OpenCVCamera.h

#pragma once

#include "HandTrackingClient/VecMath.h"

namespace HandTrackingClient
{

struct OpenCVCamera
{
    OpenCVCamera (const size_t imageWidth_in, const size_t imageHeight_in,
                  const Transformd& extrinsics_in,
                  const double fx_in, const double fy_in,
                  const double cx_in, const double cy_in,
                  const double k1_in, const double k2_in, 
                  const double p1_in, const double p2_in,
                  const double k3_in);

    OpenCVCamera();

    Matrix4d glModelViewMatrix() const;

    Matrix4d glProjectionMatrix(double near_z, double far_z) const;

    Vector3d worldToCamera (const Vector3d& p_world) const;

    Vector3d cameraToImage (const Vector3d& p_camera) const;

    Vector3d project (const Vector3d& p_world) const { return cameraToImage (worldToCamera (p_world)); }

    Transformd extrinsics;

    size_t imageWidth;

    size_t imageHeight;


    double fx;
    double fy;


    double cx;
    double cy;

    double k1;
    double k2;
    double k3;

    double p1;
    double p2;
};

} // namespace HandTrackingClient