intrinsics.hpp

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#ifndef INTRINSICS_HPP
#define INTRINSICS_HPP

// Restrictive: CV_CALIB_FIX_K5 + CV_CALIB_FIX_K4 + CV_CALIB_FIX_K3 + CV_CALIB_FIX_K2 + CV_CALIB_FIX_PRINCIPAL_POINT + CV_CALIB_FIX_ASPECT_RATIO + CV_CALIB_ZERO_TANGENT_DIST
// Rational: CV_CALIB_RATIONAL_MODEL
// Conventional: 0
#define INTRINSICS_FLAGS 0 // CV_CALIB_RATIONAL_MODEL

#define ABSOLUTE_MAX_FRAMES_TO_STORE 1000
#define RADIAL_LENGTH 1000

#define MAX_BINS 768
#define MIN_BINS 12

//#include "cv_utils.hpp"
#include "improc.hpp"
#include "calibration.hpp"
#include "tools.hpp"

using namespace std;
using namespace cv;

void optimizeCalibrationSet(Size imSize,
                            cv::vector< cv::vector<Point2f> >& candidatePatterns,
                            cv::vector< cv::vector<Point2f> >& testPatterns,
                            cv::vector<Point3f> row,
                            cv::vector<int>& selectedTags,
                            int selection = ENHANCED_MCM_OPTIMIZATION_CODE,
                            int num = 10,
                            bool debugMode = false,
                            bool removeSpatialBias = true,
                            bool generateFigure = false, 
                            bool useUndistortedLocations = true,
                            int intrinsicsFlags = INTRINSICS_FLAGS);

double calculateERE(Size imSize,
                    cv::vector<Point3f>& physicalPoints,
                    cv::vector< cv::vector<Point2f> >& corners,
                    const Mat& cameraMatrix,
                    const Mat& distCoeffs,
                    bool removeSpatialBias = true, 
                    bool generateFigure = false, 
                    bool useUndistortedLocations = true);


#endif