calibrator.py 文件源码

def __init__(self, boards, flags=0, pattern=Patterns.Chessboard, name='', checkerboard_flags=cv2.CALIB_CB_FAST_CHECK):
        # Ordering the dimensions for the different detectors is actually a minefield...
        if pattern == Patterns.Chessboard:
            # Make sure n_cols > n_rows to agree with OpenCV CB detector output
            self._boards = [ChessboardInfo(max(i.n_cols, i.n_rows), min(i.n_cols, i.n_rows), i.dim) for i in boards]
        elif pattern == Patterns.ACircles:
            # 7x4 and 4x7 are actually different patterns. Assume square-ish pattern, so n_rows > n_cols.
            self._boards = [ChessboardInfo(min(i.n_cols, i.n_rows), max(i.n_cols, i.n_rows), i.dim) for i in boards]
        elif pattern == Patterns.Circles:
            # We end up having to check both ways anyway
            self._boards = boards

        # Set to true after we perform calibration
        self.calibrated = False
        self.calib_flags = flags
        self.checkerboard_flags = checkerboard_flags
        self.pattern = pattern
        self.br = cv_bridge.CvBridge()

        # self.db is list of (parameters, image) samples for use in calibration. parameters has form
        # (X, Y, size, skew) all normalized to [0,1], to keep track of what sort of samples we've taken
        # and ensure enough variety.
        self.db = []
        # For each db sample, we also record the detected corners.
        self.good_corners = []
        # Set to true when we have sufficiently varied samples to calibrate
        self.goodenough = False
        self.param_ranges = [0.7, 0.7, 0.4, 0.5]
        self.name = name

        self.accu_image = None