localizer.hpp

/* $Id$ */

#ifndef _LOCALIZER_HPP
#define _LOCALIZER_HPP

#include "kernel/jafarException.hpp"
#include "jmath/jblas.hpp"
#include "localizer/point2d3d.hpp"
#include <opencv/cv.h>
#include <opencv/cxtypes.h>
#include <opencv/cxcore.h>


namespace jafar {

  namespace localizer {

    class Localizer {
      private:
      CvMat* object_points;
      CvMat* image_points;
      CvMat* intrinsic_matrix;
      CvMat* distortion_coeffs;
      CvMat* rotation_vector;
      CvMat* translation_vector;
      jblas::mat M;

      public:
      Localizer();
      Localizer(double* _intrinsic_matrix,
                double* _distortion_coeffs);
      void setIntrinsicParams(const double& _alphaU,
                              const double& _alphaV, 
                              const double& _u0, 
                              const double& _v0);
      void setCalifeIntrinsicParams(const double& _alphaU,
                                    const double& _alphaV, 
                                    const double& _u0, 
                                    const double& _v0);
      void setDistortionCoefs(const double& _k1,
                              const double& _k2, 
                              const double& _p1, 
                              const double& _p2);
      void setData(const localizer::Points2d3d& points);
      void setCalifeData(const localizer::Points2d3d& points);
      void localize();

      jblas::mat transitionMatrix();

    };//class Tsai2dLocalizer

  }//namespace localizer

}//namespace jafar
#endif