From e5c3b5117c2f3936967319223e353ac6c7a0b1ca Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Sun, 9 Apr 2017 13:25:13 -0500
Subject: warp source and reflection patches

---
 src/camera.h | 7 +++++++
 1 file changed, 7 insertions(+)

(limited to 'src/camera.h')

diff --git a/src/camera.h b/src/camera.h
index 3de64a6..51ba9a6 100644
--- a/src/camera.h
+++ b/src/camera.h
@@ -1,9 +1,12 @@
 #ifndef  camera_INC
 #define  camera_INC
+#include <cv.h>
 #include <Eigen/Dense>
 #include <iostream>
+#include <opencv2/highgui/highgui.hpp>
 #include <yaml-cpp/yaml.h>
 
+#include "types.h"
 #define BINNING 0.5 // set the binning factor
 #define YAWCORRECT 2.0
 //#define DOYAWCORRECT
@@ -40,9 +43,13 @@ class Camera
         /* ====================  OPERATORS     ======================================= */
         Vector3d img2body(const Vector3d &xi) const;
         Vector3d body2img(const Vector3d &xb) const;
+        cv::Mat warpPatch(const cv::Mat &p, const Quaterniond &q0, const Quaterniond &q1) const;
+        cv::Mat reflectPatch( const cv::Mat &p, const Quaterniond &q0, const Quaterniond &q1 ) const;
 
     protected:
         /* ====================  METHODS       ======================================= */
+        double roll(const Quaterniond &q) const;
+        double pitch(const Quaterniond &q) const;
 
         /* ====================  DATA MEMBERS  ======================================= */
 
-- 
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