towards consolidation

Author: dehann

src/CameraModels.jl

@@ -11,14 +11,13 @@ include("ExportAPI.jl")
 
 # data types
 include("entities/GeneralTypes.jl")
-include("entities/IntrinsicExtrinsic.jl")
-include("entities/Pinhole.jl")
+include("entities/CameraTypes.jl")
 include("entities/RadialDistortion.jl")
 include("entities/CameraSkewDistortion.jl")
 
 # function logic
 include("services/Prototypes.jl")
-include("services/Pinhole.jl")
+include("services/CameraServices.jl")
 include("services/RadialDistortion.jl")
 include("services/Utils.jl")
 

src/entities/Pinhole.jl renamed to src/entities/CameraTypes.jl

@@ -3,13 +3,11 @@
 
 ## From yakir12/CameraModels.jl
 struct Pinhole <: CameraModel
-    
-  Pinhole(pixelwidth::Int, pixelheight::Int, prinicipalpoint::PixelCoordinate, focallength::Vector2) = new(prinicipalpoint, focallength, pixelwidth, pixelheight)
-
-  prinicipalpoint::PixelCoordinate # in pixels
-  focallength::Vector2 # in pixels
+  # note order of elements has been changed from original source so that inner constructor can be removed.
   columns::Int
   rows::Int
+  prinicipalpoint::PixelCoordinate # in pixels
+  focallength::Vector2             # in pixels
 end
 
 
@@ -33,4 +31,23 @@ DevNotes
 """
 struct PinholeCamera{R <: Real} <: AbstractCameraModel
   K::SMatrix{3,3,R}
-end
+end
+
+
+Base.@kwdef struct CameraIntrinsic
+  K::Array{Float64,2}
+end
+CameraIntrinsic(;x0=320.0,y0=240.0,fx=510.0,fy=510.0,s=0.0) = CameraIntrinsic([[fx;s;x0]';[0.0;fy;y0]';[0.0;0;1]'])
+
+
+# Camera extrinsic must be world in camera frame (cRw)
+Base.@kwdef struct CameraExtrinsic{T <: Real}
+  R::Rot_.RotMatrix{T} = id = one(Rot_.RotMatrix{3, Float64})
+  t::Vector{T} = zeros(3)
+end
+
+Base.@kwdef struct CameraModelFull
+  ci::CameraIntrinsic = CameraIntrinsic()
+  ce::CameraExtrinsic = CameraExtrinsic()
+end
+

src/entities/IntrinsicExtrinsic.jl

@@ -1,18 +1,3 @@
 
 
-Base.@kwdef struct CameraIntrinsic
-  K::Array{Float64,2}
-end
-CameraIntrinsic(;x0=320.0,y0=240.0,fx=510.0,fy=510.0,s=0.0) = CameraIntrinsic([[fx;s;x0]';[0.0;fy;y0]';[0.0;0;1]'])
 
-# Camera extrinsic must be world in camera frame (cRw)
-Base.@kwdef struct CameraExtrinsic{T <: Real}
-  R::Rot_.RotMatrix{T} = id = one(Rot_.RotMatrix{3, Float64})
-  t::Vector{T} = zeros(3)
-end
-
-Base.@kwdef struct CameraModelFull
-  ci::CameraIntrinsic = CameraIntrinsic()
-  ce::CameraExtrinsic = CameraExtrinsic()
-  # cd::CameraDistortion
-end

src/services/Pinhole.jl renamed to src/services/CameraServices.jl

@@ -58,10 +58,12 @@ PinholeCamera(; f_w::Real=300,
                 c_w::R=320.0,
                 c_h::Real=240,
                 shear::Real=0) where {R <: Real} = SMatrix{3,3,R}([f_w shear c_w;
-                                                                     0  f_h  c_h;
-                                                                     0    0    1])
+                                                                    0   f_h  c_h;
+                                                                    0     0    1])
+#
+
 """
-    $TYPEDSIGNATURES
+    $SIGNATURES
 
 Constructor helper assuming you just have a camera image and need to start somewhere for a basic camera model.