calibration/Step2.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
#include "global.h"
#include "tnt.h"
#include "tnt_array2d.h"
#include "tnt_array2d_utils.h"
#include "tnt_array1d_utils.h"
#include "jama_cholesky.h"

namespace Calibration{
class Step1;
class Step3;
class Step2{
        friend class Step3;
        Step1 **z;
        int count;
        double LM_scales[7];
        Array2D<double> A;      
        double k1;
        double k2;      
        
        void AfromB(Array1D<double> b);
        void estimateRadial();
        
        static int fcn(void *p,int m, int n,const double *x, double *fvec, int iflag);
        static int fcn2(void *p,int m, int n,const double *x, double *fvec, int iflag);
        
        void optimize();
        void scaleModel(double);
        

public:
        Step2(Step1 **z,int count);
        Array2D<double> project(int);
        
        void printTests();
        void outA(char **text);
        void outPics(char **text);
        void getA(Array2D<double> &A){
                A=this->A;
        }
        void getK(double &k1,double &k2){
                k1=this->k1;
                k2=this->k2;
        }
        
};
}

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