intrinsics.h

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#ifndef LICORNEA_INTRINSICS_H_
#define LICORNEA_INTRINSICS_H_

#include "opencv.h"
#include "json.h"
#include "args.h"

namespace tlz {
    
struct distortion_parameters {
    real k1 = 0.0;
    real k2 = 0.0;
    real k3 = 0.0;
    real p1 = 0.0;
    real p2 = 0.0;
    
    std::vector<real> cv_coeffs() const {
        return { k1, k2, p1, p2, k3 };
    }
        
    bool is_none() const {
        return (k1 == 0.0) && (k2 == 0.0) && (k3 == 0.0) && (p1 == 0.0) && (p2 == 0.0);
    }
    explicit operator bool () const { return ! is_none(); }
};

struct intrinsics {
    mat33 K;
    mat33 K_inv;
    distortion_parameters distortion;
    int width = 0;
    int height = 0;
    
    real fx() const { return K(0, 0); }
    real fy() const { return K(1, 1); }
    real cx() const { return K(0, 2); }
    real cy() const { return K(1, 2); }

};  

intrinsics decode_intrinsics(const json&);
json encode_intrinsics(const intrinsics&);

vec2 undistort_point(const intrinsics&, const vec2& distorted);
std::vector<vec2> undistort_points(const intrinsics&, const std::vector<vec2>& distorted);
std::vector<cv::Vec2f> undistort_points(const intrinsics&, const std::vector<cv::Vec2f>& distorted);

vec2 distort_point(const intrinsics&, const vec2& undistorted);
std::vector<vec2> distort_points(const intrinsics&, const std::vector<vec2>& undistorted);

intrinsics intrinsics_arg();

}

#endif