PinholeCameraIntrinsic.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <Eigen/Core>
 
#include "open3d/utility/IJsonConvertible.h"
 
namespace open3d {
namespace camera {

enum class PinholeCameraIntrinsicParameters {
    PrimeSenseDefault = 0,
    Kinect2DepthCameraDefault = 1,
    Kinect2ColorCameraDefault = 2,
};

class PinholeCameraIntrinsic : public utility::IJsonConvertible {
public:
    PinholeCameraIntrinsic();

    PinholeCameraIntrinsic(int width,
                           int height,
                           const Eigen::Matrix3d &intrinsic_matrix);

    PinholeCameraIntrinsic(PinholeCameraIntrinsicParameters param);

    PinholeCameraIntrinsic(
            int width, int height, double fx, double fy, double cx, double cy);
 
    ~PinholeCameraIntrinsic() override;
 
public:
    void SetIntrinsics(
            int width, int height, double fx, double fy, double cx, double cy) {
        width_ = width;
        height_ = height;
        intrinsic_matrix_.setIdentity();
        intrinsic_matrix_(0, 0) = fx;
        intrinsic_matrix_(1, 1) = fy;
        intrinsic_matrix_(0, 2) = cx;
        intrinsic_matrix_(1, 2) = cy;
    }

    std::pair<double, double> GetFocalLength() const {
        return std::make_pair(intrinsic_matrix_(0, 0), intrinsic_matrix_(1, 1));
    }

    std::pair<double, double> GetPrincipalPoint() const {
        return std::make_pair(intrinsic_matrix_(0, 2), intrinsic_matrix_(1, 2));
    }

    double GetSkew() const { return intrinsic_matrix_(0, 1); }

    bool IsValid() const { return (width_ > 0 && height_ > 0); }
 
    bool ConvertToJsonValue(Json::Value &value) const override;
    bool ConvertFromJsonValue(const Json::Value &value) override;
 
public:
    int width_ = -1;
    int height_ = -1;
    Eigen::Matrix3d intrinsic_matrix_;
};
}  // namespace camera
}  // namespace open3d