calibrationstereocamera.h

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#ifndef CALIBRATIONSTEREOCAMERA_H
#define CALIBRATIONSTEREOCAMERA_H
 
#include "calibrationpictures.h"
#include <iostream>
#include <opencv2/calib3d.hpp>
#include <opencv2/core.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc.hpp>
#include <string>
 
using namespace std;
using namespace cv;
 
class CalibrationStereoCamera {
 
public:
  CalibrationStereoCamera();
  CalibrationStereoCamera(String pathCalibrationPicturesLeftCamera,
                          String pathCalibrationPicturesRightCamera);
  ~CalibrationStereoCamera();
 
  void defineWorldCoordinates3DPoints();
 
  void executeCaibrationStereoCamera();
 
  void findAndStoreChessBoardPoints();
  void calibrateEachCamera();
  template <class T> void printAllPoint(const vector<T> &points);
  void calibrateStereoCamera();
 
  void UndistortRectifyMap();
 
  void saveFile();
private:
  vector<vector<Point3f>> objectPoints;
  vector<vector<Point2f>> imagePointsLeftCamera, imagePointsRightCamera;
 
  vector<Point2f> cornersLeftCamera;
  vector<Point2f> cornersRightCamera;
 
  vector<Point3f> obj;
  int chessBoard[2] = {8, 6};
  int squareSize{30};
 
  CalibrationPictures calibrationPictures;
 
  Mat leftPicture;
  Mat rightPicture;
  // left - Right Camera
  Mat mtxL, distL, R_L, T_L;
  Mat mtxR, distR, R_R, T_R;
  Mat new_mtxL, new_mtxR;
 
  // Stereo Camera
  Mat Rot, Trns, Emat, Fmat;
  Mat rect_l, rect_r, proj_mat_l, proj_mat_r, Q;
  Mat leftStereoMapX, leftStereoMapY;
  Mat rightStereoMapX, rightStereoMapY;
 
 
};
 
#endif // CALIBRATIONSTEREOCAMERA_H