np.float32(CvBridge().imgmsg_to_cv2(data.right_image, "mono8"))

    if cnt == 0:
        imgs['l'] = left
        imgs['r'] = right
    else:
        cv2.accumulate(left, imgs['l'])
        cv2.accumulate(right, imgs['r'])

    cnt += 1