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, decimal pixelSize,
           decimal xCenter, decimal yCenter,
           int xResolution, int yResolution)
        : focalLength(focalLength), pixelSize(pixelSize),
          xCenter(xCenter), yCenter(yCenter),
          xResolution(xResolution), yResolution(yResolution) {}
 
    Camera(decimal focalLength, decimal pixelSize, int xResolution, int yResolution)
        : Camera(focalLength, pixelSize,
                 xResolution / (decimal) 2.0, yResolution / (decimal) 2.0,
                 xResolution, yResolution) {}
 
    // Projection of vectors into image and space
 
    Vec2 SpatialToCamera(const Vec3 &) const;
 
    Vec3 CameraToSpatial(const Vec2 &) const;
 
    bool InSensor(const Vec2 &vector) const;
 
    // Accessor Methods to Camera Parameters
 
    int XResolution() const { return xResolution; }
 
    int YResolution() const { return yResolution; }
 
    decimal FocalLength() const { return focalLength; }
 
    decimal PixelSize() const { return pixelSize; }
 
    decimal Fov() const;
 
    // Mutator Method for Cameras
 
    void SetFocalLength(decimal focalLength) { this->focalLength = focalLength; }
 
 private:
    // TODO: distortion
    decimal focalLength;
    decimal pixelSize;
    decimal xCenter;
    decimal yCenter;
    int xResolution;
    int yResolution;
};
 
 
decimal FovToFocalLength(decimal xFov, decimal xResolution);
 
decimal FocalLengthToFov(decimal focalLength, decimal xResolution, decimal pixelSize);
 
}  // namespace found
 
#endif  // SRC_COMMON_SPATIAL_CAMERA_HPP_