CameraParams.h

#pragma once
 
#include <vector>
 
#include <opencv2/core.hpp>
 
namespace cam {


const std::string KEY_IMAGE_WIDTH = "image_width";
const std::string KEY_IMAGE_HEIGHT = "image_height";
const std::string KEY_CAMERA_MATRIX = "camera_matrix";
const std::string KEY_DIST_COEFFS = "distortion_coefficients";


class CameraParams {
private:
    cv::Mat _camera_matrix;
    cv::Mat _dist_coeff;
    cv::Size _image_size;
    void init(const cv::Mat& camera_matrix, const cv::Mat& dist_coeff, cv::Size image_size);
 
public:
    CameraParams();
    CameraParams(const cv::Mat& camera_matrix, const cv::Mat& dist_coeff,
                 cv::Size image_size = cv::Size(640, 480));
    CameraParams(const CameraParams& other);
    bool empty() const;
    cv::Mat getCameraMatrix() const;
    cv::Mat getDistCoeff() const;
    cv::Size getImageSize() const;
    std::vector<double> getIntrinsicList();

    CameraParams& operator=(const CameraParams& other);

    void readFromFileNode(const cv::FileNode& file_node);
    void writeToFileStorage(cv::FileStorage& file_storage) const;
};

void read(const cv::FileNode& node, CameraParams& params,
          const CameraParams& default_value = CameraParams());
void write(cv::FileStorage& fs, const std::string& name, const CameraParams& params);

 
} // namespace cam
 
// namespace cam