camera.hpp

#ifndef SRC_COMMON_SPATIAL_CAMERA_HPP_
#define SRC_COMMON_SPATIAL_CAMERA_HPP_
 
#include "common/spatial/attitude-utils.hpp"
 
#include "common/style.hpp"
 
namespace found {
 
 
class Camera {
 public:
    Camera(const Camera &) = default;
 
    Camera(decimal focalLength,
           int xResolution, int yResolution,
           decimal xCenter, decimal yCenter,
           decimal xPixelPitch, decimal yPixelPitch);
 
    Camera(decimal focalLength, decimal pixelSize, int xResolution, int yResolution);
 
    Vec2 CameraToPixelCoordinates(const Vec3 &) const;
 
    Vec3 PixelToImageCoordinates(const Vec2 &) const;
 
    // TODO: remove this is unecessary just use pre
    bool InSensor(const Vec2 &vector) const;
 
    const Mat3& GetCalibrationMatrix() const { return calibrationMatrix_; }
 
    const Mat3& GetInverseCalibrationMatrix() const { return inverseCalibrationMatrix_; }
 
 private:
    Mat3 initCalibrationMatrix();
 
    // TODO: distortion
    decimal focalLength_;
    int xResolution_;
    int yResolution_;
    decimal xCenter_;
    decimal yCenter_;
    decimal xPixelPitch_;
    decimal yPixelPitch_;
    Mat3 calibrationMatrix_;
    Mat3 inverseCalibrationMatrix_;
};
 
}  // namespace found
 
#endif  // SRC_COMMON_SPATIAL_CAMERA_HPP_