63 lines
2.1 KiB
C++
63 lines
2.1 KiB
C++
////////////////////////////////////////////////////////////////////////////////
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//
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// Paella
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// Copyright (C) 2015 - Thomas FORGIONE, Emilie JALRAS, Marion LENFANT, Thierry MALON, Amandine PAILLOUX
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// Authors :
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// Thomas FORGIONE
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// Emilie JALRAS
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// Marion LENFANT
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// Thierry MALON
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// Amandine PAILLOUX
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// Simone GASPARINI
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//
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// This file is part of the project Paella
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// This software is provided 'as-is', without any express or implied warranty.
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// In no event will the authors be held liable for any damages arising from the use of this software.
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//
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// Permission is granted to anyone to use this software for any purpose,
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// including commercial applications, and to alter it and redistribute it freely,
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// subject to the following restrictions:
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//
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// 1. The origin of this software must not be misrepresented;
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// you must not claim that you wrote the original software.
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// If you use this software in a product, an acknowledgment
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// in the product documentation would be appreciated but is not required.
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//
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// 2. Altered source versions must be plainly marked as such,
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// and must not be misrepresented as being the original software.
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//
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// 3. This notice may not be removed or altered from any source distribution.
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////////////////////////////////////////////////////////////////////////////////
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#include "Camera.hpp"
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#include "utility.hpp"
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/**
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* \ingroup calibration
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* \brief Class that wraps a chessboard detector and compute the pose mat
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*/
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class ChessboardCameraTracker
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{
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public:
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/**
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* \brief Default constructor
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*/
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ChessboardCameraTracker() = default;
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/**
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* It detects a chessboard inside an image and if found it returns the pose of the camera wrt the chessboard
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*
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* @param[in,out] img the original image
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* @param[out] pose the pose of the camera
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* @param[in] cam the camera
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* @param[in] boardSize the size of the chessboard to detect
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* @return true if the chessboard has been found
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*/
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bool process( cv::Mat &img, cv::Mat &pose, const Camera & cam, const cv::Size &boardSize);
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};
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#endif /*_CHESSBOARDCAMERATRACKER_HPP_*/
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