Subversion Repositories seema-scanner

#ifndef RECONSTRUCTOR_H
#define RECONSTRUCTOR_H

#include "SMCalibrationParams.h"

#include <opencv2/opencv.hpp>

class Triangulator {
    public:
        Triangulator(SMCalibrationParams _calibration, unsigned int frameWidth, unsigned int frameHeight);
        SMCalibrationParams getCalibration(){return calibration;}
        ~Triangulator(){}
        // Reconstruction
        void triangulate(cv::Mat &up, cv::Mat &vp, cv::Mat &mask, cv::Mat &shading, cv::Mat &pointCloud);
    private:
        void triangulateFromUp(cv::Mat &up, cv::Mat &xyz);
        void triangulateFromVp(cv::Mat &vp, cv::Mat &xyz);
        void triangulateFromUpVp(cv::Mat &up, cv::Mat &vp, cv::Mat &xyz);
        SMCalibrationParams calibration;
        cv::Mat determinantTensor;
        cv::Mat uc, vc;
        cv::Mat lensMap1, lensMap2;
};

#endif