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#define SMCALIBRATIONPARAMETERS_H
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#define SMCALIBRATIONPARAMETERS_H
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#include <QObject>
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#include <QObject>
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#include <QDataStream>
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#include <QDataStream>
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#include <QMetaType>
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#include <QMetaType>
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#include <QTextStream>
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#include <opencv2/opencv.hpp>
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#include <opencv2/opencv.hpp>
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class SMCalibrationParameters{
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class SMCalibrationParameters{
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    public:
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    public:
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                                  K1(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0), k1(0.0), cam1_error(0.0),
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                                  K1(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0), k1(0.0), cam1_error(0.0),
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                                  R1(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0), T1(0.0), stereo_error(0.0),
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                                  R1(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0), T1(0.0), stereo_error(0.0),
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                                  Rr(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0), Tr(0.0), rot_axis_error(0.0),
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                                  Rr(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0), Tr(0.0), rot_axis_error(0.0),
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                                  E(0.0), F(0.0){
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                                  E(0.0), F(0.0){
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//            qRegisterMetaType<SMCalibrationParameters>("SMCalibrationParameters");
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//            qRegisterMetaTypeStreamOperators<SMCalibrationParameters>("SMCalibrationParameters");
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        }
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        }
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        ~SMCalibrationParameters(){}
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        ~SMCalibrationParameters(){}
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        unsigned int frameHeight;
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        unsigned int frameHeight;
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        unsigned int frameWidth;
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        unsigned int frameWidth;
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        cv::Matx33f K0; // intrinsic camera matrix
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        cv::Matx33f K0; // intrinsic camera matrix
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        cv::Vec<float, 5> k0; // distortion coefficients
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        cv::Vec<float, 5> k0; // distortion coefficients
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        double cam0_error; // overall reprojection error
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        double cam0_error; // overall reprojection error
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        std::vector<float> cam0_errors_per_view; // per view reprojection errors
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        std::vector<double> cam0_errors_per_view; // per view reprojection errors
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        std::vector<double> cam0_intrinsic_std;
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        std::vector<double> cam0_extrinsic_std;
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        cv::Matx33f K1;
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        cv::Matx33f K1;
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        cv::Vec<float, 5> k1;
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        cv::Vec<float, 5> k1;
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        double cam1_error;
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        double cam1_error;
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        std::vector<double> cam1_errors_per_view; // per view reprojection errors
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        std::vector<double> cam1_intrinsic_std;
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        std::vector<double> cam1_extrinsic_std;
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        cv::Matx33f R1; // extrinsic rotation matrix camera 1
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        cv::Matx33f R1; // extrinsic rotation matrix camera 1
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        cv::Vec3f   T1; // extrinsic translation vector camera 1
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        cv::Vec3f   T1; // extrinsic translation vector camera 1
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        double stereo_error; // stereo calibration reprojection error
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        double stereo_error; // stereo calibration reprojection error
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        std::vector<float> cam1_errors_per_view; // per view reprojection errors
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        cv::Matx33f Rr; // extrinsic rotation rotation stage
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        cv::Matx33f Rr; // extrinsic rotation rotation stage
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        cv::Vec3f   Tr; // extrinsic translation vector rotation stage
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        cv::Vec3f   Tr; // extrinsic translation vector rotation stage
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        double rot_axis_error; // 3d error of rotation axis fit
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        double rot_axis_error; // 3d error of rotation axis fit
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        cv::Matx33f E; // essential matrix
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        cv::Matx33f E; // essential matrix
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        cv::Matx33f F; // fundamental matrix
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        cv::Matx33f F; // fundamental matrix
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        void print();
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        void print(std::ostream &stream);
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        void printCamera(std::ostream &stream);
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        void printRotationStage(std::ostream &stream);
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        void exportToXML(QString fileName);
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        void exportToXML(QString fileName);
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        void importFromXML(QString fileName);
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        void importFromXML(QString fileName);
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};
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};
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QDataStream& operator>>(QDataStream& in, SMCalibrationParameters& data);
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QDataStream& operator>>(QDataStream& in, SMCalibrationParameters& data);