SensorIntrinsics.hpp

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// SPDX-FileCopyrightText: 2025 Povl Filip Sonne-Frederiksen
//
// SPDX-License-Identifier: GPL-3.0-or-later
 
#pragma once
 
#include <array>
#include <string>
 
namespace reusex::core {

struct SensorIntrinsics {
  double fx = 0, fy = 0, cx = 0, cy = 0;
  int width = 0, height = 0;
  std::array<double, 16> local_transform = {1, 0, 0, 0, 0, 1, 0, 0,
                                             0, 0, 1, 0, 0, 0, 0, 1};

  std::string to_json() const;

  static SensorIntrinsics from_json(const std::string &json);
};
 
} // namespace reusex::core