41 lines
1.4 KiB
C++
41 lines
1.4 KiB
C++
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#ifndef CV_CHESSBOARDGENERATOR_H143KJTVYM389YTNHKFDHJ89NYVMO3VLMEJNTBGUEIYVCM203P
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#define CV_CHESSBOARDGENERATOR_H143KJTVYM389YTNHKFDHJ89NYVMO3VLMEJNTBGUEIYVCM203P
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#include "opencv2/calib3d/calib3d.hpp"
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namespace cv
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{
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class ChessBoardGenerator
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{
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public:
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double sensorWidth;
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double sensorHeight;
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size_t squareEdgePointsNum;
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double min_cos;
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mutable double cov;
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Size patternSize;
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int rendererResolutionMultiplier;
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ChessBoardGenerator(const Size& patternSize = Size(8, 6));
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Mat operator()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, vector<Point2f>& corners) const;
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Mat operator()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, const Size2f& squareSize, vector<Point2f>& corners) const;
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Mat operator()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, const Size2f& squareSize, const Point3f& pos, vector<Point2f>& corners) const;
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Size cornersSize() const;
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mutable vector<Point3f> corners3d;
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private:
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void generateEdge(const Point3f& p1, const Point3f& p2, vector<Point3f>& out) const;
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Mat generateChessBoard(const Mat& bg, const Mat& camMat, const Mat& distCoeffs,
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const Point3f& zero, const Point3f& pb1, const Point3f& pb2,
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float sqWidth, float sqHeight, const vector<Point3f>& whole, vector<Point2f>& corners) const;
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void generateBasis(Point3f& pb1, Point3f& pb2) const;
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Mat rvec, tvec;
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};
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};
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#endif
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