opencv/python标定时用到的几个函数意义

①criteria：迭代停止的模式选择，这是一个含有三个元素的元组型数。格式为（type,max_iter,epsilon）
其中，type又有两种选择：
—–cv2.TERM_CRITERIA_EPS :精确度（误差）满足epsilon停止。
—- cv2.TERM_CRITERIA_MAX_ITER：迭代次数超过max_iter停止。
—-cv2.TERM_CRITERIA_EPS+cv2.TERM_CRITERIA_MAX_ITER，两者合体，任意一个满足结束
②

如果对角点的精度有更高的要求，可以用cornerSubPix()函数将角点定位到子像素，从而取得亚像素级别的角点检测效果

cv2.cornerSubPix(image, corners, winSize, zeroZone, criteria)

函数参数说明如下：

image：输入图像

corners：输入角点的初始坐标以及精准化后的坐标用于输出。

winSize：搜索窗口边长的一半，例如如果winSize=Size(5,5)，则一个大小为的搜索窗口将被使用。

 

zeroZone：搜索区域中间的dead region边长的一半，有时用于避免自相关矩阵的奇异性。如果值设为(-1,-1)则表示没有这个区域。
criteria：角点精准化迭代过程的终止条件。也就是当迭代次数超过criteria.maxCount，或者角点位置变化小于criteria.epsilon时，停止迭代过程。

③

Python:
retval, corners  =  cv.findChessboardCorners(image, patternSize, corners, flags)

Parameters

image	Source chessboard view. It must be an 8-bit grayscale or color image.
patternSize	Number of inner corners per a chessboard row and column ( patternSize = cvSize(points_per_row,points_per_colum) = cvSize(columns,rows)).
corners	Output array of detected corners.
flags	Various operation flags that can be zero or a combination of the following values: CALIB_CB_ADAPTIVE_THRESH Use adaptive thresholding to convert the image to black and white, rather than a fixed threshold level (computed from the average image brightness). CALIB_CB_NORMALIZE_IMAGE Normalize the image gamma with equalizeHist before applying fixed or adaptive thresholding. CALIB_CB_FILTER_QUADS Use additional criteria (like contour area, perimeter, square-like shape) to filter out false quads extracted at the contour retrieval stage. CALIB_CB_FAST_CHECK Run a fast check on the image that looks for chessboard corners, and shortcut the call if none is found. This can drastically speed up the call in the degenerate condition when no chessboard is observed.

④

numpy.zeros(shape, dtype=float, order='C')

Return a new array of given shape and type, filled with zeros.

Parameters:	shape : int or sequence of ints Shape of the new array, e.g., (2, 3) or 2. dtype : data-type, optional The desired data-type for the array, e.g., numpy.int8. Default is numpy.float64. order : {‘C’, ‘F’}, optional Whether to store multidimensional data in C- or Fortran-contiguous (row- or column-wise) order in memory.
Returns:	out : ndarray Array of zeros with the given shape, dtype, and order.

See also

zeros_like

Return an array of zeros with shape and type of input.

ones_like

Return an array of ones with shape and type of input.

empty_like

Return an empty array with shape and type of input.

ones

Return a new array setting values to one.

empty

Return a new uninitialized array.

⑤mgrid[ ]

⑥append（）

⑦destroyAllwindows()

⑧wait（）