1 #ifndef CV_CHESSBOARDGENERATOR_H143KJTVYM389YTNHKFDHJ89NYVMO3VLMEJNTBGUEIYVCM203P 2 #define CV_CHESSBOARDGENERATOR_H143KJTVYM389YTNHKFDHJ89NYVMO3VLMEJNTBGUEIYVCM203P 3 4 #include "opencv2/calib3d.hpp" 5 6 namespace cv 7 { 8 9 class ChessBoardGenerator 10 { 11 public: 12 double sensorWidth; 13 double sensorHeight; 14 size_t squareEdgePointsNum; 15 double min_cos; 16 mutable double cov; 17 Size patternSize; 18 int rendererResolutionMultiplier; 19 20 ChessBoardGenerator(const Size& patternSize = Size(8, 6)); 21 Mat operator()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, std::vector<Point2f>& corners) const; 22 Mat operator()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, const Size2f& squareSize, std::vector<Point2f>& corners) const; 23 Mat operator()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, const Size2f& squareSize, const Point3f& pos, std::vector<Point2f>& corners) const; 24 Size cornersSize() const; 25 26 mutable std::vector<Point3f> corners3d; 27 private: 28 void generateEdge(const Point3f& p1, const Point3f& p2, std::vector<Point3f>& out) const; 29 Mat generateChessBoard(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, 30 const Point3f& zero, const Point3f& pb1, const Point3f& pb2, 31 float sqWidth, float sqHeight, const std::vector<Point3f>& whole, std::vector<Point2f>& corners) const; 32 void generateBasis(Point3f& pb1, Point3f& pb2) const; 33 34 Mat rvec, tvec; 35 }; 36 37 } 38 39 40 #endif 41
