Pinhole Camera

namespace: camera

The camera module defines a simple pinhole camera model, includes the camera's intrinsics, distortion parameters (OnePiece actually does not use this part, so all default to 0), and the depth range. You can set the camera parameters by your calibration results, or use the camera parameters of the TUM dataset or the general ASUS xtion camera defined in the library .

The camera module is very simple. It only contains a header file. You can easily get the camera parameter matrix through ToCameraMatrix to facilitate calculations. As long as you understand the pinhole camera model, you can easily understand this part of the code.

A fisheye camera model may be added later.