trv_homographyGeom.hpp

#ifndef TRV_HOMOGRAPHYGEOM_HPP
#define TRV_HOMOGRAPHYGEOM_HPP

#include "traversability/trv_rotations.hpp"
#include "traversability/trv_util.hpp"
#include "traversability/trv_homography.hpp"

#include "kernel/jafarException.hpp"
#include "jmath/jblas.hpp"
#include "jmath/ublasExtra.hpp"


namespace jafar {
  namespace traversability {
    
    class HomographyGeom : public Homography
    {
      private:
        CameraPoseParameters mPoseC0;
        CameraPoseParameters mPoseC1;
        CameraIntrinsicParameters mInternals;
        PlaneParameters mPlane;
        ImageInfo mImageInfo;
        
        CameraDeltaParameters mDeltaPoseC0C1;
        CameraDeltaParameters mDeltaPoseC0Cn;
        
      public:
        
        HomographyGeom ( void );
        ~HomographyGeom ( void ); // TODO
        
        void printInfo ( void ) const;
        
        void setPlane     ( const PlaneParameters &plane );
        void setInternals ( const CameraIntrinsicParameters &internals );
        //void setPoseCam0  ( const CameraPoseParameters &poseC0 );
        //void setPoseCam1  ( const CameraPoseParameters &poseC1 );
        void setPose ( const CameraPoseParameters &poseC0, const CameraPoseParameters &poseC1 );
//        void setDeltaPose ( void );
        void calc ( void );
        void calc ( const CameraPoseParameters &poseC0, const CameraPoseParameters &poseC1 );
        
        
        CameraPoseParameters getPoseCam0 ( void ) const { return mPoseC0; }
        CameraPoseParameters getPoseCam1 ( void ) const { return mPoseC1; }
        CameraDeltaParameters getDeltaPose ( void ) const { return mDeltaPoseC0C1; }
        
      private:
        void updatePlaneParameters ( void );
        
    };
  } // namespace traversability
} // namespace jafar


#endif