52 lines
1.4 KiB
C++
52 lines
1.4 KiB
C++
#ifndef AUTO_AIM__SOLVER_HPP
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#define AUTO_AIM__SOLVER_HPP
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#include <Eigen/Dense> // 必须在opencv2/core/eigen.hpp上面
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#include <Eigen/Geometry>
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#include <opencv2/core.hpp>
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#include <opencv2/core/eigen.hpp>
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#include <string>
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#include <vector>
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#include "armor.hpp"
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namespace auto_aim
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{
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class Solver
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{
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public:
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explicit Solver(const std::string & config_path);
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Eigen::Matrix3d R_gimbal2world() const;
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void set_R_gimbal2world(const Eigen::Quaterniond & q);
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void set_R_gimbal2world(double yaw, double pitch, double roll = 0.0);
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void solve(Armor & armor) const;
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std::vector<cv::Point2f> reproject_armor(
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const Eigen::Vector3d & xyz_in_world, double yaw, ArmorType type, ArmorName name) const;
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double oupost_reprojection_error(Armor armor, const double & picth);
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std::vector<cv::Point2f> world2pixel(const std::vector<cv::Point3f> & worldPoints);
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private:
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cv::Mat camera_matrix_;
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cv::Mat distort_coeffs_;
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Eigen::Matrix3d R_gimbal2imubody_;
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Eigen::Matrix3d R_camera2gimbal_;
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Eigen::Vector3d t_camera2gimbal_;
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Eigen::Matrix3d R_gimbal2world_;
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void optimize_yaw(Armor & armor) const;
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double armor_reprojection_error(const Armor & armor, double yaw, const double & inclined) const;
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double SJTU_cost(
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const std::vector<cv::Point2f> & cv_refs, const std::vector<cv::Point2f> & cv_pts,
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const double & inclined) const;
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};
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} // namespace auto_aim
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#endif // AUTO_AIM__SOLVER_HPP
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