#include "detection.h"

#define SAMPLE_READ_WAIT_TIMEOUT 2000 //2000ms

#pragma once

/*

Calibration methods

*/

const float * _calc_homography(UPoint * src, UPoint * dst, int length) {

vector<Point2f> proj_points;

vector<Point2f> img_points;

vector<float> homographyValues;

Point2f point;

for (int i = 0; i < length; i++) {

Point2f tempSrc, tempDst;

tempSrc.x = src->x;

tempSrc.y = src->y;

proj_points.push_back(tempSrc);

tempDst.x = dst->x;

tempDst.y = dst->y;

img_points.push_back(tempDst);

src++;

dst++;

}

Mat homography = findHomography(proj_points, img_points);

for (int i = 0; i < homography.rows; i++) {

for (int j = 0; j < homography.cols; j++) {

homographyValues.push_back((float) homography.at<double>(i, j));

}

}

return &homographyValues[0];

}