intrinsics.h

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#pragma once
 
#include <vector>
 
#include "calib/estimation/linear/intrinsics.h"
#include "calib/estimation/optim/optimize.h"
#include "calib/io/serialization.h"
 
namespace calib {
 
struct IntrinsicsOptimOptions final {
    OptimOptions core;           
    int num_radial = 2;          
    bool optimize_skew = false;  
    std::optional<CalibrationBounds> bounds = std::nullopt;  
    std::vector<int> fixed_distortion_indices;               
    std::vector<double> fixed_distortion_values;             
};
 
template <camera_model CameraT>
struct IntrinsicsOptimizationResult final {
    OptimResult core;                        
    CameraT camera;                          
    std::vector<Eigen::Isometry3d> c_se3_t;  
    std::vector<double> view_errors;         
};
 
auto optimize_intrinsics_semidlt(const std::vector<PlanarView>& views,
                                 const CameraMatrix& initial_guess,
                                 const IntrinsicsOptimOptions& opts = {})
    -> IntrinsicsOptimizationResult<PinholeCamera<BrownConradyd>>;
 
template <camera_model CameraT>
auto optimize_intrinsics(const std::vector<PlanarView>& views, const CameraT& init_camera,
                         std::vector<Eigen::Isometry3d> init_c_se3_t,
                         const IntrinsicsOptimOptions& opts = {})
    -> IntrinsicsOptimizationResult<CameraT>;
 
static_assert(serializable_aggregate<IntrinsicsOptimOptions>);
 
}  // namespace calib