/home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/ntk/camera/calibration.h

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#ifndef NTK_STEREO_CALIBRATION_H
#define NTK_STEREO_CALIBRATION_H

#include <ntk/core.h>
#include <opencv/cv.h>
#include <ntk/camera/rgbd_image.h>

namespace ntk
{

class MeshGenerator;
class Pose3D;

class RGBDCalibration
{
public:
  RGBDCalibration() :
    zero_rgb_distortion(true),
    zero_depth_distortion(true),
    depth_pose(0),
    rgb_pose(0),
    depth_baseline(7.5e-02),
    depth_offset(1090),
    raw_rgb_size(640,480),
    rgb_size(480,480),
    raw_depth_size(204,204),
    depth_size(204,204)
  {}

  ~RGBDCalibration();

  void loadFromFile(const char* filename);

  const cv::Size& rgbSize() const { return rgb_size; }
  void setRgbSize(cv::Size s) { rgb_size = s; }

  const cv::Size& rawRgbSize() const { return raw_rgb_size; }
  void setRawRgbSize(cv::Size s) { raw_rgb_size = s; }

  const cv::Size& depthSize() { return depth_size; }

  cv::Mat1d rgb_intrinsics;

  cv::Mat1d rgb_distortion;

  bool zero_rgb_distortion;

  cv::Mat1d depth_intrinsics;

  cv::Mat1d depth_distortion;

  bool zero_depth_distortion;

  cv::Mat1d R,T;

  Pose3D* depth_pose;

  Pose3D* rgb_pose;

  cv::Mat rgb_undistort_map1, rgb_undistort_map2;
  cv::Mat depth_undistort_map1, depth_undistort_map2;

  double depth_baseline;

  double depth_offset;

  cv::Size raw_rgb_size;
  cv::Size rgb_size;

  cv::Size raw_depth_size;
  cv::Size depth_size;

private:
  RGBDCalibration(const RGBDCalibration& rhs);
};

} // ntk

#endif // NTK_STEREO_CALIBRATION_H