kalibr源码解析之fov模型重投影误差计算

homogeneousToKeypoint：　表示二维平面点到二维平面点的投影;
euclideanToKeypoint：　表示三维空间点到二维平面点的投影．

 

kalibr/aslam_cv/aslam_cameras/include/aslam/cameras/implementation/PinholeProjection.hpp

 

fov畸变模型：
kalibr/aslam_cv/aslam_cameras/include/aslam/cameras/implementation/FovDistortion.hpp

 

kalibr/aslam_cv/aslam_cv_backend_python/python/aslam_cv_backend/__init__.py

kalibr/aslam_cv/aslam_cameras/include/aslam/cameras.hpp

kalibr/aslam_cv/aslam_cameras/include/aslam/cameras/CameraGeometry.hpp

kalibr/aslam_cv/aslam_cameras/include/aslam/cameras/implementation/CameraGeometry.hpp