00001 #ifndef aruco_SUBPIXELCORNER_HPP 00002 #define aruco_SUBPIXELCORNER_HPP 00003 00004 #include <opencv2/core/core.hpp> // Basic OpenCV structures (cv::Mat) 00005 00006 namespace aruco { 00007 00008 class SubPixelCorner { 00009 private: 00010 int _winSize; 00011 int _apertureSize; 00012 cv::TermCriteria _term; 00013 double eps; 00014 cv::Mat mask; 00015 int _max_iters; 00016 00017 public: 00018 bool enable; 00019 SubPixelCorner(); 00020 00021 void checkTerm(); 00022 00023 double pointDist(cv::Point2f estimate_corner, cv::Point2f curr_corner); 00024 00026 void RefineCorner(cv::Mat image, std::vector< cv::Point2f > &corners); 00027 00028 // function to generate the mask 00029 void generateMask(); 00030 }; 00031 } 00032 00033 #endif // SUBPIXELCORNER_HPP