StereoCalibration.h

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// ****************************************************************************
// This file is part of the Integrating Vision Toolkit (IVT).
//
// The IVT is maintained by the Karlsruhe Institute of Technology (KIT)
// (www.kit.edu) in cooperation with the company Keyetech (www.keyetech.de).
//
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// ****************************************************************************
// ****************************************************************************
// Filename:  StereoCalibration.h
// Author:    Pedram Azad
// Date:      2004
// ****************************************************************************


#ifndef _STEREO_CALIBRATION_H_
#define _STEREO_CALIBRATION_H_


// ****************************************************************************
// Necessary includes
// ****************************************************************************

#include "Math/Math3d.h"


// ****************************************************************************
// Forward declarations
// ****************************************************************************

class CCalibration;
class CByteImage;
struct Vec2d;
struct Vec3d;
struct Mat3d;
struct PointPair2d;
struct PointPair3d;



// ****************************************************************************
// CStereoCalibration
// ****************************************************************************

class CStereoCalibration
{
public:
        CStereoCalibration();

        ~CStereoCalibration();
        
        CStereoCalibration(const CStereoCalibration &stereoCalibration);

        
        void Set(const CStereoCalibration &stereoCalibration);
        
        void SetSingleCalibrations(const CCalibration &leftCalibration, const CCalibration &rightCalibration, bool bTransformLeftCameraToIdentity = false);
        
        void SetDistortionParameters(float d1_left, float d2_left, float d3_left, float d4_left, float d1_right, float d2_right, float d3_right, float d4_right);

        void SetExtrinsicParameters(const Mat3d& left_rotation, const Vec3d& left_translation, const Mat3d& right_rotation, const Vec3d& right_translation, bool bTransformLeftCameraToIdentity = false);
        
        bool LoadCameraParameters(const char *pCameraParameterFileName, bool bTransformLeftCameraToIdentity = true);
                
        bool SaveCameraParameters(const char *pCameraParameterFileName) const;

        
        const CCalibration* GetLeftCalibration() const { return m_pLeftCalibration; }
        
        const CCalibration* GetRightCalibration() const { return m_pRightCalibration; }

        
        void Calculate3DPoint(const Vec2d &cameraPointLeft, const Vec2d &cameraPointRight, Vec3d &worldPoint, bool bInputImagesAreRectified, bool bUseDistortionParameters = true, PointPair3d *pConnectionLine = 0);
        
        void CalculateEpipolarLineInLeftImage(const Vec2d &pointInRightImage, Vec3d &l);
        
        void CalculateEpipolarLineInLeftImage(const Vec2d &pointInRightImage, PointPair2d &epipolarLine);
        
        void CalculateEpipolarLineInLeftImage(const Vec2d &pointInRightImage, float &m, float &c);
        
        void CalculateEpipolarLineInRightImage(const Vec2d &pointInLeftImage, Vec3d &l);
        
        void CalculateEpipolarLineInRightImage(const Vec2d &pointInLeftImage, PointPair2d &epipolarLine);
        
        void CalculateEpipolarLineInRightImage(const Vec2d &pointInLeftImage, float &m, float &c);
        
        
        float CalculateEpipolarLineInLeftImageDistance(const Vec2d &pointInLeftImage, const Vec2d &pointInRightImage);
        
        float CalculateEpipolarLineInRightImageDistance(const Vec2d &pointInLeftImage, const Vec2d &pointInRightImage);
        
        void GetProjectionMatricesForRectifiedImages(Mat3d &P1Left, Vec3d &p2Left, Mat3d &P1Right, Vec3d &p2Right) const;
        
        
        // public attributes
        int width;
        int height;
        
        Mat3d rectificationHomographyLeft;
        
        Mat3d rectificationHomographyRight;
                

private:
        // private methods
        void TransformLeftCameraToIdentity();
        void CalculateFundamentalMatrix();

        // private attributes
        CCalibration *m_pLeftCalibration;
        CCalibration *m_pRightCalibration;
        
        Mat3d F, FT; // F = fundamental matrix, FT = transposed fundamental matrix
};



#endif /* _STEREO_CALIBRATION_H_ */