Calibration.h

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#ifndef __FRAME_HELPER_CALIBRATION_H__
#define __FRAME_HELPER_CALIBRATION_H__

#include <string>
#include <Eigen/Geometry>
#include <base/Eigen.hpp>
#include <base/samples/Frame.hpp>
#include <base/Float.hpp>

namespace frame_helper
{
    struct CameraCalibration
    {
        CameraCalibration();

        CameraCalibration( double fx, double fy, double cx, double cy, 
                double d0, double d1, double d2, double d3, 
                int width = -1, int height = -1 );

        double fx, fy;
        double cx, cy;
        double d0, d1, d2, d3;
        int width, height;
        double ex, ey;

        bool fisheye;

        Eigen::Matrix3d getCameraMatrix() const;

        Eigen::Matrix2d getPixelCovariance() const;

        bool isValid() const;

        void rescale( int width, int height );

        static CameraCalibration fromFrame( const base::samples::frame::Frame& frame );

        void toFrame( base::samples::frame::Frame& frame ) const;
    };

    struct ExtrinsicCalibration
    {
        double tx, ty, tz;
        double rx, ry, rz;

        ExtrinsicCalibration();
        ExtrinsicCalibration( double tx, double ty, double tz, double rx, double ry, double rz );

        bool isValid() const;

        Eigen::Affine3d getTransform() const;
    };

    struct StereoCalibration
    {
        CameraCalibration camLeft, camRight;
        ExtrinsicCalibration extrinsic;

        StereoCalibration();
        StereoCalibration( const CameraCalibration& left, const CameraCalibration& right, const ExtrinsicCalibration& extrinsic );

        bool isValid() const;

        static StereoCalibration fromMatlabFile( const std::string& file );

        static StereoCalibration fromMatlabFile( const std::string& file, int width, int height );

    };

}

#endif