/**
* This file is part of DSO.
* 
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* DSO is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with DSO. If not, see <http://www.gnu.org/licenses/>.
*/



#pragma once

#include "util/settings.h"
#include "util/NumType.h"
#include "IMUMeasurement.h"

namespace dso {
  extern int wG[PYR_LEVELS], hG[PYR_LEVELS];
  extern float fxG[PYR_LEVELS], fyG[PYR_LEVELS],
      cxG[PYR_LEVELS], cyG[PYR_LEVELS];

  extern float fxiG[PYR_LEVELS], fyiG[PYR_LEVELS],
      cxiG[PYR_LEVELS], cyiG[PYR_LEVELS];

  extern Eigen::Matrix3f KG[PYR_LEVELS], KiG[PYR_LEVELS];

  extern float wM3G;
  extern float hM3G;

  extern float baseline;
  extern SE3 T_SC0;
  extern IMUParameters imuParameters;

  void setGlobalCameraCalib(int w, int h, const Eigen::Matrix3f &K);

  void setGlobalIMUCalib();
}
