corner_detection.h

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#ifndef CORNERS_H
#define CORNERS_H

#include "mimasconfig.h"

#ifdef HAVE_LIBMINPACK
#ifdef HAVE_LIBLAPACK
#ifdef CAMERA_CALIBRATION_ENABLE

#include <iostream>
#include <vector>
#include <cmath>

#include "image.h"
#include "corrcoef.h"
#include "rgba.h"
#include "camera.h"

namespace mimas {
namespace camera_calibration {

  class corner_detection {
    
  public:
    typedef boost::numeric::ublas::matrix< point_f > MatrixPoint;

    typedef boost::numeric::ublas::matrix< pixel_f > MatrixPixel;

    typedef boost::numeric::ublas::matrix< double > Matrix;

    typedef rgba< unsigned char > pixel_rgba;

  private:
    // working parameters
    MatrixPixel mCorners;
    std::vector< unsigned char > cross[4];
    int size_x, size_y, size_window;

    pixel_f findLocalCorner(image< pixel_rgba > img, int x, int y, int precision, int type_corner, 
         double &corr, double min_corr) throw(mimasexception);

    static void g4(int x, int y, double &xx, double &yy, Matrix &coeffs);


  public:
    corner_detection(int size_x, int size_y, int size_window, pixel_rgba white, pixel_rgba black);

    ~corner_detection(void);

    void findCorners(image< pixel_rgba > img, std::vector< pixel_f > pix, double min_corr)
      throw(mimasexception);

    MatrixPixel getCorners() { return mCorners; }

  };

}
}

#endif
#endif
#endif

#endif /* CORNERS_H */

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