MECalibration.hpp

/*
 *  This file is part of the AiBO+ project
 *
 *  Copyright (C) 2005-2016 Csaba Kertész (csaba.kertesz@gmail.com)
 *
 *  AiBO+ is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  AiBO+ is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Street #330, Boston, MA 02111-1307, USA.
 *
 */

#pragma once

#include <MCDefs.hpp>
#include <MCTypes.hpp>

#include <boost/scoped_ptr.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/serialization/access.hpp>
#include <boost/serialization/split_member.hpp>

class MCBinaryData;
class MECalibrationWrapper;
class MECalibration;
class MEImage;

namespace ME
{
typedef boost::shared_ptr<MECalibration> CalibrationSPtr;
}

class MECalibration
{
  friend class boost::serialization::access;

  MC_DISABLE_COPY(MECalibration)

private:

  MECalibration();

public:

  MECalibration(unsigned int chessboard_width, unsigned int chessboard_height);

  MECalibration(unsigned int image_width, unsigned int image_height,
                const MC::FloatTable& intrinsics, const MC::FloatList& distortion);

  ~MECalibration();

  unsigned int GetImageWidth() const;

  unsigned int GetImageHeight() const;

  MC::FloatTable GetIntrinsicMatrix() const;

  MC::FloatList GetDistortionVector() const;

  bool IsCalibrated() const;

  bool AddImage(MEImage& new_image);

  float Commit();

  void Undistort(MEImage& image);

  void Dump() const;

  bool SearchChessboardCorners(MEImage& image, bool draw_results) const;

  static void BlackNormalize(MEImage& source_image, const MEImage& black_image);

  MCBinaryData* Encode() const;

  static MECalibration* Decode(const MCBinaryData& data);

private:

  template<class Archive>
  void load(Archive& archive, const unsigned int version);
  template<class Archive>
  void save(Archive& archive, const unsigned int version) const;
  BOOST_SERIALIZATION_SPLIT_MEMBER();

protected:
  unsigned int ImageWidth;
  unsigned int ImageHeight;
  unsigned int ChessboardCornerWidth;
  unsigned int ChessboardCornerHeight;
  bool Calibrated;
  boost::scoped_ptr<MECalibrationWrapper> Wrapper;
};