CameraCalibrator.hpp

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#ifndef LOPER_CAMERACALIBRATOR
#define LOPER_CAMERACALIBRATOR

#include <vector>
#include <assert.h>
#include "ImageCalibrator.hpp"



class CameraCalibrator
{
public:
    CameraCalibrator() :
        intrinsics(3,3)
    {}

    void addImage (ImageCalibrator i);

    int getNumImages() { return images.size(); }
        int getNumPoints();

    void calculateClosedIntrinsics (double &alpha, double &beta, double &u0, double &v0, double &skewness);
        double calculateOptimizedIntrinsics (double &alpha, double &beta, double &u0, double &v0, double &skewness, double &k0, double &k1, bool bWithRadialDist);

        void getClosedFormSolution ();
        double evaluate_f(const GslVector &guess, GslVector & result);
        void evaluate_df(const GslVector &guess, GslMatrix & result);

private:
    std::vector< ImageCalibrator > images;

    GslMatrix intrinsics;
        bool bUseRadialDistortion;
    double k0;
    double k1;
};

#endif // LOPER_CAMERACALIBRATOR

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