#include <cv.h>
#include <highgui.h>


#ifndef CALIB_CAM_H
#define CALIB_CAM_H

class CalibCam {
 public:
  CalibCam();
  ~CalibCam();

  void initialize(int numImgs, int numPointsPerImg, int *fileN);
  void getImageSize(int *fn);
  void directCalibration(void);
  void printCameraParams(void);
  
  //get the extrinsic rotation/translation parameters
  //   input:  imageNum---the (Inner image) number
  void getExtrinsicParams(int imageNum);
  CvPoint2D64d world2pixel(const CvPoint3D64d &wp);

  //  input: whichOne---input image number (external)
  void world2pixelOneImage(int whichOne);
  
  // input: whichOne---input image number (external)
  void accuracyE(int whichOne);
  void projectionE(int whichOne);

  //display the error in image (external image number)
  void displayErrorInImage(int whichOne);

  static int totalNumImages;
  static int errorImageNum;

  IplImage *sourceI;
  IplImage *errorI;

  //private:
  
  //use for cvCalibrateCamera_64d
  int numImages;          //number of images
  int *imageNums;         //the image number
  int *numPoints;         //(array) number of points/image
  CvSize imageSize;
  CvPoint2D64d *imagePoints; //pointer to image vertices
  CvPoint3D64d *objectPoints; //pointer to object vertices
  CvPoint2D64d *totalImagePts; //pointer to all image vertices
  CvPoint3D64d *totalObjectPts; //pointer to all object vertices

  CvPoint2D64d *computedImgPts;
  
  CvVect64d distortion;
  CvMatr64d cameraMatrix;
  CvVect64d transVects;
  CvMatr64d rotMatrs;
  int useIntrinsicGuess;
  
  CvMat inMat;          //intrinsic camera matrix---A/opencv
  CvMat exRot;          //extrinsic camera matrix---R/opencv
  CvMat exTrs;          //extrinsic camera matrix---t/opencv
  
  CvMat tempM1;
  CvMat tempM2;
  
  //for method2--camera parameters through projection matrix
  // --- please pay attention to the place of the 
  //----intialization!!!!!!!!!!!!!!!!!!!!!!!!!!
  CvMat AMat;
  CvMat projMat;
  CvMat m2InMat;
  CvMat m2ExRot;
  CvMat m2ExTrs;
  void projMatInit(void);
  void projMatCalibration(void);
  
  
};



#endif