camAlgo/camCalib/sourceCode/MonoLaserCalibrate.h

#pragma once

#include <opencv2/opencv.hpp>
#include <vector>

#define ENABLE_FISH_EYE     0
#define ENABLE_DEBUG        1
#define ENABLE_GEN_IMAGE    0

/*Breif<69><66><EFBFBD>ǵ<EFBFBD><C7B5><EFBFBD><EFBFBD>⺯<EFBFBD><E2BAAF>*/
void detectCorners(const cv::Mat& img,
    const cv::Size& patternSize,
    std::vector<cv::Point2f>& corners);

/*Breif<69><66>Բ<EFBFBD><D4B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>*/
void detectCirclePoints(const cv::Mat& img,
    const cv::Size& patternSize,
    std::vector<cv::Point2f>& corners);

/*Breif<69><66><EFBFBD><EFBFBD>ά<EFBFBD><CEAC><EFBFBD>궨<EFBFBD><EAB6A8><EFBFBD>ǵ㺯<C7B5><E3BAAF>*/
void detectCharucoCorners(const cv::Mat& img,
    const cv::Size& patternSize,
    float sqSize,
    float mkSize,
    std::vector<int>& markerIds,
    std::vector<std::vector<cv::Point2f> >& markerCorners,
    std::vector<int>& charucoIds,
    std::vector<cv::Point2f>& charucoCorners);

/*Breif<69><66><EFBFBD><EFBFBD><EFBFBD≯<EFBFBD><CCB8><EFBFBD>Ŀ<EFBFBD><C4BF><EFBFBD><EFBFBD><EFBFBD>궨<EFBFBD><EAB6A8><EFBFBD><EFBFBD>*/
void monocularCalibration_chessboard(
    const std::vector<std::vector<cv::Point2f>>& imagePoints,
    const cv::Size& imageSize,
    const cv::Size& patternSize,
    const float squareSize,
    cv::Mat& cameraMatrix,
    cv::Mat& distCoeffs,
    std::vector<double>& reprojectionError);

/*Breif<69><66><EFBFBD><EFBFBD>ά<EFBFBD><CEAC><EFBFBD>궨<EFBFBD>嵥Ŀ<E5B5A5><C4BF><EFBFBD><EFBFBD><EFBFBD>궨<EFBFBD><EAB6A8><EFBFBD><EFBFBD>*/
void monocularCalibration_charuco(
    std::vector<std::vector<int>>& charucoIds,
    std::vector<std::vector<cv::Point2f>>& charucoCorners,
    const cv::Size& imageSize,
    const cv::Size& patternSize,
    const float squareSize,
    cv::Mat& cameraMatrix,
    cv::Mat& distCoeffs,
    std::vector<double>& reprojectionError);

/*Brief: <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD≯<EFBFBD><CCB8>ǵ<EFBFBD>ƽ<EFBFBD><C6BD>*/
void fitChessboardPlane_chessboard(
    std::vector<cv::Point2f>& corners,
    const cv::Mat& cameraMatrix,
    const cv::Mat& distCoeffs,
    const cv::Size& patternSize,
    const float squareSize,
    cv::Vec4f& planeEquation);

/*Brief: <20><><EFBFBD>϶<EFBFBD>ά<EFBFBD><CEAC><EFBFBD>궨<EFBFBD><EAB6A8><EFBFBD>ǵ<EFBFBD>ƽ<EFBFBD><C6BD>*/
void fitChessboardPlane_charuco(
    std::vector<int>& charucoIds,
    std::vector<cv::Point2f>& corners,
    const cv::Mat& cameraMatrix,
    const cv::Mat& distCoeffs,
    const cv::Size& patternSize,
    const float squareSize,
    cv::Vec4f& planeEquation);

/*Brief: <20><><EFBFBD><EFBFBD><EFBFBD>߼<EFBFBD><DFBC>⺯<EFBFBD><E2BAAF>*/
std::vector<cv::Point2f> detectLaserLine(
    const cv::Mat& inputImage);

/*Breif: <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD≯<EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD>2d<32><64><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>3dֵ*/
std::vector<cv::Point3f> project2DTo3D(
    const std::vector<cv::Point2f>& imagePoints,
    const cv::Vec4f& planeEquation,  // [a,b,c,d] for ax+by+cz+d=0
    const cv::Mat& cameraMatrix,     // <20><><EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD>K
    const cv::Mat& distCoeffs);       // <20><><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5>D

/*Breif: <20><><EFBFBD><EFBFBD>ƽ<EFBFBD>淽<EFBFBD><E6B7BD>*/
cv::Vec4f fitPlaneToPoints(const std::vector<cv::Point3f>& points);