CameraModels.hpp

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#ifndef __CAMERAMODEL_HPP__
#define __CAMERAMODEL_HPP__
 
#include <memory>
 
#include <Eigen/Dense>
 
#include "lvr2/types/MatrixTypes.hpp"
 
namespace lvr2
{
 
template<typename T>
struct PinholeModel
{
    double fx = 0;
    double fy = 0;
    double cx = 0;
    double cy = 0;
    unsigned width = 0;
    unsigned height = 0;
    std::vector<T> k;
    std::string distortionModel = "unknown";
};
 
template<typename T>
using PinholeModelPtr = std::shared_ptr<PinholeModel<T>>;
 
using PinholeModeld = PinholeModel<double>;
using PinholeModelf = PinholeModel<float>;
 
 
} // namespace lvr2
 
#endif