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Unify camera model into immutable factory-built type

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crosstyan
2026-03-12 00:24:02 +08:00
parent c23f25f871
commit 31c4690121
8 changed files with 177 additions and 172 deletions
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rpt/camera.hpp
+19 -2
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@@ -25,10 +25,27 @@ struct Camera
std::array<float, 5> DC = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
std::array<std::array<float, 3>, 3> R;
std::array<std::array<float, 1>, 3> T;
int width;
int height;
int width = 0;
int height = 0;
CameraModel model = CameraModel::Pinhole;
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 {};
friend std::ostream &operator<<(std::ostream &out, Camera const &camera);
std::string to_string() const;
};
Camera make_camera(
std::string name,
std::array<std::array<float, 3>, 3> K,
std::array<float, 5> DC,
std::array<std::array<float, 3>, 3> R,
std::array<std::array<float, 1>, 3> T,
int width,
int height,
CameraModel model);
void undistort_point_pinhole(std::array<float, 3> &point, const std::array<float, 5> &distortion);
void undistort_point_fisheye(std::array<float, 3> &point, const std::array<float, 5> &distortion);