Utils file

utils/utils.h

@@ -0,0 +1,63 @@
+#pragma once
+
+#include <iostream>
+#include <limits>
+#include <vector>
+#include <opencv2/opencv.hpp>
+
+namespace utils {
+    void waitForUserInput()
+    {
+        std::cout << "Press Enter to continue...";
+        std::cin.ignore(std::numeric_limits<std::streamsize>::max(), '\n');
+
+    }
+}
+
+
+namespace Type
+{
+    struct Angle
+    {
+        float roll;
+        float pitch;
+        float yaw;
+    };
+
+    struct RobotPose
+    {
+        cv::Point3f position;
+        Angle angle;
+    };
+
+    struct ArucoTag
+    {
+        int id;
+        std::string name;
+        float length;
+    };
+}
+
+namespace ArucoTagData
+{
+    inline Type::ArucoTag whiteFlower = { 36, "whiteFlower", 0.02f };
+    inline Type::ArucoTag purpleFlower = { 13, "purpleFlower", 0.02f };
+    inline Type::ArucoTag solarPanel = { 47, "solarPanel", 0.1f };
+}
+
+namespace draw
+{
+    // Function to draw a line from the center of an ArUco marker to a point with depth
+    void drawCenterPoints(cv::Mat& frame, const std::vector<std::vector<cv::Point2f>>& markerCorners, double depth) {
+        for (const auto& corners : markerCorners) {
+            cv::Point2f center(0, 0);
+            for (const auto& corner : corners) {
+                center += corner;
+            }
+            center *= (1.0 / corners.size());  // Average to find the center
+
+            // Draw a line from the center of the marker to the point with depth
+            cv::line(frame, center, cv::Point(center.x, center.y + depth), cv::Scalar(0, 255, 0), 2);  // Draw a green line
+        }
+    }
+}