int id = -1;

int width = 0;

int height = 0;

float fx = 0;

float fy = 0;

float cx = 0;

float cy = 0;

float k1 = 0;

float k2 = 0;

float k3 = 0;

float p1 = 0;

float p2 = 0;

torch::Tensor camToWorld;

std::string filePath = "";

std::string maskPath = "";

CameraType cameraType = CameraType::Perspective;

Camera(){};

Camera(int width, int height, float fx, float fy, float cx, float cy,

float k1, float k2, float k3, float p1, float p2,

const torch::Tensor &camToWorld, const std::string &filePath,

const std::string &maskPath) :

width(width), height(height), fx(fx), fy(fy), cx(cx), cy(cy),

k1(k1), k2(k2), k3(k3), p1(p1), p2(p2),

camToWorld(camToWorld), filePath(filePath), maskPath(maskPath) {}

torch::Tensor getIntrinsicsMatrix();

bool hasDistortionParameters();

std::vector<float> undistortionParameters();

torch::Tensor getImage(int downscaleFactor);

torch::Tensor getMask(int downscaleFactor);

void loadImage(float downscaleFactor);

void loadMask(float downscaleFactor);

torch::Tensor K;

torch::Tensor image;

torch::Tensor mask;

std::unordered_map<int, torch::Tensor> imagePyramids;

std::unordered_map<int, torch::Tensor> maskPyramids;

private:

torch::Tensor undistortTensor(cv::Mat &cImg, torch::Tensor &_K, bool shouldUpdateK, const torch::Dtype dataType);

torch::Tensor getScaledStoredTensor(int downscaleFactor, torch::Tensor &tensor, std::unordered_map<int, torch::Tensor> &map, const torch::Dtype dataType, const float normalizeBy);

std::vector<Camera> cameras;

float scale;

torch::Tensor translation;

Points points;

std::tuple<std::vector<Camera>, Camera *> getCameras(bool validate, const std::string &valImage = "random");

void saveCameras(const std::string &filename, bool keepCrs);