BundleCamera.h

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#ifndef __BUNDLE_CAMERA__
#define __BUNDLE_CAMERA__

#include <vector>
#include <opencv/cv.h>
#include <string>
#include <fstream>
 
namespace DVision {
namespace Bundle {

class CameraFile
{
public:

  class Camera
  {
  public:
    float f, k1, k2;
    cv::Mat R;
    cv::Mat t;

  public:
    Camera(){}
    
    Camera(const std::string &filename)
    {
      load(filename);
    }
    
    void save(const std::string &filename, 
      const std::string &comment = "") const;
      
    void load(const std::string &filename);
      
  protected:
    friend class CameraFile;
    
    void save(std::fstream &f) const;
    
    void load(std::fstream &f);
    
  };

public:
  static void readFile(const std::string &filename, 
    std::vector<Camera> &cameras);
      
  static void saveFile(const std::string &filename, 
    const std::vector<Camera> &cameras);

protected:

  static void readFromStream(std::fstream &f, int N,
    std::vector<Camera> &cameras);
  
  static void saveToStream(std::fstream &f, 
    const std::vector<Camera> &cameras);

};

}
}

#endif