contrib/brl/bmvl/bcal/bcal_zhang_linear_calibrate.h

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// This is brl/bmvl/bcal/bcal_zhang_linear_calibrate.h
#ifndef AFX_ZHANGLINEARCALIBRATE_H__A6F24F23_8E39_494F_83FB_3ABF8093481D__INCLUDED_
#define AFX_ZHANGLINEARCALIBRATE_H__A6F24F23_8E39_494F_83FB_3ABF8093481D__INCLUDED_
//:
// \file
// \author Kongbin Kang (kk@lems.brown.edu)
//         Brown University
// \brief zhang linear camera calibration from planary pattern
// \date  3/23/2003
//------------------------------------------------------------------------------

#if defined(_MSC_VER) && ( _MSC_VER > 1000 )
#pragma once
#endif // _MSC_VER > 1000

#include <vnl/vnl_vector_fixed.h>
#include <vnl/vnl_double_3x3.h>
#include <vgl/algo/vgl_h_matrix_2d.h>
#include <vgl/algo/vgl_h_matrix_3d.h>
#include "bcal_camera_graph.h"
#include "bcal_calibrate_plane.h"
#include "bcal_zhang_camera_node.h"
#include "bcal_euclidean_transformation.h"

class bcal_zhang_linear_calibrate
{
 public:
  // compute extrinsic parameters of camera
  vgl_h_matrix_3d<double> compute_extrinsic(vgl_h_matrix_2d<double> const &H,
                                            vnl_double_3x3 const &A);

  // calibrate the camera array
  int calibrate();

  // set camera graph
  void setCameraGraph(bcal_camera_graph<bcal_calibrate_plane, bcal_zhang_camera_node, bcal_euclidean_transformation>* pG);
  bcal_zhang_linear_calibrate();
  virtual ~bcal_zhang_linear_calibrate();

 protected:
  int calibrate_extrinsic();
  void calibrate_intrinsic();
  int compute_homography();
  vnl_vector_fixed<double, 6> homg_constrain(vgl_h_matrix_2d<double> const& hm, int i, int j);
  // homographies list hm_list[0...n-1]
  vnl_double_3x3 compute_intrinsic(vgl_h_matrix_2d<double> *hm_list, int n);

  // get closet rotation matrix from a none rotation matrix Q
  vnl_double_3x3 get_closest_rotation(vnl_double_3x3 const & Q);

  // allocate memory to store homography according to camera graph
  int initialize();
  // clear allocated memory.
  int clear();

 private:
  bcal_camera_graph<bcal_calibrate_plane, bcal_zhang_camera_node, bcal_euclidean_transformation>* cam_graph_ptr_;
  vcl_vector<vgl_h_matrix_2d<double> *> h_matrice_;
  vcl_vector<int> num_views_;
};

#endif // AFX_ZHANGLINEARCALIBRATE_H__A6F24F23_8E39_494F_83FB_3ABF8093481D__INCLUDED_

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