Clean up nanobind typing and source layout

2026-03-27 11:19:53 +08:00
parent 9d63177de0
commit 69e83d8430
19 changed files with 792 additions and 47 deletions
@@ -0,0 +1,51 @@
+#pragma once
+
+#include <array>
+#include <iostream>
+#include <string>
+#include <vector>
+
+// =================================================================================================
+
+enum class CameraModel
+{
+    Pinhole,
+    Fisheye,
+};
+
+const char *camera_model_name(CameraModel model);
+CameraModel parse_camera_model(const std::string &value);
+
+// =================================================================================================
+
+struct Camera
+{
+    std::string name;
+    std::array<std::array<float, 3>, 3> K;
+    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 = 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);