initial structure implemented

docs -> _docs

helpers/camera_model.py

@@ -0,0 +1,35 @@
+import numpy as np
+
+from models.core import CameraParameters
+
+
+class CameraModel:
+    def __init__(self, params: CameraParameters):
+        self._params = params
+        self._K: np.ndarray | None = None
+
+    @property
+    def intrinsic_matrix(self) -> np.ndarray:
+        if self._K is None:
+            fx = self._params.focal_length * self._params.resolution_width / self._params.sensor_width
+            fy = self._params.focal_length * self._params.resolution_height / self._params.sensor_height
+            cx, cy = self._params.get_principal_point()
+            self._K = np.array([
+                [fx, 0, cx],
+                [0, fy, cy],
+                [0, 0, 1]
+            ], dtype=np.float64)
+        return self._K
+
+    def project(self, points_3d: np.ndarray) -> np.ndarray:
+        raise NotImplementedError
+
+    def unproject(self, points_2d: np.ndarray, depth: float) -> np.ndarray:
+        raise NotImplementedError
+
+    def undistort_points(self, points: np.ndarray) -> np.ndarray:
+        raise NotImplementedError
+
+    def get_fov(self) -> tuple[float, float]:
+        raise NotImplementedError
+