homography.h

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#ifndef __STEREO_HOMGRAPHY_H__
#define __STEREO_HOMGRAPHY_H__

#include <base/samples/DistanceImage.hpp>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <Eigen/Eigenvalues> 

#include "opencv2/features2d/features2d.hpp"

namespace stereo
{
    struct Homography
    {
        bool estimateFromDistanceImage( 
                const base::samples::DistanceImage &dImage, 
                size_t center_x, size_t center_y, double radius );

        void reproject( const cv::Mat& source, cv::Mat& target, size_t center_x, size_t center_y, double radius );

        const Eigen::Matrix3f& getTransform() { return homography; }

        Eigen::Matrix3f intrinsic;
        Eigen::Matrix3f homography;
        cv::Mat dbgImg;
    };
}

#endif