ExtrinsicParameterCalculatorCV.h

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#ifndef _EXTRINSIC_PARAMETER_CALCULATOR_CV_H_
#define _EXTRINSIC_PARAMETER_CALCULATOR_CV_H_

#include "opencv/cv.h"
// ****************************************************************************
// Forward declarations
// ****************************************************************************

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



// ****************************************************************************
// ExtrinsicParameterCalculatorCV
// ****************************************************************************

namespace ExtrinsicParameterCalculatorCV
{
        bool GetPointsAndTranslationAndRotation(const CCalibration *pCalibration,
                const CByteImage *pImage, int nColumns, int nRows, float fSquareSize, // input
                Vec2d *pPoints, Mat3d &rotation, Vec3d &translation); // output
                
        void DrawExtrinsic(CByteImage *pResultImage, const CCalibration *pCalibration, const Vec2d *pPoints, int nPoints, float fSquareSize);
}



#endif /* _EXTRINSIC_PARAMETER_CALCULATOR_CV_H_ */