cameraparameters.h

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#ifndef _Aruco_CameraParameters_H
#define  _Aruco_CameraParameters_H
#include <opencv/cv.h>
#include <string>
using namespace std;
namespace aruco
{
class CameraParameters
{
public:

    // 3x3 matrix (fx 0 cx, 0 fy cy, 0 0 1)
    cv::Mat  CameraMatrix;
    //4x1 matrix (k1,k2,p1,p2)
    cv::Mat  Distorsion;
    //size of the image
    cv::Size CamSize;

    CameraParameters() ;
    CameraParameters(cv::Mat cameraMatrix,cv::Mat distorsionCoeff,cv::Size size) throw(cv::Exception);
    CameraParameters(const CameraParameters &CI) ;

    bool isValid()const {
        return CameraMatrix.rows!=0 && CameraMatrix.cols!=0  && Distorsion.rows!=0 && Distorsion.cols!=0 && CamSize.width!=-1 && CamSize.height!=-1;
    }
    CameraParameters & operator=(const CameraParameters &CI);
    void readFromFile(string path)throw(cv::Exception);
    void saveToFile(string path)throw(cv::Exception);
    
    void readFromXMLFile(string filePath)throw(cv::Exception);
    
    void resize(cv::Size size)throw(cv::Exception);

    static cv::Point3f getCameraLocation(cv::Mat Rvec,cv::Mat Tvec); 

};

}
#endif