IntrinsicParams.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_SIG_INTRINSICPARAMS_H
#define YARP_SIG_INTRINSICPARAMS_H
 
#include <yarp/os/Log.h>
#include <yarp/os/Portable.h>
#include <yarp/os/Property.h>
#include <yarp/sig/api.h>
 
namespace yarp {
namespace sig {
enum class YarpDistortion : std::int32_t
{
    YARP_DISTORTION_NONE, 
    YARP_PLUM_BOB,        
    YARP_FISH_EYE,        
    YARP_UNSUPPORTED,     
    YARP_DISTORTION_COUNT 
};
 
struct YARP_sig_API IntrinsicParams : public yarp::os::Portable
{
    struct YARP_sig_API DistortionModel
    {
        double k1;
        double k2;
        double t1;
        double t2;
        double k3;
        YarpDistortion type;
 
        DistortionModel(): k1(0.0), k2(0.0),
                           t1(0.0), t2(0.0),
                           k3(0.0), type(YarpDistortion::YARP_DISTORTION_NONE) {}
    };
 
    IntrinsicParams();
 
    IntrinsicParams(const yarp::os::Property &intrinsic, bool isOptional=false);
 
    void toProperty(yarp::os::Property& intrinsic) const;
 
    void fromProperty(const yarp::os::Property& intrinsic);
 
    bool read(yarp::os::ConnectionReader& reader) override;
    bool write(yarp::os::ConnectionWriter& writer) const override;
 
    double   physFocalLength;        
    double   principalPointX;        
    double   principalPointY;        
    double   focalLengthX;           
    double   focalLengthY;           
    DistortionModel distortionModel; 
    bool     isOptional;
};
 
} // namespace sig
} // namespace yarp
 
 
 
#endif // YARP_SIG_INTRINSICPARAMS_H