cameraParameterReader.hpp

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#ifndef OPENPOSE_3D_CAMERA_PARAMETER_READER_HPP
#define OPENPOSE_3D_CAMERA_PARAMETER_READER_HPP
 
#include <openpose/core/common.hpp>
 
namespace op
{
    class OP_API CameraParameterReader
    {
    public:
        explicit CameraParameterReader();
 
        virtual ~CameraParameterReader();
 
        // cameraExtrinsics is optional
        explicit CameraParameterReader(const std::string& serialNumber,
                                       const Matrix& cameraIntrinsics,
                                       const Matrix& cameraDistortion,
                                       const Matrix& cameraExtrinsics = Matrix(),
                                       const Matrix& cameraExtrinsicsInitial = Matrix());
 
        // serialNumbers is optional. If empty, it will load all the XML files available in the
        // cameraParameterPath folder
        void readParameters(const std::string& cameraParameterPath,
                            const std::vector<std::string>& serialNumbers = {});
 
        // It simply calls the previous readParameters with a single element
        void readParameters(const std::string& cameraParameterPath,
                            const std::string& serialNumber);
 
        void writeParameters(const std::string& cameraParameterPath) const;
 
        unsigned long long getNumberCameras() const;
 
        const std::vector<std::string>& getCameraSerialNumbers() const;
 
        const std::vector<Matrix>& getCameraMatrices() const;
 
        const std::vector<Matrix>& getCameraDistortions() const;
 
        const std::vector<Matrix>& getCameraIntrinsics() const;
 
        const std::vector<Matrix>& getCameraExtrinsics() const;
 
        const std::vector<Matrix>& getCameraExtrinsicsInitial() const;
 
        bool getUndistortImage() const;
 
        void setUndistortImage(const bool undistortImage);
 
        void undistort(Matrix& frame, const unsigned int cameraIndex = 0u);
 
    private:
        // PIMPL idiom
        // http://www.cppsamples.com/common-tasks/pimpl.html
        struct ImplCameraParameterReader;
        std::shared_ptr<ImplCameraParameterReader> spImpl;
 
        DELETE_COPY(CameraParameterReader);
    };
}
 
#endif // OPENPOSE_3D_CAMERA_PARAMETER_READER_HPP