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