PinholeCalibrationEngine.h

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#ifndef ICUB_STEREOCALIB_PINHOLE_CALIBRATION_ENGINE_H
#define ICUB_STEREOCALIB_PINHOLE_CALIBRATION_ENGINE_H
 
#include <string>
#include <vector>
 
#include "CalibrationTypes.h"
 
namespace stereo_calib
{
    class PinholeCalibrationEngine
    {
    public:
        bool calibrate(
            const std::vector<StereoObservation>& observations,
            const PinholeCalibrationOptions& options,
            CalibrationResult& result,
            std::string& errorMessage) const;
 
    private:
        bool validateObservations(
            const std::vector<StereoObservation>& observations,
            const cv::Size& expectedImageSize,
            std::string& errorMessage) const;
 
        bool calibrateMonocular(
            const std::vector<StereoObservation>& observations,
            CameraSide cameraSide,
            const PinholeCalibrationOptions& options,
            CameraCalibrationResult& result,
            std::string& errorMessage) const;
 
        bool calibrateStereo(
            const std::vector<StereoObservation>& observations,
            const PinholeCalibrationOptions& options,
            const CameraCalibrationResult& leftCamera,
            const CameraCalibrationResult& rightCamera,
            StereoCalibrationResult& result,
            std::string& errorMessage) const;
 
        bool extractCalibrationPoints(
            const std::vector<StereoObservation>& observations,
            std::vector<std::vector<cv::Point3f>>& objectPoints,
            std::vector<std::vector<cv::Point2f>>& leftImagePoints,
            std::vector<std::vector<cv::Point2f>>& rightImagePoints,
            std::string& errorMessage) const;
    };
} // namespace stereo_calib
 
#endif // ICUB_STEREOCALIB_PINHOLE_CALIBRATION_ENGINE_H