/**
   *  @brief Line fitting to a set of 2D points
   *
   *  @author  Andrey Kudryavtsev (avkudr.github.io)
   *  @author  Rahima Djahel (github:rahma24000)
   *  @date    27/03/2018
   *  @version 1.0
   */
  
  #ifndef RECTIFIER_AFFINE_H
  #define RECTIFIER_AFFINE_H
  
  #include <opencv2/opencv.hpp>
  
  class RectifierAffine
  {
  public:
      RectifierAffine();
      ~RectifierAffine();
  
      void init(cv::Mat *im1, cv::Mat *im2, cv::Mat  *F, std::vector<cv::Point2d>  *inliers1, std::vector<cv::Point2d> *inliers2);
  
      bool isRectificationDone() {return !(imLrect.empty()) && !(imRrect.empty());}
  
      cv::Mat imLrect;
      cv::Mat imRrect;
  
      double angleL = 0.0;
      double angleR = 0.0;
      int    shift  = 0;
  
      void rectify();
      bool isReady();
      cv::Mat get2DRotationMatrixLeft();
      cv::Mat get2DRotationMatrixRight();
  
      cv::Mat get2DShiftMatrix();
  
      cv::Mat get2DTransformationMatrixLeft()  { return get2DRotationMatrixLeft()  * get2DShiftMatrix(); }
      cv::Mat get2DTransformationMatrixRight() { return get2DRotationMatrixRight() * get2DShiftMatrix(); }
  
      void getResult(cv::Mat & resL, cv::Mat & resR,std::vector<cv::Point2d> *ptsL,std::vector<cv::Point2d> *ptsR){
  
          resL = this->imLrect;
          resR = this->imRrect;
          ptsL=this->_inliers1;
          ptsR=this->_inliers2;
      }
  
  private:
  
      cv::Mat *_imL;
      cv::Mat *_imR;
      cv::Mat *_F;
  
      std::vector<cv::Point2d> *_inliers1;
      std::vector<cv::Point2d> *_inliers2;
  };
  
  #endif // RECTIFIER_AFFINE_H