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lab_corners.h
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lab_corners.h
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#pragma once
#include "circle_estimator.h"
#include "opencv2/core.hpp"
/// \brief Runs the lab.
void runLabCorners();
/// \brief Converts OpenCV keypoints to an Eigen matrix of Vector2f columns.
/// \param keypoints Vector of keypoints.
/// \return Matrix where each columns is the corresponding point.
Eigen::Matrix2Xf convertToPoints(const std::vector<cv::KeyPoint>& keypoints);
/// \brief Draws the corner detection results.
/// \param img The image that will be drawn on.
/// \param keypoints The corner keypoints.
/// \param time The processing duration for corner detection.
void drawCornerResult(const cv::Mat& img,
const std::vector<cv::KeyPoint>& keypoints,
double time);
/// \brief Draws the circle estimation results.
/// \param img The image that will be drawn on.
/// \param keypoints The corner keypoints.
/// \param estimate The circle estimation result.
/// \param time The processing duration for circle estimation.
void drawCircleResult(const cv::Mat& img,
const std::vector<cv::KeyPoint>& keypoints,
const CircleEstimate& estimate,
double time);