52 lines
1.5 KiB
C
52 lines
1.5 KiB
C
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#pragma once
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#include <opencv2/opencv.hpp>
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#include <vector>
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#define ENABLE_FISH_EYE 0
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#define ENABLE_DEBUG 1
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#define ENABLE_GEN_IMAGE 0
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/*Breif<69><66><EFBFBD>ǵ<EFBFBD><C7B5><EFBFBD><EFBFBD>⺯<EFBFBD><E2BAAF>*/
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void detectCorners(const cv::Mat& img,
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const cv::Size& patternSize,
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std::vector<cv::Point2f>& corners);
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/*Breif<69><66>Բ<EFBFBD><D4B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>*/
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void detectCirclePoints(const cv::Mat& img,
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const cv::Size& patternSize,
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std::vector<cv::Point2f>& corners);
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/*Breif<69><66><EFBFBD><EFBFBD>Ŀ<EFBFBD><C4BF><EFBFBD><EFBFBD><EFBFBD>궨<EFBFBD><EAB6A8><EFBFBD><EFBFBD>*/
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void monocularCalibration(
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const std::vector<std::vector<cv::Point2f>>& imagePoints,
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const cv::Size& imageSize,
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const cv::Size& patternSize,
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const float squareSize,
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cv::Mat& cameraMatrix,
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cv::Mat& distCoeffs,
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std::vector<double>& reprojectionError);
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/*Brief: <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD≯<EFBFBD><CCB8>ǵ<EFBFBD>ƽ<EFBFBD><C6BD>*/
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void fitChessboardPlane(
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const std::vector<cv::Point2f>& corners,
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const cv::Mat& cameraMatrix,
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const cv::Mat& distCoeffs,
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const cv::Size& patternSize,
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const float squareSize,
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cv::Vec4f& planeEquation);
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/*Brief: <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><DFBC>⺯<EFBFBD><E2BAAF>*/
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std::vector<cv::Point2f> detectLaserLine(
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const cv::Mat& inputImage);
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/*Breif: <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD≯<EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD>2d<32><64><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>3dֵ*/
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std::vector<cv::Point3f> project2DTo3D(
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const std::vector<cv::Point2f>& imagePoints,
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const cv::Vec4f& planeEquation, // [a,b,c,d] for ax+by+cz+d=0
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const cv::Mat& cameraMatrix, // <20><><EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD>K
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const cv::Mat& distCoeffs); // <20><><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5>D
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/*Breif: <20><><EFBFBD><EFBFBD>ƽ<EFBFBD>淽<EFBFBD><E6B7BD>*/
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cv::Vec4f fitPlaneToPoints(const std::vector<cv::Point3f>& points);
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