ImageCalibrator.hpp

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#ifndef LOPER_IMAGECALIBRATOR
#define LOPER_IMAGECALIBRATOR

#include <vector>
using std::vector;
#include "GslMatrix.hpp"

class PointCorrespondence
{
public:
        bool operator<(const PointCorrespondence &pc) const
        {
                return (memcmp(this, &pc, sizeof(PointCorrespondence)) < 0);
        }
    double x,y; // 3d coord, z assumed as zero
    double u,v; // 2d image coord
};

typedef vector< vector < double > > Table;

GslVector getNullspaceVector (GslMatrix table);



class ImageCalibrator
{
public:

/* 
 * Constructors
 */
    ImageCalibrator() :
        homography(3,3),
        rotation(3),
        translation(3)
    {
    }

/*
 * Operators
 */
    void recalculateHomography();

/*
 * Accessors
 */
    void printPoints();
    void printHomography();

/*
 * Member variables
 */
    std::vector< PointCorrespondence > points;

    // our 3x3 homography
    GslMatrix homography;
    GslVector rotation; // rotation amount is in the length
    GslVector translation;
};



#endif // LOPER_IMAGECALIBRATOR

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