CalibrationCv.h

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#ifndef __FRAME_HELPER_CALIBRATIONCV_H__
#define __FRAME_HELPER_CALIBRATIONCV_H__

#include <stddef.h>
#include <opencv2/core/core.hpp>
#include "Calibration.h"

namespace frame_helper
{
    struct CameraCalibrationCv 
    {
        CameraCalibrationCv();
        void setCalibration( const CameraCalibration& calib );
        void setImageSize( cv::Size imageSize );
        void initCv();

        const CameraCalibration& getCalibration() const { return calib; }
        cv::Size getImageSize() const { return imageSize; }
        bool isInitialized() const;

        void undistortAndRectify( const cv::Mat& input, cv::Mat& output );

        cv::Mat camMatrix, distCoeffs;
        cv::Mat R, P;
        cv::Mat map1, map2;

    protected:
        CameraCalibration calib;
        cv::Size imageSize;
        bool valid;
        bool initialized;
    };

    struct StereoCalibrationCv
    {
        StereoCalibrationCv();
        void setCalibration( const StereoCalibration& stereoCalib );
        StereoCalibration getCalibration() const;
        void setImageSize( cv::Size size );
        void initCv();

        cv::Size getImageSize() const { return imageSize; }
        bool isInitialized() const;

        CameraCalibrationCv camLeft, camRight;
        cv::Mat R, T, Q;
        
    protected:
        StereoCalibration calib;
        cv::Size imageSize;
        bool valid;
        bool initialized;
    };
}

#endif