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#include "SMCalibrationParameters.h"
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#include "SMCalibrationParameters.h"
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void SMCalibrationParameters::printCamera(std::ostream &stream){
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    stream << std::setprecision(6)
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    << "Camera 0: " << std::endl
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        << "\t focal length: \t[" << K0(0,0) << " " << K0(1,1) << "] "
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            << "\t\t +/- [" << cam0_intrinsic_std[0] << " " << cam0_intrinsic_std[1] << "]" << std::endl
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        << "\t central point: \t[" << K0(0,2) << " " << K0(1,2) << "] "
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            << "\t\t +/- [" << cam0_intrinsic_std[2] << " " << cam0_intrinsic_std[3] << "]" << std::endl
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        << "\t lens distortion: \t" << k0
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            << "\t +/- [" << cam0_intrinsic_std[4] << " " << cam0_intrinsic_std[5] << " " << cam0_intrinsic_std[6] << " " << cam0_intrinsic_std[7] << " " << cam0_intrinsic_std[8] << "]" << std::endl
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        << "\t reprojection errors: " << std::endl;
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        for(unsigned int i=0; i<cam0_errors_per_view.size(); i++)
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            stream << "\t\t\t" << cam0_errors_per_view[i] << " px" << std::endl;
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    stream << "Camera 1: " << std::endl
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        << "\t focal length: \t[" << K1(0,0) << " " << K1(1,1) << "] "
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            << "\t\t +/- [" << cam1_intrinsic_std[0] << " " << cam1_intrinsic_std[1] << "]" << std::endl
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        << "\t central point: \t[" << K1(0,2) << " " << K1(1,2) << "] "
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            << "\t\t +/- [" << cam1_intrinsic_std[2] << " " << cam1_intrinsic_std[3] << "]" << std::endl
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        << "\t lens distortion: \t" << k1
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            << "\t +/- [" << cam1_intrinsic_std[4] << " " << cam1_intrinsic_std[5] << " " << cam1_intrinsic_std[6] << " " << cam1_intrinsic_std[7] << " " << cam1_intrinsic_std[8] << "]" << std::endl
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        << "\t reprojection errors: " << std::endl;
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        for(unsigned int i=0; i<cam1_errors_per_view.size(); i++)
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            stream << "\t\t\t" << cam1_errors_per_view[i] << " px" << std::endl;
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    stream << "Stereo Parameters: " << std::endl
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        << "\t rotation: \t\t[" << R1(0,0) << " " << R1(0,1) << " " << R1(0,2) << "; "
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            << R1(1,0) << " " << R1(1,1) << " " << R1(1,2) << " "
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            << R1(2,0) << " " << R1(2,1) << " " << R1(2,2) << "]" << std::endl
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        << "\t translation: \t[" << T1(0) << T1(1) << " " << T1(2) << std::endl
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        << "\t reprojection error: \n\t\t\t" << stereo_error << " px" << std::endl;
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}
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void SMCalibrationParameters::printRotationStage(std::ostream &stream){
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    stream << std::setprecision(6)
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    << "Parameters: " << std::endl
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        << "\t rotation: \t [" << Rr(0,0) << Rr(0,1) << " " << Rr(0,2) << "; "
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            << Rr(1,0) << " " << Rr(1,1) << " " << Rr(1,2) << " "
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            << Rr(2,0) << " " << Rr(2,1) << " " << Rr(2,2) << " " << std::endl
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        << "\t translation: \t[" << Tr(0) << " " << Tr(1) << " " << Tr(2) << "]" << std::endl
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        << "\t error: \n\t\t\t" << rot_axis_error << " mm" << std::endl;
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}
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void SMCalibrationParameters::print(){
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void SMCalibrationParameters::print(std::ostream &stream){
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    printCamera(stream);
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    printRotationStage(stream);
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    std::cout << "Calibration Parameters:" << std::endl;
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    std::cout << "K0: " << std::endl;
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    std::cout << K0 << std::endl;
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    std::cout << "k0: " << std::endl;
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    std::cout << k0 << std::endl;
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    std::cout << "K1: " << std::endl;
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    std::cout << K1 << std::endl;
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    std::cout << "k1: " << std::endl;
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    std::cout << k1 << std::endl;
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    std::cout << "R1: " << std::endl;
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    std::cout << R1 << std::endl;
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    std::cout << "T1: " << std::endl;
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    std::cout << T1 << std::endl;
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    std::cout << "Rr: " << std::endl;
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    std::cout << Rr << std::endl;
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    std::cout << "Tr: " << std::endl;
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    std::cout << Tr << std::endl;
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    std::cout << "cam0_error: " << std::endl;
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    std::cout << cam0_error << " px" << std::endl;
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    std::cout << "cam0_errors_per_view: " << std::endl;
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    for(unsigned int i=0; i<cam0_errors_per_view.size(); i++)
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        std::cout << "\t" << cam0_errors_per_view[i] << std::endl;
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    std::cout << "cam1_error: " << std::endl;
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    std::cout << cam1_error << " px" << std::endl;
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    std::cout << "cam1_errors_per_view: " << std::endl;
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    for(unsigned int i=0; i<cam1_errors_per_view.size(); i++)
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        std::cout << "\t" << cam1_errors_per_view[i] << std::endl;
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    std::cout << "stereo_error: " << std::endl;
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    std::cout << stereo_error << " px" << std::endl;
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    std::cout << "rot_axis_error: " << std::endl;
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    std::cout << rot_axis_error << " mm" << std::endl;
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}
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}
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void SMCalibrationParameters::exportToXML(QString fileName){
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void SMCalibrationParameters::exportToXML(QString fileName){
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    cv::FileStorage fs(fileName.toStdString(), cv::FileStorage::WRITE);
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    cv::FileStorage fs(fileName.toStdString(), cv::FileStorage::WRITE);
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    fs.release();
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    fs.release();
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}
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}
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// QStreamtypes for qDebug() and QSettings
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// QStreamtypes for qDebug() and QSettings
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QDataStream& operator>>(QDataStream& in, SMCalibrationParameters& data){
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QDataStream& operator>>(QDataStream& in, SMCalibrationParameters& data){
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//    std::cout << "Deserializing calibration parameters!" << std::endl;
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//    stream << "Deserializing calibration parameters!" << std::endl;
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    in >> data.K0(0,0) >> data.K0(0,1) >> data.K0(0,2) >> data.K0(1,0) >> data.K0(1,1) >> data.K0(1,2) >> data.K0(2,0) >> data.K0(2,1) >> data.K0(2,2);
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    in >> data.K0(0,0) >> data.K0(0,1) >> data.K0(0,2) >> data.K0(1,0) >> data.K0(1,1) >> data.K0(1,2) >> data.K0(2,0) >> data.K0(2,1) >> data.K0(2,2);
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    in >> data.k0(0) >> data.k0(1) >> data.k0(2) >> data.k0(3) >> data.k0(4);
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    in >> data.k0(0) >> data.k0(1) >> data.k0(2) >> data.k0(3) >> data.k0(4);
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    in >> data.cam0_error;
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    in >> data.cam0_error;
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    in >> data.K1(0,0) >> data.K1(0,1) >> data.K1(0,2) >> data.K1(1,0) >> data.K1(1,1) >> data.K1(1,2) >> data.K1(2,0) >> data.K1(2,1) >> data.K1(2,2);
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    in >> data.K1(0,0) >> data.K1(0,1) >> data.K1(0,2) >> data.K1(1,0) >> data.K1(1,1) >> data.K1(1,2) >> data.K1(2,0) >> data.K1(2,1) >> data.K1(2,2);
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    return in;
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    return in;
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}
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}
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QDataStream& operator<<(QDataStream& out, const SMCalibrationParameters& data){
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QDataStream& operator<<(QDataStream& out, const SMCalibrationParameters& data){
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//    std::cout << "Serializing calibration parameters!" << std::endl;
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//    stream << "Serializing calibration parameters!" << std::endl;
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    out << data.K0(0,0) << data.K0(0,1) << data.K0(0,2) << data.K0(1,0) << data.K0(1,1) << data.K0(1,2) << data.K0(2,0) << data.K0(2,1) << data.K0(2,2);
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    out << data.K0(0,0) << data.K0(0,1) << data.K0(0,2) << data.K0(1,0) << data.K0(1,1) << data.K0(1,2) << data.K0(2,0) << data.K0(2,1) << data.K0(2,2);
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    out << data.k0(0) << data.k0(1) << data.k0(2) << data.k0(3) << data.k0(4);
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    out << data.k0(0) << data.k0(1) << data.k0(2) << data.k0(3) << data.k0(4);
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    out << data.cam0_error;
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    out << data.cam0_error;
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    out << data.K1(0,0) << data.K1(0,1) << data.K1(0,2) << data.K1(1,0) << data.K1(1,1) << data.K1(1,2) << data.K1(2,0) << data.K1(2,1) << data.K1(2,2);
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    out << data.K1(0,0) << data.K1(0,1) << data.K1(0,2) << data.K1(1,0) << data.K1(1,1) << data.K1(1,2) << data.K1(2,0) << data.K1(2,1) << data.K1(2,2);