CalibrageMatrices.hpp

/* $Id$ */

#ifndef CALIBRAGE_MATRICES_HPP
#define CALIBRAGE_MATRICES_HPP

namespace jafar {
  namespace stereo {
    
    class CalibrageMatrices {
    public:
      CalibrageMatrices();
      ~CalibrageMatrices(){};

      enum STATE {NOT_INITIALIZED, INITIALIZED};

      //      void readFromFile(ImagesSizes& imagesSizes, char* fileName);
      void readFromFile(char* fileName);

      void readFromOldFile(char* directory);
      
      void saveToFile(char* fileName);

      void readFromOldFormatFiles(int nb_lig_original,
          int nb_col_original,
          int taux_reduction_i_,
          int taux_reduction_j_,
          char* oldFilesDirectory);

      void readFromCalibrationDir(char* projection_droite_file,
          char* projection_gauche_file,
          char* intr_droite_file,
          char* intr_gauche_file,
          char* dist_droite_file,
          char* dist_gauche_file);

      void calculateRectificationBords(int nblig,
               int nbcol,              
               int dist_type,
               int taux_reduction);

      void estimateRectificationParams(int nblig,
               int nbcol,
               int dist_type,
               int taux_reduction);

      // data members:

      CalibrageMatrices::STATE state;

      CalibrageMatrices::STATE estimate_state;
      double mat_projection_droite[16];
      double mat_projection_gauche[16];

      double mat_intrinseque_droite[16];
      double mat_distortion_droite[3];
      double mat_intrinseque_gauche[16];
      double mat_distortion_gauche[3];
      double mat_baseline[2];
      double mat_intrinseque_rectifiee_droite[16];
      double mat_intrinseque_rectifiee_gauche[16];
      double mat_rectification_droite[9];
      double mat_rectification_gauche[9];
      double mat_rect_2_cam_gauche[9];

      int nblig;
      int nbcol;
      //
      int imin;
      //
      int jmin;
      //
      int imax;
      //
      int jmax;
      //
      int nblig_rect;
      //
      int nbcol_rect;

    private:
      void readVectorFromFile(const char * nfichier, int nSize, double* dbVector);

      // this private functions were originally in calife file
      // prcalibstereo.c
      /*
  void readCalibStereo (ImagesSizes& imagesSizes,  
  double* intr_droite, 
  double* dist_droite, 
  double* intr_gauche, 
  double* dist_gauche,
  double* vecteur_baseline,
  double* mat_intrinseque_rectifiee_droite,
  double* mat_intrinseque_rectifiee_gauche,
  double* mat_rectification_droite, 
  double* mat_rectification_gauche,
  double* mat_rotation,
  char*   nfichier);
      */

    };

  }// namespace stereo
}// namespace jafar

#endif // CALIBRAGE_MATRICES_HPP