camera.h

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#ifndef UAV_CAMERA_H
#define UAV_CAMERA_H

#include "opencv/cv.h"
#include "opencv/highgui.h"
#include <iostream>
//#include <pthread.h>
#include "utils.h"
#include <stdint.h>
#include <Eigen/Dense>
#include <fstream>
#define np 5     


namespace gcop {

using namespace Eigen;
  typedef Matrix<double, 6, 1> Vector6d;
  typedef Matrix<double, 4, 4> Matrix4d;

  class Camera {
  public:
    
    Camera(double bl = 1.75, double irows=480, double imcols=640, const double *K=0, const double *D=0);
    virtual ~Camera();

    bool Pose(Vector6d &q, const cv::Mat &raw, cv::Mat &cont);
    bool Pose(Vector6d &q, const cv::Mat &raw);

    float tolerance;
    int kernel_size;

  protected:
    
    //unsigned int width, height;
    
    cv::Mat filt;    

    cv::Mat rvec;
    cv::Mat tvec;   
    
    double bl;

    //static double _cm[9];//<The camera matrix
    //static double _dc[5];//<Distortion coefficients
    cv::Mat camMatrix;
    cv::Mat dccoeffs;
    cv::Point2f iprs[np];
    std::ofstream pointfile;
    bool find_contours;
    //bool init_obj;
  };

}

#endif