#ifdef NO_CALIBRATION

printf("DEBUG: camera calibration disabled!\n");

IplImage* cf = cvQueryFrame(cpt->getCapture());

this->width = cf->width;

this->height = cf->height;

this->projectorWidth = this->width;

this->projectorHeight = this->height;

this->projectorOrigin = cvPoint(0,0);

// cvReleaseImage (&cf);

return;

#endif

printf("DEBUG: calibrating camera\n");

CvSize nsquares = cvSize(6,4);

CvPoint2D32f* corners = new CvPoint2D32f[ 6*4 ];

IplImage *cb = cvLoadImage("res/chessboard.png",1);

prs->putImage(cvPoint(0,0), cvPoint(prs->getScreenWidth(), prs->getScreenHeight()), NULL, NULL, cb);

prs->applyBuffer();

//IplImage *fake = cvLoadImage("fake.jpg", 1);

//IplImage *src = cvCreateImage(cvGetSize(fake), IPL_DEPTH_8U, 1);

//cvCvtColor(fake, src, CV_RGB2GRAY);

IplImage *frame;

bool patternFound = false;

int cc;

while (!patternFound) {

printf("trying to find chessboard\n");

frame = cvQueryFrame(cpt->getCapture());

patternFound = cvFindChessboardCorners(frame, nsquares, corners, &cc,

CV_CALIB_CB_ADAPTIVE_THRESH |

CV_CALIB_CB_FILTER_QUADS |

CV_CALIB_CB_FAST_CHECK |

CV_CALIB_CB_NORMALIZE_IMAGE);

// prs->putImage(cvPoint(0,0), cvPoint(prs->getScreenWidth(), prs->getScreenHeight()), frame);

// prs->applyBuffer();

cvWaitKey(5);

}

this->width = frame->width;

this->height = frame->height;

printf("\n");

//float x = 2*corners[0].x-corners[1].x,

// y = 2*corners[0].y-corners[7].y;

float x = corners[0].x-1.5*(corners[1].x-corners[0].x),

y = corners[0].y-1.5*(corners[6].y-corners[0].y);

this->projectorOrigin = cvPoint((int)x, (int)y);

//x = 2*corners[34].x-corners[33].x;

//y = 2*corners[34].y-corners[27].y;

x = corners[23].x+1.5*(corners[23].x-corners[22].x);

y = corners[23].y+1.5*(corners[23].y-corners[17].y);

this->projectorWidth = (int)(x-this->projectorOrigin.x);

this->projectorHeight = (int)(y-this->projectorOrigin.y);

printf("Projector: (%d, %d): %dx%d)\n", this->projectorOrigin.x, this->projectorOrigin.y, this->projectorWidth,this->projectorHeight);

//cpt->saveFrame("cbfound.jpg", frame);

// improve result (thoug through testing, it seems it makes it worse - disabling)

// could use simple linear regression to get a "better" calibration.

// IplImage *frame_gray = cvCreateImage(cvGetSize(frame), IPL_DEPTH_8U, 1);

// cvFindCornerSubPix( frame_gray, corners, cc, cvSize( 11, 11 ),

// cvSize( -1, -1 ), cvTermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 ));

// draw calibration result

cvDrawChessboardCorners( frame, nsquares , corners, cc, patternFound );

IplImage* bg;

bg = cvLoadImage("res/bg.jpg", CV_LOAD_IMAGE_UNCHANGED);

prs->putImage(cvPoint(0,0), cvPoint(prs->getScreenWidth(), prs->getScreenHeight()), NULL, NULL, bg);

prs->applyBuffer();

// display result longer

cvWaitKey(2000);

prs->clearArea(cvPoint(0,0), cvPoint(prs->getScreenWidth(), prs->getScreenHeight()));

prs->applyBuffer();

cvWaitKey(1000);

for (int i=0; i<100; i++)

cvQueryFrame(cpt->getCapture());

//cvNamedWindow("Foobar", CV_WINDOW_AUTOSIZE);

//cvShowImage("Foobar", cvQueryFrame(cpt->getCapture()));

//cvWaitKey(500);

// cvReleaseImage(&frame);

// generate chessboard programatically. (htf does cvFillPoly work?! - using image for now)

// IplImage *cb = cvCreateImage(cvSize(prs->getScreenWidth(), prs->getScreenHeight()), IPL_DEPTH_8U, 1);

// int x,y, dx = prs->getScreenWidth()/nsquares.width, dy = prs->getScreenHeight()/nsquares.height;

// CvPoint *corners[4];

// for (x=0; x<prs->getScreenWidth(); x+=dx) {

// for (y=0; y<prs->getScreenHeight(); y+=dy) {

// corners[0] = cvPoint(x,y);

// corners[1] = cvPoint(x+dx,y);

// corners[2] = cvPoint(x+dx,y+dy);

// corners[3] = cvPoint(x,y+dy);

// cvFillPoly(...)

// }

// }