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Add ds and ts models #1

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c4ab51c
add symforce models
gok99 Dec 14, 2024
e315980
update ts
gok99 Dec 14, 2024
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2 changes: 1 addition & 1 deletion include/basalt/camera/double_sphere_camera.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -77,7 +77,7 @@ class DoubleSphereCamera {
///
/// @param[in] p vector of intrinsic parameters [fx, fy, cx, cy, xi, alpha]
explicit DoubleSphereCamera(const VecN& p, int fov = 220, int width = 0, int height = 0)
: param_(p), fov_deg_(fov), width_(width), height_(height) {
: param_(p), width_(width), height_(height), fov_deg_(fov) {

updateR2max();

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591 changes: 591 additions & 0 deletions include/basalt/camera/double_sphere_camera_symforce.hpp
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5 changes: 4 additions & 1 deletion include/basalt/camera/generic_camera.hpp
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Expand Up @@ -47,6 +47,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <basalt/camera/pinhole_camera.hpp>
#include <basalt/camera/pinhole_radtan8_camera.hpp>
#include <basalt/camera/unified_camera.hpp>
#include <basalt/camera/double_sphere_camera_symforce.hpp>
#include <basalt/camera/triple_sphere_camera_symforce.hpp>

#include <variant>

Expand Down Expand Up @@ -76,7 +78,8 @@ class GenericCamera {
std::variant<ExtendedUnifiedCamera<Scalar>, DoubleSphereCamera<Scalar>,
KannalaBrandtCamera4<Scalar>, KannalaBrandtCamera18<Scalar>,
UnifiedCamera<Scalar>, PinholeCamera<Scalar>,
PinholeRadtan8Camera<Scalar>>;
PinholeRadtan8Camera<Scalar>, DoubleSphereCameraSymforce<Scalar>,
TripleSphereCameraSymforce<Scalar>>;

public:
/// @brief Cast to different scalar type
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6 changes: 3 additions & 3 deletions include/basalt/camera/kannala_brandt_camera4.hpp
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Expand Up @@ -85,7 +85,7 @@ class KannalaBrandtCamera4 {
/// @param[in] p vector of intrinsic parameters [fx, fy, cx, cy, k1, k2, k3,
/// k4]
explicit KannalaBrandtCamera4(const VecN& p, int fov = 220, int width = 0, int height = 0)
: param_(p), fov_deg_(fov), width_(width), height_(height) {
: param_(p), width_(width), height_(height), fov_deg_(fov) {

updateRmax();

Expand Down Expand Up @@ -654,8 +654,8 @@ inline void makeInBound(Vec2& proj) const{

Vec2 p2d;

bool success = project(p3d, p2d);
assert(success);
// bool success = project(p3d, p2d);
assert(project(p3d, p2d));

// initialise after the p2d, to skip image bound check

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