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#ifndef RECONSTRUCTOR_H
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#define RECONSTRUCTOR_H
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#include "SMCalibrationParams.h"
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#include <opencv2/opencv.hpp>
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class Triangulator {
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public:
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Triangulator(SMCalibrationParams _calibration, unsigned int frameWidth, unsigned int frameHeight);
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SMCalibrationParams getCalibration(){return calibration;}
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~Triangulator(){}
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// Reconstruction
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void triangulate(cv::Mat &up, cv::Mat &vp, cv::Mat &mask, cv::Mat &shading, cv::Mat &pointCloud);
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private:
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void triangulateFromUp(cv::Mat &up, cv::Mat &xyz);
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void triangulateFromVp(cv::Mat &vp, cv::Mat &xyz);
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void triangulateFromUpVp(cv::Mat &up, cv::Mat &vp, cv::Mat &xyz);
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SMCalibrationParams calibration;
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cv::Mat determinantTensor;
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cv::Mat uc, vc;
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cv::Mat lensMap1, lensMap2;
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};
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#endif
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