mitkStereoCameraCalibration.h

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/*=============================================================================

  NifTK: A software platform for medical image computing.

  Copyright (c) University College London (UCL). All rights reserved.

  This software is distributed WITHOUT ANY WARRANTY; without even
  the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
  PURPOSE.

  See LICENSE.txt in the top level directory for details.

=============================================================================*/

#ifndef mitkStereoCameraCalibration_h
#define mitkStereoCameraCalibration_h

#include "niftkOpenCVExports.h"
#include <string>
#include <itkObject.h>
#include <itkObjectFactory.h>
#include <mitkCommon.h>
#include <mitkPoint.h>
#include <mitkVector.h>
#include <cv.h>

namespace mitk {

class NIFTKOPENCV_EXPORT StereoCameraCalibration : public itk::Object
{

public:

  mitkClassMacroItkParent(StereoCameraCalibration, itk::Object)
  itkNewMacro(StereoCameraCalibration)

  
  void LoadExistingIntrinsics(const std::string& directoryName);

  void LoadExistingRightToLeft(const std::string& directoryName);

  double Calibrate(const std::string& leftDirectoryName,
      const std::string& rightDirectoryName,
      const int& numberOfFrames,
      const int& numberCornersX,
      const int& numberCornersY,
      const double& sizeSquareMillimeters,
      const mitk::Point2D& pixelScaleFactor,
      const std::string& outputDirectoryName,
      const bool& writeImages
      );

protected:

  StereoCameraCalibration();
  virtual ~StereoCameraCalibration();

  StereoCameraCalibration(const StereoCameraCalibration&); // Purposefully not implemented.
  StereoCameraCalibration& operator=(const StereoCameraCalibration&); // Purposefully not implemented.

private:

  CvMat*                              m_IntrinsicMatrixLeft;
  CvMat*                              m_IntrinsicMatrixRight;
  CvMat*                              m_DistortionCoefficientsLeft;
  CvMat*                              m_DistortionCoefficientsRight;
  CvMat*                              m_RotationMatrixRightToLeft;
  CvMat*                              m_TranslationVectorRightToLeft;
  bool                                m_OptimiseIntrinsics;
  bool                                m_OptimiseRightToLeft;

}; // end class

} // end namespace

#endif