crosstyan/RapidPoseTriangulation
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Moved internal camera implementation.

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This commit is contained in:
Daniel
2025-11-24 19:00:53 +01:00
parent 9a4e35f229
commit 1ab099098e
4 changed files with 435 additions and 432 deletions
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29
rpt/camera.hpp
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@ -21,3 +21,32 @@ struct Camera
friend std::ostream &operator<<(std::ostream &out, Camera const &camera);
std::string to_string() const;
};
// =================================================================================================
class CameraInternal
{
public:
CameraInternal(const Camera &cam);
Camera cam;
std::array<std::array<float, 3>, 3> invR;
std::array<float, 3> center;
std::array<std::array<float, 3>, 3> newK;
std::array<std::array<float, 3>, 3> invK;
static std::array<std::array<float, 3>, 3> transpose3x3(
const std::array<std::array<float, 3>, 3> &M);
static std::array<std::array<float, 3>, 3> invert3x3(
const std::array<std::array<float, 3>, 3> &M);
static void undistort_point_pinhole(std::array<float, 3> &p, const std::vector<float> &k);
static void undistort_point_fisheye(std::array<float, 3> &p, const std::vector<float> &k);
std::array<std::array<float, 3>, 3> calc_optimal_camera_matrix_fisheye(
float balance, std::pair<int, int> new_size);
std::array<std::array<float, 3>, 3> calc_optimal_camera_matrix_pinhole(
float alpha, std::pair<int, int> new_size);
};