83 lines
2.4 KiB
C++
83 lines
2.4 KiB
C++
#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：角点检测函数*/
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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：圆形网格函数*/
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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：二维码标定板角点函数*/
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void detectCharucoCorners(const cv::Mat& img,
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const cv::Size& patternSize,
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float sqSize,
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float mkSize,
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std::vector<int>& markerIds,
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std::vector<std::vector<cv::Point2f> >& markerCorners,
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std::vector<int>& charucoIds,
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std::vector<cv::Point2f>& charucoCorners);
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/*Breif：棋盘格单目相机标定函数*/
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void monocularCalibration_chessboard(
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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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/*Breif：二维码标定板单目相机标定函数*/
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void monocularCalibration_charuco(
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std::vector<std::vector<int>>& charucoIds,
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std::vector<std::vector<cv::Point2f>>& charucoCorners,
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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: 拟合棋盘格角点平面*/
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void fitChessboardPlane_chessboard(
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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: 拟合二维码标定板角点平面*/
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void fitChessboardPlane_charuco(
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std::vector<int>& charucoIds,
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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: 激光线检测函数*/
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std::vector<cv::Point2f> detectLaserLine(
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const cv::Mat& inputImage);
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/*Breif: 根据棋盘格平面和2d坐标计算3d值*/
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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, // 相机内参K
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const cv::Mat& distCoeffs); // 畸变系数D
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/*Breif: 拟合平面方程*/
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cv::Vec4f fitPlaneToPoints(const std::vector<cv::Point3f>& points);
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