Heavier refactoring

.gitignore

@@ -1 +1,2 @@
 Manifest.toml
+Manifest-v1.12.toml

Project.toml

@@ -1,19 +1,23 @@
 name = "CameraModels"
 uuid = "0d57b887-6120-40e6-8b8c-29d3116bc0c1"
-keywords = ["camera", "model", "pinhole", "distortion", "robotics", "images"]
+keywords = ["camera", "model", "pinhole", "distortion", "robotics", "images", "vision"]
 version = "0.2.4"
 
 [deps]
 DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
+GeometryBasics = "5c1252a2-5f33-56bf-86c9-59e7332b4326"
 LieGroups = "6774de46-80ba-43f8-ba42-e41071ccfc5f"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
+LoopVectorization = "bdcacae8-1622-11e9-2a5c-532679323890"
 RecursiveArrayTools = "731186ca-8d62-57ce-b412-fbd966d074cd"
 Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 
 [compat]
 DocStringExtensions = "0.8, 0.9"
+GeometryBasics = "0.5.10"
 LieGroups = "0.1"
+LoopVectorization = "0.12.173"
 RecursiveArrayTools = "3.27.0"
 Rotations = "1"
 StaticArrays = "1"

README.md

@@ -26,11 +26,16 @@ The image convention is intended to be the best compromise between [JuliaImages'
 
 ## Camera frame and pixel indices
 
-![Images Convention](docs/imgs/JuliaRoboticsImgConv.png)
+<!-- ![Images Convention](docs/imgs/JuliaRoboticsImgConv.png) -->
+![Images Convention](docs/imgs/diagram1.svg)
+![Image array diagram](docs/imgs/diagram2.svg)
+
 
 ## Robotics reference to camera frame
 
-![Image m_T_c](docs/imgs/m_T_c.png)
+<!--![Image m_T_c](docs/imgs/m_T_c.png)-->
+![Image m_T_c](docs/imgs/diagram3.svg)
+
 
 # Roadmap
 

src/CameraModels.jl

@@ -1,31 +1,32 @@
 module CameraModels
 
-using LinearAlgebra
-using LieGroups
-using DocStringExtensions
-using StaticArrays
-import Rotations as Rot_
-import Base: getindex, getproperty, show
+using
+    LinearAlgebra,
+    LieGroups,
+    DocStringExtensions,
+    StaticArrays,
+    GeometryBasics
+
+
 using RecursiveArrayTools: ArrayPartition
 
-# exports
-include("ExportAPI.jl")
+using LoopVectorization: @tturbo
+# will be deprecated soon, when radialDistortion! is implemented on the GPU with KA.jl
 
-# data types
-include("entities/GeneralTypes.jl")
-include("entities/CameraCalibration.jl")
 
-include("services/CameraCalibration.jl")
+import Base:
+    getindex,
+    getproperty,
+    show
 
-# legacy implementations
-include("Deprecated.jl")
 
-# function logic
-include("services/Prototypes.jl")
+include("ExportAPI.jl")
+include("entities/GeneralTypes.jl")
+include("entities/CameraCalibration.jl")
+include("services/Helper.jl")
+include("services/Display.jl")
 include("services/CameraServices.jl")
 include("services/Utils.jl")
 
 
-
-
 end # module