SphericalCalibTool.h

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
/*
 * Copyright (C) 2007 Jonas Ruesch
 * CopyPolicy: Released under the terms of the GNU GPL v2.0.
 *
 */
 
#ifndef __SPHERICALCALIBTOOL__
#define __SPHERICALCALIBTOOL__
 
// yarp
//#include <yarp/sig/Image.h>
#include <yarp/sig/all.h>
#include <yarp/os/Value.h>
 
// opencv
#include <opencv2/core/core_c.h>
 
// iCub
#include <iCub/ICalibTool.h>
#include <iCub/spherical_projection.h>
 
 
class SphericalCalibTool : public ICalibTool
{
private:
 
    IplImage        *_mapX;
    IplImage        *_mapY;
 
    double          _fx, _fx_scaled;
    double          _fy, _fy_scaled;
    double          _cx, _cx_scaled;
    double          _cy, _cy_scaled;
    double          _p1;
    double          _p2;
    double          _k1;
    double          _k2;
 
    bool _needInit;
 
    CvSize          _calibImgSize;
    CvSize          _oldImgSize;
 
    bool _drawCenterCross;
 
    bool init(CvSize currImgSize, CvSize calibImgSize);
 
public:
 
    SphericalCalibTool();
    virtual ~SphericalCalibTool();
 
    virtual bool open (yarp::os::Searchable &config);
    virtual bool close();
    virtual bool configure (yarp::os::Searchable &config);
    void stopConfig( std::string val );
 
    // ICalibTool
    void apply(const yarp::sig::ImageOf<yarp::sig::PixelRgb> & in,
               yarp::sig::ImageOf<yarp::sig::PixelRgb> & out);    
};
 
 
#endif