////////////////////////////////////////////////////////////////////////////////
//
// Paella
// Copyright (C) 2015 - Thomas FORGIONE, Emilie JALRAS, Marion LENFANT, Thierry MALON, Amandine PAILLOUX
// Authors :
//     Thomas FORGIONE
//     Emilie JALRAS
//     Marion LENFANT
//     Thierry MALON
//     Amandine PAILLOUX
//     Simone GASPARINI
//
// This file is part of the project Paella
// This software is provided 'as-is', without any express or implied warranty.
// In no event will the authors be held liable for any damages arising from the use of this software.
//
// Permission is granted to anyone to use this software for any purpose,
// including commercial applications, and to alter it and redistribute it freely,
// subject to the following restrictions:
//
// 1. The origin of this software must not be misrepresented;
//    you must not claim that you wrote the original software.
//    If you use this software in a product, an acknowledgment
//    in the product documentation would be appreciated but is not required.
//
// 2. Altered source versions must be plainly marked as such,
//    and must not be misrepresented as being the original software.
//
// 3. This notice may not be removed or altered from any source distribution.
////////////////////////////////////////////////////////////////////////////////
#ifndef _CAMERA_HPP_
#define _CAMERA_HPP_

#include <opencv2/core/core.hpp>

/**
 * \ingroup calibration
 * \brief Class that wraps the intrinsic parameters of a camera
 */
class Camera
{
public:

    /**
     * Default constructor
     */
    Camera() {}

    /**
     * Initialize the camera loading the internal parameters from the given file
     *
     * @param[in] calibFilename the calibration file
     * @return true if success
     */
    bool init( std::string calibFilename );

    /**
     * Default destructor
     */
    virtual ~Camera( ) {}


    /**
     * Return the OpenGL projection matrix for the camera
     * @param[out] proj the OGL projection matrix (ready to be passed, ie in col major format)
     * @param znear near clipping plane
     * @param zfar far clipping plane
     * \note using http://strawlab.org/2011/11/05/augmented-reality-with-OpenGL/
     */
    void getOGLProjectionMatrix( float *proj, const float znear, const float zfar ) const;


public:
    cv::Mat matK; ///< Calibration matrix, with intrinsic parameters

    cv::Mat distCoeff; ///< Distortion coefficients

    cv::Size imageSize; ///< Size of the image

};

#endif    /* _CAMERA_HPP_ */