calibration_object.h

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#ifndef CALIBRATION_OBJECT_H
#define CALIBRATION_OBJECT_H
#ifndef Q_MOC_RUN
#include <Eigen/Dense>
#endif

class Calibration_Object
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    Calibration_Object();
    Eigen::Matrix4d frame_marker_left;
    Eigen::Matrix4d frame_marker_right;
    double top_angle_ab;
    double top_angle_bc;
    double top_angle_ca;
    double side_a;
    double side_b;
    double side_c;
    double marker_edge_size;

    double marker_left_rotation_z;
    double marker_left_transformation_z;
    double marker_left_transformation_x;
    double marker_left_rotation_x;

    double marker_right_rotation_z;
    double marker_right_transformation_z;
    double marker_right_transformation_x;
    double marker_right_rotation_x;

    std::string marker_id_left;
    std::string marker_id_right;

    void calculateTransformationFrames();

protected:

    Eigen::Affine3d getDHTransformation(double rotZ, double transZ, double rotX, double transX);

    /*static const double CALIBRATION_OBJECT_FLAT_ANGLE_AB = 1.12;
    static const double CALIBRATION_OBJECT_FLAT_ANGLE_BC = 1.12;
    static const double CALIBRATION_OBJECT_FLAT_ANGLE_CA = 1.38;
    static const double CALIBRATION_OBJECT_FLAT_SIDE_A = 1.293;
    static const double CALIBRATION_OBJECT_FLAT_SIDE_B = 0.577;
    static const double CALIBRATION_OBJECT_FLAT_SIDE_C = 1.293;

    static const double CALIBRATION_OBJECT_HIGH_ANGLE_AB = 0.46469;
    static const double CALIBRATION_OBJECT_HIGH_ANGLE_BC = 0.46469;
    static const double CALIBRATION_OBJECT_HIGH_ANGLE_CA = 0.6435;
    static const double CALIBRATION_OBJECT_HIGH_SIDE_A = 1.2786;
    static const double CALIBRATION_OBJECT_HIGH_SIDE_B = 1.143;
    static const double CALIBRATION_OBJECT_HIGH_SIDE_C = 1.2786;

    static const double MARKER_LEFT_TRANSFORMATION_X =0.1;
    static const double MARKER_LEFT_TRANSFORMATION_Y =0.1;
    static const double MARKER_LEFT_ROTATION_Z =0;
    static const double MARKER_RIGHT_TRANSFORMATION_X =0.1;
    static const double MARKER_RIGHT_TRANSFORMATION_Y =0.1;
    static const double MARKER_RIGHT_ROTATION_Z =0;
    static const double MARKER_EDGE_SIZE =0.08;
    static const unsigned int MARKER_ID_LEFT =10;
    static const unsigned int MARKER_ID_RIGHT =9;*/
};

#endif // CALIBRATION_OBJECT_H