camera.hpp

#ifndef DEWOBBLE_CAMERA_HPP
#define DEWOBBLE_CAMERA_HPP
 
#include <opencv2/core.hpp>
#include <vector>
 
namespace dewobble
{
 
enum Projection {
    PROJECTION_RECTILINEAR,
    PROJECTION_EQUIDISTANT_FISHEYE,
};
 
class Camera
{
  public:
    const Projection m_projection;
    const double m_focal_length;
    const int m_width;
    const int m_height;
    const double m_focal_point_x;
    const double m_focal_point_y;
    Camera(
        Projection projection,
        double diagonal_field_of_view,
        int width,
        int height,
        double focal_point_x,
        double focal_point_y);
 
    cv::Size size() const;
    cv::Matx33d matrix() const;
    cv::Mat distortion_coefficients() const;
    std::vector<cv::Point2f> undistortPoints(
        std::vector<cv::Point2f> points,
        cv::InputArray rotation = cv::noArray(),
        cv::InputArray output_matrix = cv::noArray()) const;
    std::vector<cv::Point2f> distortPoints(
        std::vector<cv::Point2f> points,
        cv::InputArray input_matrix = cv::noArray()) const;
};
 
} // namespace dewobble
 
#endif // DEWOBBLE_CAMERA_HPP