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45 lines
2.6 KiB
Plaintext
45 lines
2.6 KiB
Plaintext
#ifndef __THERMO_H__
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#define __THERMO_H__
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#if (CV_MAJOR_VERSION == 2) && (CV_MINOR_VERSION < 2)
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#include <opencv/cv.h>
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#include <opencv/highgui.h>
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#else
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#include <opencv2/opencv.hpp>
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#endif
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//#include <opencv2/highgui.hpp>
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#include <string>
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#include <slam6d/scan.h>
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using namespace std;
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//typedef vector<vector<float> > Float2D[1200][1600];
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typedef vector<vector<float> > Float2D[2592][3888];
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void calcBoard(double point_array[][2], int board_n, double &x, double &y, double &cx, double &cy, bool pc);
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void sortBlobs(double point_array[][2], int board_n, int board_h, int board_w, bool quiet);
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IplImage* detectBlobs(IplImage *org_image, int &corner_exp, int board_h, int board_w, bool quiet, double point_array2[][2]);
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void drawLines(double point_array2[][2], int corner_exp, IplImage *image, bool color=false);
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IplImage* resizeImage(IplImage *source, int scale);
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IplImage* detectCorners(IplImage *orgimage, int &corner_exp, int board_h, int board_w, bool quiet, double point_array2[][2], int scale=1);
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void CalibFunc(int board_w, int board_h, int start, int end, bool optical, bool chess, bool quiet, string dir, int scale=1);
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void writeCalibParam(int images, int corner_exp, int board_w, CvMat* image_points, CvSize size, string dir);
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void loadIntrinsicCalibration(CvMat * intrinsic, CvMat * distortion, string dir, bool optical=false) ;
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void loadExtrinsicCalibration(CvMat * Translation, CvMat * Rotation, string dir, int method, bool optical=false) ;
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void ProjectAndMap(int start, int end, bool optical, bool quiet, string dir,
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IOType type, int scale, double rot_angle, double minDist, double maxDist,
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bool correction, int neighborhood, int method=0);
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bool readPoints(string filename, CvPoint3D32f *corners, int size) ;
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void sortElementByElement(CvMat * vectors, int nr_elems, int nr_vectors);
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void calculateExtrinsicsWithReprojectionCheck(CvMat * points2D, CvMat *
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points3D, CvMat * rotation_vectors_temp, CvMat * translation_vectors_temp, CvMat
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* distortions, CvMat * instrinsics, int corners, int successes, string dir, bool quiet=true, string substring = "") ;
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void calculateExtrinsics(CvMat * rotation_vectors_temp, CvMat * translation_vectors_temp, int successes, string dir, bool quiet=true, string substring = "") ;
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void CorrectErrorAndWrite(Float2D &data, fstream &outfile, CvSize size, bool optical);
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void clusterSearch(float ** points, int size, double thresh1, double thresh2, fstream &outfile, bool optical);
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void sortDistances(float ** points, int size);
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void ExtrCalibFunc(int board_w, int board_h, int start, int end, bool optical, bool chess, bool quiet, string dir, int scale=1);
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#endif
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