camera.hpp

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#ifndef CAMERA_H
#define CAMERA_H
 
#include "attitude-utils.hpp"
 
namespace lost {
 
class Camera {
public:
    Camera(const Camera &) = default;
 
    Camera(decimal focalLength,
           decimal xCenter, decimal yCenter,
           int xResolution, int yResolution)
        : focalLength(focalLength),
          xCenter(xCenter), yCenter(yCenter),
          xResolution(xResolution), yResolution(yResolution) {};
 
    Camera(decimal focalLength, int xResolution, int yResolution)
        : Camera(focalLength,
                 xResolution / DECIMAL(2.0), yResolution / DECIMAL(2.0),
                 xResolution, yResolution) {};
 
    Vec2 SpatialToCamera(const Vec3 &) const;
    Vec3 CameraToSpatial(const Vec2 &) const;
 
    // converts from a 2d point in the camera sensor to right ascension and declination relative to
    // the center of the camera.
    // void CoordinateAngles(const Vec2 &vector, decimal *ra, decimal *de) const;
 
    bool InSensor(const Vec2 &vector) const;
 
    int XResolution() const { return xResolution; };
    int YResolution() const { return yResolution; };
    decimal FocalLength() const { return focalLength; };
    decimal Fov() const;
 
    void SetFocalLength(decimal focalLength) { this->focalLength = focalLength; }
 
private:
    // TODO: distortion
    decimal focalLength;
    decimal xCenter; decimal yCenter;
    int xResolution; int yResolution;
};
 
decimal FovToFocalLength(decimal xFov, decimal xResolution);
 
}
 
#endif