PinholeCalibTool.h

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
/*
 * Copyright (C) 2007 Lijin Aryananda, Jonas Ruesch
 * CopyPolicy: Released under the terms of the GNU GPL v2.0.
 *
 */
 
#ifndef __PINHOLECALIBTOOL__
#define __PINHOLECALIBTOOL__
 
#include <iostream>
#include <string>
#include <stdlib.h>
#include <stdio.h>
#include <math.h>
 
// opencv
#include <opencv2/core/core_c.h>
#include <opencv2/calib3d/calib3d_c.h>
#include <opencv2/calib3d.hpp>
 
// yarp
//#include <yarp/sig/Image.h>
#include <yarp/sig/all.h>
#include <yarp/os/Bottle.h>
#include <yarp/os/Value.h>
 
// iCub
#include <iCub/ICalibTool.h>
 
 
class PinholeCalibTool : public ICalibTool
{
 private:
    
    CvMat           *_intrinsic_matrix;
    CvMat           *_intrinsic_matrix_scaled;
    CvMat           *_distortion_coeffs;;
 
    IplImage        *_mapUndistortX;
    IplImage        *_mapUndistortY;
 
    bool _needInit;
 
    CvSize          _calibImgSize;
    CvSize          _oldImgSize;
 
    bool _drawCenterCross;
 
    bool init(CvSize currImgSize, CvSize calibImgSize);
 
public:
 
    PinholeCalibTool();
    virtual ~PinholeCalibTool();
    
    virtual bool open (yarp::os::Searchable &config);
    virtual bool close ();
    virtual bool configure (yarp::os::Searchable &config);
 
    void stopConfig( std::string val );
 
    void apply(const yarp::sig::ImageOf<yarp::sig::PixelRgb> & in,
               yarp::sig::ImageOf<yarp::sig::PixelRgb> & out);    
    
};
 
 
#endif