g_camera_calibration.h

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/* $Id: g_camera_calibration.h 18278 2014-11-25 01:42:10Z ksimek $ */
/* =========================================================================== *
   |
   |  Copyright (c) 1994-2010 by Kobus Barnard (author)
   |
   |  Personal and educational use of this code is granted, provided that this
   |  header is kept intact, and that the authorship is not misrepresented, that
   |  its use is acknowledged in publications, and relevant papers are cited.
   |
   |  For other use contact the author (kobus AT cs DOT arizona DOT edu).
   |
   |  Please note that the code in this file has not necessarily been adequately
   |  tested. Naturally, there is no guarantee of performance, support, or fitness
   |  for any particular task. Nonetheless, I am interested in hearing about
   |  problems that you encounter.
   |
   |  Author:  Kyle Simek
 * =========================================================================== */

#ifndef KJB_G_CPP_CAMERA_CALIBRATION
#define KJB_G_CPP_CAMERA_CALIBRATION

#include <iosfwd>

namespace kjb
{
class Matrix;
class Vector;

struct Calibration_descriptor
{
    static const Calibration_descriptor STANDARD;
    enum Coord_convention { 
        TOP_LEFT, 
        BOTTOM_LEFT, 
        CENTER 

    };

    int image_width;
    int image_height;
    Coord_convention convention;

    bool world_origin_in_front;

    bool look_down_positive_z;
};

std::ostream& operator<<(std::ostream& ost, const Calibration_descriptor::Coord_convention& mode);

std::istream& operator>>(std::istream& ist, Calibration_descriptor::Coord_convention& mode);


void standardize_camera_matrices(
        Matrix& intrinsic,
        Matrix& rotation,
        Vector& translation,
        const Calibration_descriptor& cal = Calibration_descriptor::STANDARD);

void decompose_camera_matrix(
        const Matrix& camera_matrix, 
        Matrix& intrinsic,
        Matrix& rotation,
        Vector& translation);

};

#endif