progress porting vision lgpl

Author: jlblancoc

modules/mrpt_vision-lgpl/CMakeLists.txt

@@ -0,0 +1,25 @@
+
+cmake_minimum_required(VERSION 3.16)
+project(mrpt_vision_lgpl LANGUAGES C CXX)
+
+find_package(mrpt_common REQUIRED)
+find_package(mrpt_vision REQUIRED)
+
+set(LIB_SOURCES
+  src/ba_common.cpp
+  src/ba_full.cpp
+)
+
+set(LIB_PUBLIC_HEADERS
+  include/mrpt/vision/bundle_adjustment.h
+  src/ba_internals.h
+)
+
+mrpt_add_library(
+  TARGET ${PROJECT_NAME}
+  SOURCES ${LIB_SOURCES} ${LIB_PUBLIC_HEADERS}
+  PUBLIC_LINK_LIBRARIES
+    mrpt::mrpt_vision
+  CMAKE_DEPENDENCIES
+    mrpt_vision
+)

modules/mrpt_vision_lgpl/CMakeLists.txt

@@ -24,7 +24,7 @@
 #include <mrpt/math/robust_kernels.h>
 #include <mrpt/poses/Lie/SE.h>
 #include <mrpt/vision/bundle_adjustment.h>
-#include <mrpt/vision/pinhole.h>
+#include <mrpt/img/camera_geometry.h>
 
 #include "ba_internals.h"
 
@@ -126,7 +126,7 @@ inline void reprojectionResidualsElement(
     double* out_kernel_1st_deriv)
 {
   const TPixelCoordf z_pred =
-      mrpt::vision::pinhole::projectPoint_no_distortion<POSES_INVERSE>(camera_params, frame, point);
+      mrpt::img::camera_geometry::projectPoint<POSES_INVERSE>(camera_params, frame, point);
   const TPixelCoordf& z_meas = OBS.px;
 
   out_residual[0] = z_meas.x - z_pred.x;