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#ifndef camera_INC
#define camera_INC
#include <Eigen/Dense>
#include <iostream>
#include <yaml-cpp/yaml.h>
#define BINNING 0.5 // set the binning factor
#define YAWCORRECT 2.0
//#define DOYAWCORRECT
using Eigen::Matrix;
using Eigen::Vector4d;
using Eigen::Vector3d;
using Eigen::Quaterniond;
using std::cout;
using std::cerr;
using std::endl;
/*
* =====================================================================================
* Class: Camera
* Description: Class for the camera.
* =====================================================================================
*/
class Camera
{
public:
/* ==================== LIFECYCLE ======================================= */
Camera (const char *fin); /* constructor */
/* ==================== ACCESSORS ======================================= */
Vector4d d() const;
Matrix<double,3,3> K() const;
Matrix<double,4,4> K4() const;
Vector3d principalPoint() const;
Matrix<double,3,3> Rc2b() const;
Matrix<double,4,4> Rc2b4() const;
/* ==================== MUTATORS ======================================= */
/* ==================== OPERATORS ======================================= */
Vector3d img2body(const Vector3d &xi) const;
Vector3d body2img(const Vector3d &xb) const;
protected:
/* ==================== METHODS ======================================= */
/* ==================== DATA MEMBERS ======================================= */
private:
/* ==================== METHODS ======================================= */
/* ==================== DATA MEMBERS ======================================= */
Matrix<double,3,3> _K;
Matrix<double,4,4> _T;
Vector4d _d;
}; /* ----- end of class Camera ----- */
#endif /* ----- #ifndef camera_INC ----- */
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