camera.h

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// Copyright (c) OpenXRLab. All rights reserved.

#pragma once

#include <Eigen/Core>

#include <string>
#include <vector>

#include <data_structure/math_util.h>
#include <xrprimer_export.h>

class XRPRIMER_EXPORT BaseCameraParameter {
  public:
    virtual ~BaseCameraParameter() = default;

    BaseCameraParameter()
        : BaseCameraParameter(Eigen::Matrix4f::Zero(),
                              Eigen::Matrix3f::Identity(),
                              Eigen::Vector3f::Zero()) {}

    BaseCameraParameter(const std::string &name, int width, int height,
                        bool world2cam, const Eigen::Matrix4f &intrinsic,
                        const Eigen::Matrix3f &extrinsic_r,
                        const Eigen::Vector3f &extrinsic_t,
                        const std::string &convention)
        : name_(name), width_(width), height_(height), world2cam_(world2cam),
          intrinsic_(intrinsic), extrinsic_r_(extrinsic_r),
          extrinsic_t_(extrinsic_t), convention_(convention) {}

    BaseCameraParameter(const Eigen::Matrix4f &intrinsic,
                        const Eigen::Matrix3f &extrinsic_r,
                        const Eigen::Vector3f &extrinsic_t)
        : BaseCameraParameter("default", 1920, 1080, true, intrinsic,
                              extrinsic_r, extrinsic_t, "opencv") {}

    void set_intrinsic(int width, int height, double fx, double fy, double cx,
                       double cy, bool perspective = true);
    void set_intrinsic(const Eigen::Matrix3f &mat, bool perspective = true);
    Eigen::Matrix3f intrinsic33() const;

    //
    // interface
    //
    virtual std::string ClassName() const = 0;
    virtual bool SaveFile(const std::string &filename) const = 0;
    virtual bool LoadFile(const std::string &filename) = 0;

    //
    // properties
    //
    std::string name_;
    Eigen::Matrix4f intrinsic_;
    Eigen::Matrix3f extrinsic_r_;
    Eigen::Vector3f extrinsic_t_;
    int width_;
    int height_;
    bool world2cam_;
    std::string convention_; // opencv or other

  private:
    bool IsPerspective() const;
};