Started porting the camera calibration functions.

jni/marker.hpp

@@ -17,15 +17,12 @@
 #define MARKER_HPP
 
 #include <vector>
+
 #include <opencv2/opencv.hpp>
 
 namespace nxtar{
 
-class Marker;
-
-typedef std::vector<std::vector<cv::Point> > contours_vector;
-typedef std::vector<cv::Point2f>             points_vector;
-typedef std::vector<Marker>                  markers_vector;
+typedef std::vector<cv::Point2f> points_vector;
 
 class Marker{
 public:
@@ -34,8 +31,26 @@ public:
 	int code;
 };
 
+/**
+ * Detect all 5x5 markers in the input image and return their codes in the
+ * output vector.
+ */
 void getAllMarkers(std::vector<int> &, cv::Mat &);
-void calibrateCamera(cv::Mat &);
+
+/**
+ * Find a chessboard calibration pattern in the input image. Returns true
+ * if the pattern was found, false otherwise. The calibration points
+ * detected on the image are saved in the output vector.
+ */
+bool findCalibrationPattern(points_vector &, cv::Mat &);
+
+/**
+ * Sets the camera matrix and the distortion coefficients for the camera
+ * that captured the input image points into the output matrices. Returns
+ * the reprojection error as returned by cv::calibrateCamera.
+ */
+double getCameraParameters(cv::Mat &, cv::Mat &, std::vector<points_vector> &, cv::Size);
+
 }
 
 #endif