cameramodel.h

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#pragma once
 
#include <Eigen/Core>
#include <concepts>
 
#include "calib/models/camera_matrix.h"
 
namespace calib {
 
template <typename Cam>
concept camera_model = requires(const Cam& cam, Eigen::Matrix<typename Cam::Scalar, 3, 1> p3,
                                Eigen::Matrix<typename Cam::Scalar, 2, 1> p2) {
    typename Cam::Scalar;
    {
        cam.template project<typename Cam::Scalar>(p3)
    } -> std::same_as<Eigen::Matrix<typename Cam::Scalar, 2, 1>>;
    {
        cam.template unproject<typename Cam::Scalar>(p2)
    } -> std::same_as<Eigen::Matrix<typename Cam::Scalar, 2, 1>>;
    {
        cam.template apply_intrinsics<typename Cam::Scalar>(p2)
    } -> std::same_as<Eigen::Matrix<typename Cam::Scalar, 2, 1>>;
    {
        cam.template remove_intrinsics<typename Cam::Scalar>(p2)
    } -> std::same_as<Eigen::Matrix<typename Cam::Scalar, 2, 1>>;
};
 
template <typename CamT>
struct CameraTraits;  // primary template
 
}  // namespace calib