ivt_calibration.h

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#ifndef IVT_BRIDGE_IVT_CALIBRATION_H
#define IVT_BRIDGE_IVT_CALIBRATION_H

#include <sensor_msgs/CameraInfo.h>
#include <image_geometry/pinhole_camera_model.h>
#include <image_geometry/stereo_camera_model.h>
#include <Calibration/Calibration.h>
#include <Calibration/StereoCalibration.h>
#include <stdexcept>
#include <opencv2/core/core.hpp>

namespace ivt_bridge {

class IvtCalibration {
public:

        bool fromCameraInfo(const sensor_msgs::CameraInfo& msg);

        bool fromCameraInfo(const sensor_msgs::CameraInfoConstPtr& msg);

        boost::shared_ptr<CCalibration> getCalibration(bool forRectifiedImages=false) const;


private:
        image_geometry::PinholeCameraModel cam_model;
};

class IvtStereoCalibration {
public:

        bool fromCameraInfo(const sensor_msgs::CameraInfo& left, const sensor_msgs::CameraInfo& right);

        bool fromCameraInfo(const sensor_msgs::CameraInfoConstPtr& left, const sensor_msgs::CameraInfoConstPtr& right);

        boost::shared_ptr<CStereoCalibration> getStereoCalibration(bool forRectifiedImages=false) const;
    
private:
        image_geometry::StereoCameraModel cam_model;
};

} // namespace ivt_bridge


#endif