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/************************************************************************
*
* Copyright (C) 2018-2023 IRCAD France
* Copyright (C) 2018 IHU Strasbourg
*
* This file is part of Sight.
*
* Sight is free software: you can redistribute it and/or modify it under
* the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Sight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with Sight. If not, see <https://www.gnu.org/licenses/>.
*
***********************************************************************/
#include "camera.hpp"
namespace sight::io::opencv
{
//------------------------------------------------------------------------------
std::tuple<cv::Mat, cv::Size, cv::Mat> camera::copy_to_cv(const data::camera::csptr& _src)
{
cv::Mat intrinsic = cv::Mat::eye(3, 3, CV_64F);
intrinsic.at<double>(0, 0) = _src->get_fx();
intrinsic.at<double>(1, 1) = _src->get_fy();
intrinsic.at<double>(0, 2) = _src->get_cx();
intrinsic.at<double>(1, 2) = _src->get_cy();
cv::Size img_size;
img_size.width = static_cast<int>(_src->get_width());
img_size.height = static_cast<int>(_src->get_height());
cv::Mat distortion_coeffs = cv::Mat::zeros(5, 1, CV_64F);
for(std::size_t i = 0 ; i < 5 ; ++i)
{
distortion_coeffs.at<double>(static_cast<int>(i)) = _src->get_distortion_coefficient()[i];
}
return std::make_tuple(intrinsic, img_size, distortion_coeffs);
}
} //namespace sight::io::opencv
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