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#ifndef CV_CHESSBOARDGENERATOR_H143KJTVYM389YTNHKFDHJ89NYVMO3VLMEJNTBGUEIYVCM203P
#define CV_CHESSBOARDGENERATOR_H143KJTVYM389YTNHKFDHJ89NYVMO3VLMEJNTBGUEIYVCM203P
#include "opencv2/calib3d.hpp"
namespace cv
{
class ChessBoardGenerator
{
public:
double sensorWidth;
double sensorHeight;
size_t squareEdgePointsNum;
double min_cos;
mutable double cov;
Size patternSize;
int rendererResolutionMultiplier;
ChessBoardGenerator(const Size& patternSize = Size(8, 6));
Mat operator()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, std::vector<Point2f>& corners) const;
Mat operator()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, const Size2f& squareSize, std::vector<Point2f>& corners) const;
Mat operator()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, const Size2f& squareSize, const Point3f& pos, std::vector<Point2f>& corners) const;
Size cornersSize() const;
mutable std::vector<Point3f> corners3d;
private:
void generateEdge(const Point3f& p1, const Point3f& p2, std::vector<Point3f>& out) const;
Mat generateChessBoard(const Mat& bg, const Mat& camMat, const Mat& distCoeffs,
const Point3f& zero, const Point3f& pb1, const Point3f& pb2,
float sqWidth, float sqHeight, const std::vector<Point3f>& whole, std::vector<Point2f>& corners) const;
void generateBasis(Point3f& pb1, Point3f& pb2) const;
Mat rvec, tvec;
};
}
#endif
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