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 00009 class SubPixelCorner 00010 { 00011 private: 00012 int _winSize; 00013 int _apertureSize; 00014 cv::TermCriteria _term; 00015 double eps; 00016 cv::Mat mask; 00017 int _max_iters; 00018 public: 00019 bool enable; 00020 SubPixelCorner(); 00021 00022 void checkTerm(); 00023 00024 double pointDist(cv::Point2f estimate_corner,cv::Point2f curr_corner); 00025 00027 void RefineCorner(cv::Mat image,std::vector <cv::Point2f> &corners); 00028 00029 //function to generate the mask 00030 void generateMask(); 00031 00032 00033 }; 00034 00035 00036 00037 } 00038 00039 #endif // SUBPIXELCORNER_HPP