Crate apex_camera_models 

Camera projection models for bundle adjustment, SLAM, and Structure-from-Motion.

Every model implements the CameraModel trait, which exposes projection, unprojection, and analytic point / pose / intrinsic Jacobians. The cookbook has the full mathematical formulations.

Re-exports

pub use bal_pinhole::BALPinholeCameraStrict;

pub use double_sphere::DoubleSphereCamera;

pub use eucm::EucmCamera;

pub use fov::FovCamera;

pub use ftheta::FThetaCamera;

pub use kannala_brandt::KannalaBrandtCamera;

pub use pinhole::PinholeCamera;

pub use rad_tan::RadTanCamera;

pub use ucm::UcmCamera;

Modules

bal_pinhole

BAL (Bundle Adjustment in the Large) pinhole camera model.

double_sphere

Double Sphere camera model.

eucm

Extended Unified Camera Model (EUCM).

fov

Field-of-View (FOV) camera model.

ftheta

NVIDIA f-theta fisheye camera model.

kannala_brandt

Kannala-Brandt fisheye camera model.

pinhole

Pinhole camera model.

rad_tan

Radial-Tangential (Brown-Conrady) camera model.

ucm

Unified Camera Model (UCM).

Structs

PinholeParams

Linear intrinsic parameters shared by every model except F-Theta.

Enums

CameraModelError

Camera model errors.

DistortionModel

Lens distortion models. The exact parameter ranges are enforced by DistortionModel::validate.

Constants

CONVERGENCE_THRESHOLD

Convergence threshold for iterative unprojection (e.g. Kannala-Brandt).

GEOMETRIC_PRECISION

Threshold for geometric validity checks (e.g. point in front of camera).

JACOBIAN_TEST_TOLERANCE

Allowed difference between analytic and numerical Jacobians in tests.

MIN_DEPTH

Minimum depth (meters) for a 3D point to be projectable.

NUMERICAL_DERIVATIVE_EPS

Step size for numerical differentiation of Jacobians.

PROJECTION_TEST_TOLERANCE

Allowed projection error in projection tests.

Traits

CameraModel

Trait for camera projection models.

Functions

validate_point_in_front

Returns Ok(()) if z >= GEOMETRIC_PRECISION (1e-6) and Err(PointAtCameraCenter) otherwise. Used to reject points too close to the optical axis that would cause numerical instability in the perspective division.