sensorImageParameters.hpp

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#ifndef SENSORIMAGEPARAMETERS_HPP_
#define SENSORIMAGEPARAMETERS_HPP_

#include "rtslam/pinholeTools.hpp"
#include "jmath/jblas.hpp"

namespace jafar{
  namespace rtslam{
    using namespace jblas;

    struct SensorImageParameters {

      public:

        // Image size
        unsigned int width;
        unsigned int height;

        // intrinsic and distortion params
        vec4 intrinsic;
        vec distortion;
        vec correction;

        double r2max;

        // sensor precision in pixels
        double pixNoise;

        // non observable specification
        double distMin;

        // detection and matching params
        unsigned int patchSize;

        void setIntrinsicCalibration(const int _width, const int _height, const vec4 _k, const vec & _d, size_t size_c){
          width=_width;
          height=_height;
          intrinsic = _k;
          distortion.resize(_d.size());
          distortion = _d;
          correction.resize(size_c);
          pinhole::computeCorrectionModel(width, height, intrinsic, distortion, correction, r2max);
          r2max *= r2max;
        }

        void setMiscellaneous(double _pixNoise,
            double d_min){
          pixNoise = _pixNoise;
          distMin = d_min;
        }


    } ;
  }
}



#endif /* SENSORIMAGEPARAMETERS_HPP_ */