41 lines
1.0 KiB
C++
41 lines
1.0 KiB
C++
#pragma once
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#include "SG_algo_Export.h"
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#include <vector>
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#include <opencv2/opencv.hpp>
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typedef struct
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{
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cv::Size patternSize; //3x3 mark
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float checkerSize; //60mm
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float markerSize; //45mm
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int dictType; //1: DICT_6x6
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}SWD_BQ_CharucoMarkInfo;
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typedef struct
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{
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int totalBoardNum; //mark数量
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int boardIdInterval; //每块Mark的charuco码的间隔。比如第一块从0开始，第二块从8开始，间隔为8
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int boardChaucoIDNum; //每块Mark的charuco码的数量。对于3x3的charuco, 二维码的个数为4
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}SWD_BQ_MarkBoardInfo;
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//读版本号
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SG_APISHARED_EXPORT const char* wd_charuco3DMarkVersion(void);
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//提取查科Mark3D信息
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SG_APISHARED_EXPORT void wd_BQ_getCharuco3DMark(
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cv::Mat& leftImage,
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cv::Mat& rightImage,
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cv::Mat& cameraMatrixL,
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cv::Mat& distCoeffsL,
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cv::Mat& cameraMatrixR,
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cv::Mat& distCoeffsR,
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cv::Mat& R1,
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cv::Mat& R2,
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cv::Mat& P1,
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cv::Mat& P2,
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cv::Mat& Q,
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SWD_BQ_CharucoMarkInfo markInfo,
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SWD_BQ_MarkBoardInfo boardInfo,
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double disparityOffset,
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std::vector<SWD_charuco3DMark>& marks); |