Refactoring class structure

Author: Erika

depthmap/camera.h

@@ -1,10 +1,27 @@
 #ifndef CAMERA_H
 #define CAMERA_H
+#include <tiffio.h>
+#include <vector>
+#include <QString>
+#include <eigen3/Eigen/Core>
 
 class Camera
 {
 public:
-	Camera();
+	//intrinsic
+	uint32_t width = 0, height = 0;
+	float focal = 0;
+	float PPx = 0, PPy = 0; // principal point
+	float Cx = 0, Cy = 0; // center of distorsion
+	float R3 = 0, R5 = 0, R7 = 0; // radial distorsion
+	//extrinsic
+	Eigen::Matrix3f rotation;
+	Eigen::Vector3f center;
+	bool loadXml(const QString &path); //read the MicMac xml origin, origin resolution ecc.
+	bool loadInternParameters(const QString &internePath); // read the xml with the center, rotation, focal parameter, principal points parameters ecc.
+	Eigen::Vector3f projectionToImage(Eigen::Vector3f realPosition) const;
+	Eigen::Vector3f applyRadialDistortion(Eigen::Vector3f& u);
+	Eigen::Vector3f applyIntrinsicCalibration(Eigen::Vector3f& u) const;
 };
 
 #endif // CAMERA_H