From 3ddaa0a350580b20103c0dd44f0e925d4997aabb Mon Sep 17 00:00:00 2001
From: andreaeusebi <eusandre95@gmail.com>
Date: Fri, 24 May 2024 16:59:10 +0200
Subject: [PATCH 1/2] Added missing include, without  which could not find
 CV_CALIB_FIX_PRINCIPAL_POINT define. Tested with openCV 4.8.0.

---
 include/camera_calibrator.hpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/include/camera_calibrator.hpp b/include/camera_calibrator.hpp
index 9702bf5..ae6d874 100644
--- a/include/camera_calibrator.hpp
+++ b/include/camera_calibrator.hpp
@@ -6,6 +6,7 @@
 #include <gflags/gflags.h>
 #include <glog/logging.h>
 #include <opencv2/opencv.hpp>
+#include <opencv2/calib3d/calib3d_c.h>
 #include <vector>
 
 #include "logging.hpp"

From 33d54b54ac80002ce3c5371908dfe491f7372a60 Mon Sep 17 00:00:00 2001
From: andreaeusebi <eusandre95@gmail.com>
Date: Mon, 27 May 2024 08:43:32 +0200
Subject: [PATCH 2/2] Fixed include for openCV calibration flag

---
 include/camera_calibrator.hpp |  2 +-
 src/camera_calibrator.cpp     | 11 +++++++++--
 2 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/include/camera_calibrator.hpp b/include/camera_calibrator.hpp
index ae6d874..ebe929a 100644
--- a/include/camera_calibrator.hpp
+++ b/include/camera_calibrator.hpp
@@ -6,7 +6,7 @@
 #include <gflags/gflags.h>
 #include <glog/logging.h>
 #include <opencv2/opencv.hpp>
-#include <opencv2/calib3d/calib3d_c.h>
+#include <opencv2/calib3d.hpp>
 #include <vector>
 
 #include "logging.hpp"
diff --git a/src/camera_calibrator.cpp b/src/camera_calibrator.cpp
index 8948e59..992ac0f 100644
--- a/src/camera_calibrator.cpp
+++ b/src/camera_calibrator.cpp
@@ -62,8 +62,15 @@ void CameraCalibrator::get_result(cv::Mat &camera_matrix, cv::Mat &k,
                                   std::vector<cv::Mat> &rvecsMat,
                                   std::vector<cv::Mat> &tvecsMat) {
   double re_error =
-      cv::calibrateCamera(_boards_pts_3d, _imgs_pts, image_size, camera_matrix,
-                          k, rvecsMat, tvecsMat, CV_CALIB_FIX_PRINCIPAL_POINT);
+      cv::calibrateCamera(_boards_pts_3d,
+                          _imgs_pts,
+                          image_size,
+                          camera_matrix,
+                          k,
+                          rvecsMat,
+                          tvecsMat,
+                          cv::CALIB_FIX_PRINCIPAL_POINT);
+
   std::cout << "reprojection is " << re_error << std::endl;
 
   Eigen::Matrix3d camera_intrinsic;