detect_calibration_pattern.h

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
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 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef _DETECT_CALIBRATION_PATTERN_
#define _DETECT_CALIBRATION_PATTERN_

#include <opencv2/core/core.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>

#include <Eigen/Dense>
#include <Eigen/Geometry> 
#include <Eigen/StdVector>

#include <iostream>
#include <stdexcept>

using namespace std;

enum Pattern
{
  CHESSBOARD, CIRCLES_GRID, ASYMMETRIC_CIRCLES_GRID
};

typedef std::vector<cv::Point3f> object_pts_t;
typedef std::vector<cv::Point2f> observation_pts_t;

void convertCVtoEigen(cv::Mat& tvec, cv::Mat& R, Eigen::Vector3f& translation, Eigen::Quaternionf& orientation);

class PatternDetector
{
public:
  PatternDetector() { }

  static object_pts_t calcChessboardCorners(cv::Size boardSize, float squareSize, Pattern patternType = CHESSBOARD,
                                            cv::Point3f offset = cv::Point3f());

  int detectPattern(cv::Mat& image_in, Eigen::Vector3f& translation, Eigen::Quaternionf& orientation,
                    cv::Mat& image_out);

  void setCameraMatrices(cv::Matx33d K_, cv::Mat D_);

  void setPattern(cv::Size grid_size_, float square_size_, Pattern pattern_type_, cv::Point3f offset_ = cv::Point3f());

public:
  cv::Matx33d K;
  cv::Mat D;
  cv::Mat rvec, tvec, R;

  Pattern pattern_type;
  cv::Size grid_size;
  float square_size;
  object_pts_t ideal_points;
};

#endif