CVTrackedChessboard.h

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/**
 * \file      CVTrackedChessboard.h
 * \date      Winter 2016
 * \remarks   Please use clangformat to format the code. See more code style on
 *            https://github.com/cpvrlab/SLProject4/wiki/SLProject-Coding-Style
 * \authors   Marcus Hudritsch, Michael Goettlicher
 * \copyright http://opensource.org/licenses/GPL-3.0
*/
 
#ifndef CVCHESSBOARDTRACKER_H
#define CVCHESSBOARDTRACKER_H
 
/*
The OpenCV library version 3.4 or above with extra module must be present.
If the application captures the live video stream with OpenCV you have
to define in addition the constant APP_USES_CVCAPTURE.
All classes that use OpenCV begin with CV.
See also the class docs for CVCapture, CVCalibration and CVTracked
for a good top down information.
*/
 
#include <CVTypedefs.h>
#include <CVTracked.h>
 
//-----------------------------------------------------------------------------
//! OpenCV chessboard tracker class derived from CVTracked
/*! The chessboard tracker uses the same chessboard pattern as the calibration
class defined in CVCalibration. See CVTrackedChessboard::track for the
core tracking implementation.
*/
class CVTrackedChessboard : public CVTracked
{
public:
    explicit CVTrackedChessboard(string calibIniPath);
 
    bool track(CVMat          imageGray,
               CVMat          imageBgr,
               CVCalibration* calib) final;
 
private:
    void calcBoardCorners3D(const CVSize& boardSize,
                            float         squareSize,
                            CVVPoint3f&   objectPoints3D);
    bool loadCalibParams();
 
    string     _calibParamsFileName; //< Filename of calibration parameters
    float      _edgeLengthM;         //<! Length of chessboard square in meters
    CVVPoint3f _boardPoints3D;       //<! chessboard corners in world coordinate system
    CVSize     _boardSize;           //<! NO. of inner chessboard corners
    bool       _solved;              //<! Flag if last solvePnP was solved
    CVMat      _rVec;                //<! rotation angle vector from solvePnP
    CVMat      _tVec;                //<! translation vector from solvePnP
    string     _calibIniPath;
};
//-----------------------------------------------------------------------------
 
#endif // CVCHESSBOARDTRACKER_H