CameraConfig.h

#pragma once
 
#include "CameraParams.h"
 
#include <optional>
#include <string>
#include <variant>
 
#include <opencv2/core.hpp>
 
namespace cam {


const std::string KEY_FILENAME = "filename";
const std::string KEY_CAMERA_ID = "camera_id";
const std::string KEY_INTRINSIC_PARAMS = "intrinsic_params";
const std::string KEY_EXTRINSIC_PARAMS = "extrinsic_params";
const std::string KEY_CALIB_INFO = "calib_info";
const std::string KEY_NAME = "name";
const std::string KEY_DESCRIPTION = "description";

class invalid_camera_config : public std::exception {
public:
    invalid_camera_config();
    invalid_camera_config(const std::string& msg);
    virtual const char* what() const noexcept;
 
private:
    std::string _msg;
};

struct CameraConfig {
    std::string name;

    std::optional<CameraParams> intrinsicParams;

    std::optional<cv::Mat> extrinsicParams;

    std::variant<std::string, int> filenameOrID;

    std::optional<std::string> description;
};

CameraConfig readConfigFromFile(const std::string& filename);

 
} // namespace cam