create_calibs.h

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#include <iostream>

#include <youbot_overhead_vision/markerCoords.h>
#include <youbot_overhead_vision/CalibCameraImg.h>
#include "image_calibration.h"
#include "yaml-cpp/yaml.h"

using namespace std;

//Object Types 
/*
 * L= Left  R = Right.  F = Front B = Back
 */

#define PI 3.14159

#define ZOOM_CONSTANT 4
#define SCREEN_RESIZE 2

bool mouseEvent;
uint8_t clickedColorR;
uint8_t clickedColorG;
uint8_t clickedColorB;
bool savePointToBothCameraFlag;
int mouseX;
int mouseY;

//Marks if the user is selecting the room boundary box
bool roomBoundaryModeFlag;
vector<cv::Point> roomBoundaryPoints;

//Zooming variables. Determine whether the image should be zoomed, and which quadrant should be zoomed.
bool zoom;
int zoomQuadX;
int zoomQuadY;
//These are used by the mouse event to determine the color pixel that was clicked on.  Must be outside the class.

class createCalibs
{
public:

  //Determines how close to the calibrating colors a pixel must be to be considered that color.
  int calibAccuracy;

  //Marks when escape was pressed to escape the program.
  bool escPressed;
  /*
   * Determines if the simulation or real world is currently being used.
   */
  bool useSim;

  //Bool marks whether or not the image was paused
  bool imagePaused;

  //Marks which color is currently being calibrated 
  int calibratingColor;

  //Denotes which camera is currently shown
  int cameraShown;

  //Marks what level of calibration was toggled (No calib, white/colors, white/Black)
  int calibToggled;

  //The overlap between the two cameras in pixels
  int realCameraOverlap;

  //Marks if the raw images were read from cameras or gazebo.  Required to process images
  bool image1LoadedFlag;
  bool image2LoadedFlag;

  ros::Subscriber imgSub1;
  ros::Subscriber imgSub2;
  ros::Publisher pubImgCal; //Used for testing.  Allows for viewing calibrated image

  //Class that creates and manages the tree used for calibrating images.
  calibTree * calTree;

  int colors[5][3];

  //Stores the cal image
  cv_bridge::CvImagePtr output_Img1;
  cv_bridge::CvImagePtr output_Img2;

  //raw image updated by the image_raw subscriber
  cv_bridge::CvImagePtr raw_Img1;
  cv_bridge::CvImagePtr raw_Img2;

  //marks whether or not the image still has to be updated before being analyzed
  bool updatedImageFlag;

  int blurringFactor;
  int seq_num;

  /*
   *                                       Public Functions
   */

  createCalibs();

  ~createCalibs();

  void showImage();

  void getCalibration(int calibType, int calibR, int calibB, int calibG);

  void imageCallback1(const sensor_msgs::ImageConstPtr& image_msg);

  void imageCallback2(const sensor_msgs::ImageConstPtr& image_msg);

  void applyCalib(cv::Mat * image_msg, int camera);

  void saveCalibsToFiles();

  string convertInt(int number);

private:
  //File paths for calibration files
  string filenames[5];

  string boundaryImgFilename;

};

void myMouseCallback(int event, int x, int y, int flags, void *param);