Subversion Repositories seema-scanner

#ifndef SMCalibrationParams_H

#define SMCalibrationParams_H

#include <QString>

#include <opencv2/core/core.hpp>

class SMCalibrationParams{

    public:

        SMCalibrationParams() : Kc(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0), kc(0.0), cam_error(0.0),

                            Kp(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0), kp(0.0), proj_error(0.0),

                            Rp(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0), Tp(0.0), stereo_error(0.0){}

        SMCalibrationParams(cv::Matx33f _Kc, cv::Vec<float, 5> _kc, double _cam_error, cv::Matx33f _Kp, cv::Vec<float, 5> _kp, double _proj_error, cv::Matx33f _Rp, cv::Vec3f _Tp, double _stereo_error) :

                        Kc(_Kc), kc(_kc), cam_error(_cam_error), Kp(_Kp), kp(_kp), proj_error(_proj_error), Rp(_Rp), Tp(_Tp), stereo_error(_stereo_error){}

        //SMCalibrationParams(const QString& filename){load(filename);}

        bool load(const QString& filename);

        bool save(const QString& filename);

        bool loadYML(const QString& filename);

        bool saveYML(const QString& filename);

        bool saveMatlab(const QString& filename);

        bool saveSLCALIB(const QString& filename);

        void print(std::ostream &stream);

        cv::Matx33f Kc; // Intrinsic camera matrix

        cv::Vec<float, 5> kc; // Camera distortion coefficients

        double cam_error;

        cv::Matx33f Kp; // Intrinsic projector matrix

        cv::Vec<float, 5> kp; // Projector distortion coefficients

        double proj_error;

        cv::Matx33f Rp; // Extrinsic camera rotation matrix

        cv::Vec3f   Tp; // Extrinsic camera rotation matrix

        double stereo_error;

        std::string calibrationDateTime;

};

#endif