python类CALIB_CB_ASYMMETRIC_GRID的实例源码

def update(self,frame,events):
        if self.collect_new:
            img = frame.img
            status, grid_points = cv2.findCirclesGrid(img, (4,11), flags=cv2.CALIB_CB_ASYMMETRIC_GRID)
            if status:
                self.img_points.append(grid_points)
                self.obj_points.append(self.obj_grid)
                self.collect_new = False
                self.count -=1
                self.button.status_text = "{:d} to go".format(self.count)


        if self.count<=0 and not self.calculated:
            self.calculate()
            self.button.status_text = ''

        if self.window_should_close:
            self.close_window()

        if self.show_undistortion:

            adjusted_k,roi = cv2.getOptimalNewCameraMatrix(cameraMatrix= self.camera_intrinsics[0], distCoeffs=self.camera_intrinsics[1], imageSize=self.camera_intrinsics[2], alpha=0.5,newImgSize=self.camera_intrinsics[2],centerPrincipalPoint=1)
            self.undist_img = cv2.undistort(frame.img, self.camera_intrinsics[0], self.camera_intrinsics[1],newCameraMatrix=adjusted_k)

def circle_grid(image, pattern_size=(4,11)):
    """Circle grid: finds an assymetric circle pattern
    - circle_id: sorted from bottom left to top right (column first)
    - If no circle_id is given, then the mean of circle positions is returned approx. center
    - If no pattern is detected, function returns None
    """
    status, centers = cv2.findCirclesGridDefault(image, pattern_size, flags=cv2.CALIB_CB_ASYMMETRIC_GRID)
    if status:
        return centers
    else:
        return None

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

def _findAsymmetricCircles(self):
        return self._findSymmetricCircles(flags=cv2.CALIB_CB_ASYMMETRIC_GRID)