calibration/Step1.h

/*
    This file is part of Cali Cam.

    Cali Cam 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 3 of the License, or
    (at your option) any later version.

    Cali Cam 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 Cali Cam.  If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
/*
        use TNT
        2d_arrays
                use matmult  (matrix depreciated)
*/

#include "tnt_array2d.h"
#include "tnt_array2d_utils.h"
#include "tnt_array1d_utils.h"
#include "jama_svd.h"
#include "jama_eig.h"
#include "global.h"

#include <string.h>
#include <stdio.h>
#include <iostream>
#include <sstream>
using namespace std;
using namespace TNT;
using namespace JAMA;


namespace Calibration{
class Step1{
        friend class Step2;
        Array2D<double> M;      
        Array2D<double> m;      
        Array1D<double> w;      

        void homography();
        void tameR();
        void createRtFromA( Array2D<double> &A);
        Array1D<double> totalErrors(Array2D<double> A,Array1D<double> Win,Array1D<double> tin); 
        Array1D<double> totalErrors(Array2D<double> A,Array1D<double> Win,Array1D<double> tin,double k1,double k2);
        static int fcn(void *p,int l, int n,const double *x, double *fvec, int iflag);
public:
        void createRfromW();
        void updateRt(){
                for(int x=0;x<3;x++){
                        Rt[x][0]=R[x][0];
                        Rt[x][1]=R[x][1];
                        Rt[x][2]=t[x];
                }
        }
        Array2D<double> R;
        Array2D<double> Rt;
        Array1D<double> t;
        Array2D<double> H;
        char name[500];
        Step1(Array2D<double> &M,Array2D<double> &m, const char *name) 
                : w(3,0.0),R(3,3,0.0),Rt(3,3,0.0),t(3,0.0),H(3,3,0.0){
                        this->M=M.copy();
                        this->m=m.copy();
                        strcpy(this->name,name);
                        homography();
        };
        void getInfo(string &total){
                stringstream ss;
                string s;
                total=name;
                total+="\nR:\n";
                ss<<R[0][0]<<" "<<R[0][1]<<" "<<R[0][2]<<" "
                  <<R[1][0]<<" "<<R[1][1]<<" "<<R[1][2]<<" "
                  <<R[2][0]<<" "<<R[2][1]<<" "<<R[2][2]<<" ";
                 for(int x=0;x<3;x++){
                        ss>>s;
                        total+= s + " ";
                        ss>>s;
                        total+= s + " ";
                        ss>>s;
                        total+= s + "\n";
                 }      
                 ss<<t[0]<<" "<<t[1]<<" "<<t[2]<<" ";
                 total+="T:\n";
                 for(int x=0;x<3;x++){
                        ss>>s;
                        total+=s+'\n';
                 }
                
        }
        void updatePoints(Array2D<double> &m){
                this->m=m.copy();
        }
};
}

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