detector_common.h

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#ifndef MASK_DETECTOR_COMMON_H
#define MASK_DETECTOR_COMMON_H

#include <stdio.h>
#include "opencv2/core.hpp"
#include <opencv2/core/types.hpp>
#include <opencv2/core/utility.hpp>
#include <cctype>
#include <string>
#include <sstream>
#include <math.h>
#include<iostream>
#include <fstream>
#include <cv.hpp>

namespace det_com {
    typedef struct {
        std::vector<int> keypoints_index; 
        double mean_angle; 
        double mean_distance; 
        double center_x; 
        double center_y; 
    } Line;

    typedef struct {
        cv::Mat rotation_vector; 
        cv::Mat translation_vector; 
        cv::Point2f center_brick; 
        int id; 
    } Block;

    typedef struct {
        std::vector<cv::Scalar> colors;
        int lower_area;
        int upper_area;
        int angle_threshold;
        int distance_threshold;

        double camera_to_drone_trans_vector[4];
        double camera_to_drone_rot_vector[4];

        double distance_between_points;
        double distance_between_lines;
        int camera_width;
        int camera_height;
        double camera_matrix[9];
        double distortion_matrix[4];
        double markerLength;
    } Config;

    det_com::Config load_config(std::string filename);

    cv::Vec3d rot_to_euler(cv::Mat &R);

    cv::Mat euler_to_rot(const cv::Vec3d &euler);
}

#endif //MASK_DETECTOR_COMMON_H