camera_parameters.h

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#ifndef _CAMERA_PARAMETERS_H_
#define _CAMERA_PARAMETERS_H_


//####################################################################
#include <ros/ros.h>

#include <opencv2/imgproc/imgproc.hpp> 
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/core/core.hpp>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/ros/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_ros/point_cloud.h>

#include <tf/tf.h>

//Define the class
class class_camera_parameters
{
        // ------------------------------------------------------------------------------
        //PUBLIC SECTION OF THE CLASS
        // ------------------------------------------------------------------------------
        public:

                // Constructor. 
                class_camera_parameters(void)
                {
                        intrinsic.create(3, 4, CV_64FC1); //allocate intrinsic Matrix
                        extrinsic.create(4, 4, CV_64FC1); //allocate extrinsic Matrix
                        extrinsic_inverse.create(4, 4, CV_64FC1); //allocate the inverted extrinsic Matrix
                        distortion.create(1, 5, CV_64FC1); //allocate the inverted extrinsic Matrix
                };

                
                ~class_camera_parameters(void)
                {
                
                };

                int set_intrinsic(double fx, double fy, double cx, double cy);
                int set_extrinsic(double p11, double p12, double p13, double p14,
                                      double p21, double p22, double p23, double p24,
                                      double p31, double p32, double p33, double p34);
                int set_extrinsic(tf::StampedTransform* t);
                int set_extrinsic(tf::Transform* t);

                int set_distortion(double k1, double k2, double p1, double p2, double k3)
                {
                        cv::Mat *M = &distortion;
                        M->at<double>(0,0) = k1; M->at<double>(0,1) = k2; M->at<double>(0,2) = p1; M->at<double>(0,3) = p2; M->at<double>(0,4) = k3;
                        return 1;
                }

                int set_distortion_spherical(double calibration_width, double calibration_height, double cx, double cy, double param, double image_scale=1)
                {
                        spherical_distortion_params.cx=cx;
                        spherical_distortion_params.cy=cy;
                        spherical_distortion_params.param=param;
                        spherical_distortion_params.scale=image_scale;
                        spherical_distortion_params.calibration_width=calibration_width;
                        spherical_distortion_params.calibration_height=calibration_height;
                        return 1;
                }

                int set_width_height_num_channels(int w, int h, int nc)
                {
                        width = w;
                    height = h;
                        num_channels = nc;      
                        return 1;
                }

        cv::Mat distortion; //the distortion matrix 1,5 cv_64F
        cv::Mat intrinsic;  //the intrinsic matrix 3,4 cv_64F
        cv::Mat extrinsic;  //the extrinsic matrix 4,4 cv_64F
        cv::Mat extrinsic_inverse;  //the extrinsic matrix 4,4 cv_64F
        cv::Mat transformation;  //the extrinsic matrix 4,4 cv_64F
        std::vector<pcl::PointXY> pixels_canvas; //a list of points correcponding to the canvas
        ros::Time stamp;
        int width;
        int height;
        int num_channels;
        tf::StampedTransform camera_6dof_position;

        struct
        {
        double calibration_width;
        double calibration_height;
        double cx,cy,param;
        double scale;
        }spherical_distortion_params;
};

#endif