CamAugmentation.h

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#ifndef _CAMAUGMENTATION_H
#define _CAMAUGMENTATION_H

#include "CamCalibration.h"

struct PoseObs;

class CamAugmentation {

public:
  CamAugmentation();

  ~CamAugmentation();

  void AddHomography();

  void AddHomography( std::vector<CamCalibration::s_struct_points> p, CvMat* ready );

  bool Accomodate( int iter, double eps );

  void Clear();

  CvMat* GetProjectionMatrix( int c );

  CvMat* GetRefProjectionMatrix( int c );

  CvMat *GetCamEyeMatrix( int c );

  CvMat* GetObjectToWorld();

  bool LoadOptimalStructureFromFile( char* cam_c_file, char *cam_rt_file );

  void ClearAll();

private:

  struct s_struct_optimal {
    std::vector<int> v_camera_width;
    std::vector<int> v_camera_height;
    std::vector<CvMat*> v_camera_c;
    std::vector<CvMat*> v_camera_r_t;
    std::vector<CvMat*> v_camera_r_t_jacobian;
  };

  s_struct_optimal s_optimal;

  struct s_struct_homography {
    std::vector<CamCalibration::s_struct_points>   v_point;
    homography*   m_homography;

    s_struct_homography(){
      m_homography = NULL;
    }
    ~s_struct_homography(){
      v_point.clear();
      delete m_homography;
    }
  };

  std::vector<s_struct_homography*> v_homography;

  CvMat*         v_homography_r_t; //TODO: warum v?? m!!!

  CvMat*         v_homography_r_t_jacobian;

  std::vector<double> v_opt_param;

  bool EstimateHomographyRT();

  CvMat* InverseCalibrationMatrix( CvMat *in );

  bool CreateHomographyRotationTranslationMatrix( int c );

  bool OptimizeCurrentView( int iter, double eps );

  int GetObservationNumber();

  void GetParameterSet();

  void SetParameterSet();

  static void updateCB(double *params, void **user_data);

  //static void PrintIterationResult(  double *params );

  //static void projFunc( double *x, double *params, int na, double *f, double *grad, int *ind, LsqData *Data );

  void ReleaseOptimalCameraStructure();

  friend class PoseObs;
};

#endif