Go to the documentation of this file.00001 #ifndef _DETECT_CALIBRATION_PATTERN_
00002 #define _DETECT_CALIBRATION_PATTERN_
00003
00004 #include <opencv2/core/core.hpp>
00005 #include <opencv2/calib3d/calib3d.hpp>
00006 #include <opencv2/calib3d/calib3d.hpp>
00007 #include <opencv2/highgui/highgui.hpp>
00008 #include <opencv2/imgproc/imgproc.hpp>
00009
00010 #include <Eigen/Dense>
00011 #include <Eigen/Geometry>
00012 #include <Eigen/StdVector>
00013
00014 #include <iostream>
00015 #include <stdexcept>
00016
00017 using namespace std;
00018
00019 enum Pattern
00020 {
00021 CHESSBOARD = 1, CIRCLES_GRID = 2, ASYMMETRIC_CIRCLES_GRID = 3
00022 };
00023
00024 typedef std::vector<cv::Point3f> object_pts_t;
00025 typedef std::vector<cv::Point2f> observation_pts_t;
00026
00027 void convertCVtoEigen(cv::Mat& tvec, cv::Mat& R, Eigen::Vector3f& translation, Eigen::Quaternionf& orientation);
00028
00029 class PatternDetector
00030 {
00031 public:
00032 PatternDetector() { }
00033
00034 static object_pts_t calcChessboardCorners(cv::Size boardSize,
00035 float squareSize,
00036 Pattern patternType = CHESSBOARD,
00037 cv::Point3f offset = cv::Point3f());
00038
00039 int detectPattern(cv::Mat& inm, Eigen::Vector3f& translation, Eigen::Quaternionf& orientation);
00040
00041 void setCameraMatrices(cv::Matx33d K_, cv::Matx33d D_);
00042
00043 void setPattern(cv::Size grid_size_, float square_size_,
00044 Pattern pattern_type_, cv::Point3f offset_ = cv::Point3f());
00045
00046 public:
00047 cv::Matx33d K;
00048 cv::Matx33d D;
00049 cv::Mat rvec, tvec, R;
00050
00051
00052
00053 Pattern pattern_type;
00054 cv::Size grid_size;
00055 float square_size;
00056 object_pts_t ideal_points;
00057 };
00058
00059 #endif