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tools/wpical/src/main/native/include/cameracalibration.h

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <fstream>
+#include <string>
+#include <vector>
+
+#include <Eigen/Core>
+#include <wpi/json.h>
+
+namespace cameracalibration {
+struct CameraModel {
+  Eigen::Matrix<double, 3, 3> intrinsic_matrix;
+  Eigen::Matrix<double, 8, 1> distortion_coefficients;
+  double avg_reprojection_error;
+};
+
+int calibrate(const std::string& input_video, CameraModel& camera_model,
+              float square_width, float marker_width, int board_width,
+              int board_height, bool show_debug_window);
+int calibrate(const std::string& input_video, CameraModel& camera_model,
+              float square_width, float marker_width, int board_width,
+              int board_height, double imagerWidthPixels,
+              double imagerHeightPixels, bool show_debug_window);
+int calibrate(const std::string& input_video, CameraModel& camera_model,
+              float square_width, int board_width, int board_height,
+              double imagerWidthPixels, double imagerHeightPixels,
+              bool show_debug_window);
+static void dumpJson(CameraModel& camera_model,
+                     const std::string& output_file_path) {
+  std::vector<double> camera_matrix(camera_model.intrinsic_matrix.data(),
+                                    camera_model.intrinsic_matrix.data() +
+                                        camera_model.intrinsic_matrix.size());
+  std::vector<double> distortion_coefficients(
+      camera_model.distortion_coefficients.data(),
+      camera_model.distortion_coefficients.data() +
+          camera_model.distortion_coefficients.size());
+
+  wpi::json result = {
+      {"camera_matrix", camera_matrix},
+      {"distortion_coefficients", distortion_coefficients},
+      {"avg_reprojection_error", camera_model.avg_reprojection_error}};
+
+  std::ofstream output_file(output_file_path);
+  output_file << result.dump(4) << std::endl;
+  output_file.close();
+}
+}  // namespace cameracalibration