camera_calibrator.h

#ifndef CAMERA_CALIBRATOR_H
#define CAMERA_CALIBRATOR_H
 
// OpenCV headers
#include <fstream>
#include <iostream>
#include <opencv2/opencv.hpp>
#include <string>
#include <vector>
#include <sstream>
#include <memory>
#include <thread>
#include <chrono>
 
// my headers
#include "CamCalib\video_undistorter.h"
#include "VVT-V2/helper.h"
 
constexpr auto EXTENTION = ".JPG";
 
using namespace cv;
 
class CameraCalibrator
{
public:
    CameraCalibrator(std::string chessboards_path);
    ~CameraCalibrator();
 
    int ExecuteCameraCalibration();
 
private:
    int LoadImages(std::string chessboards_path);
    Mat ReadNextImage(std::string path);
    void AddTips(Mat& frame, std::string tip);
    bool FindCorners(Mat input_frame, Size pattern_size, std::vector<Point2f>& corners);
    void SaveFoundParamsToFile(Mat camera_matrix, Mat dist_coeffs_2be_written);
    
private:
    std::string chessboards_folder_path_;
    int chessboards_amount_;
    std::vector<Mat> images_with_chessboard_;
    VideoCapture* input_cap_;
    double frame_width_;
    double frame_height_;
    std::string winname_;
    std::string txt_file_name_;
    Mat camera_matrix_;
    Mat distortion_coefficients_;
    std::vector<Mat> rotation_vector_;
    std::vector<Mat> translation_vector_;
    std::vector<Point2f> corners_;
    std::vector<std::vector<Point2f>> vec_of_corners_;
    Size pattern_size_;
    double fx_;
    double fy_;
    double px_;
    double py_;
 
};
 
#endif