| 2800 | } |
| 2801 | |
| 2802 | std::optional<Eigen::Vector2d> CameraModelImgFromCam( |
| 2803 | const CameraModelId model_id, |
| 2804 | const std::vector<double>& params, |
| 2805 | const Eigen::Vector3d& uvw) { |
| 2806 | Eigen::Vector2d xy; |
| 2807 | switch (model_id) { |
| 2808 | #define CAMERA_MODEL_CASE(CameraModel) \ |
| 2809 | case CameraModel::model_id: \ |
| 2810 | if (CameraModel::ImgFromCam( \ |
| 2811 | params.data(), uvw.x(), uvw.y(), uvw.z(), &xy.x(), &xy.y())) { \ |
| 2812 | return xy; \ |
| 2813 | } \ |
| 2814 | break; |
| 2815 | |
| 2816 | CAMERA_MODEL_SWITCH_CASES |
| 2817 | |
| 2818 | #undef CAMERA_MODEL_CASE |
| 2819 | } |
| 2820 | return std::nullopt; |
| 2821 | } |
| 2822 | |
| 2823 | std::optional<Eigen::Vector2d> CameraModelCamFromImg( |
| 2824 | const CameraModelId model_id, |
nothing calls this directly
no outgoing calls
no test coverage detected