camera.h

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#ifndef CAMERA_H
#define CAMERA_H

#include "mimasconfig.h"

#ifdef HAVE_LIBMINPACK
#ifdef HAVE_LIBLAPACK
#ifdef CAMERA_CALIBRATION_ENABLE

#include <boost/numeric/ublas/vector.hpp>
#include <boost/numeric/ublas/banded.hpp>
#include <boost/numeric/ublas/matrix.hpp>
#include <boost/numeric/ublas/symmetric.hpp>
#include <boost/numeric/ublas/triangular.hpp>
#include <boost/numeric/ublas/storage.hpp>
#include "linalg.h"
#include "nlinalg.h"
#include "mimasexception.h"
#include "primitives.h"

namespace mimas { 
namespace camera_calibration {

  struct Chessboard {
    std::vector< point_f > object;
    
    std::vector< pixel_f > image;
  };

  class Camera {
    
  public:
    typedef boost::numeric::ublas::matrix< double, boost::numeric::ublas::column_major > Matrix;
    
    typedef boost::numeric::ublas::vector< double > Vector;

    typedef boost::numeric::ublas::triangular_matrix 
      < double, boost::numeric::ublas::upper, boost::numeric::ublas::column_major > TriangularMatrix;

    typedef boost::numeric::ublas::symmetric_matrix 
      < double, boost::numeric::ublas::upper, boost::numeric::ublas::column_major > SymmetricMatrix;

  private:
    Matrix K, K_opt;

    Vector disto;

    bool optimisation;

    std::vector< Chessboard > chessb;
    std::vector< Matrix > extrinsics;

  protected:
    void maxLikelyhood(Matrix &intrinsics, int nbPictures) throw (mimasexception);

    /* void initDistortion(void); */

  public:

    Camera() throw(mimasexception);

    ~Camera();

    void calibrate(std::vector< Chessboard > &chess) throw (mimasexception);

    static void
      fcn(int *m, int */*n*/, double *x, double *fvec, int */*iflag*/);

    static void 
      findHomography(const Chessboard &chess, Matrix &homography);

    static void findHomographies(std::vector< Matrix > &homographies, std::vector< Chessboard > &chess);

    static Matrix initCalibration(std::vector< Matrix > &homographies, std::vector< Chessboard > &chess) 
      throw (mimasexception);

    static void findExtrinsics(std::vector< Matrix > &extrinsics, std::vector< Matrix > &homographies, 
             Matrix &intrinsics, int nbPictures);

    Matrix getIntrinsicsInit() const { return K; }

    Matrix getIntrinsics() const { return K_opt; }  

    Vector getDistortion() const { return disto; }

    bool isOptimized() const { return optimisation; }

  static Camera *current_cam;

  };

}
}

#endif
#endif
#endif

#endif /* CAMERA_H */

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