white_black_grid.h

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*  Author:Zhao Cilang,Yan Fei,Zhuang Yan.
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#ifndef WHITE_BLACK_GRID_H
#define WHITE_BLACK_GRID_H

#include "camera_laser_calibration/basic_data/point3d.h"
#include <stdio.h>
#include <iostream>
#include <string>
#include <fstream>
#include <sstream>
#include <vector>

#include <eigen3/Eigen/Dense>   //matirx relation

#define N 3

using namespace std;
using namespace Eigen;


struct BinIndex                 //Binary matrix index struct
{
  size_t bin_i;
  size_t bin_j;
};

class CWhiteBlackGrid
{
public:
        CWhiteBlackGrid (void);
  ~CWhiteBlackGrid (void);
  
  std::vector < std::vector < int > >bin_vec_;   // Binary matrix
  std::vector < CPoint3d > node_vec_; //Checkerboard corners which are detected initially
  std::vector < CPoint3d > match_pair_vec_;   //Checkerboard corners which are detected 
  std::vector < CPoint3d > standard_vec_;     //Constructed standard model 

        void whgRegisterScanMode (bool scan_mode);
  void whgNodeDetect (int _m, int _n, float *_parameters, std::vector < std::vector < CPoint3d > >&laser_data_vec);     // Detect checkerboard corners
  void whgNodeModify (void);    //Revise the corners we detect.

  BinIndex whgAverageof4index (BinIndex bi1, BinIndex bi2, BinIndex bi3, BinIndex bi4); //Calculate the average of 4 indexs

  void whgCalculateTransformationRT (void);     //Calculate the RT
  void whgTransform (MatrixXd matrix_R, VectorXd vector_t, std::vector < CPoint3d > &laser_point_vec);
  
private:
  int scene_cnt_;               //The number of scene
  bool m_scan_mode_;            //scan types 1:pitching,0:horizontal 
};

#endif