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
- kannala_
brandt - Kannala-Brandt Fisheye Camera Model
- pinhole
- Pinhole Camera Model
- rad_tan
- Radial-Tangential Distortion Camera Model.
- ucm
- Unified Camera Model (UCM)
Structs§
- BALPinhole
Camera Strict - Strict BAL camera model matching Snavely’s Bundler convention.
- Double
Sphere Camera - Double Sphere camera model with 6 parameters.
- Eucm
Camera - Extended Unified Camera Model with 6 parameters.
- FovCamera
- FOV camera model with 5 parameters.
- Kannala
Brandt Camera - Kannala-Brandt fisheye camera model with 8 parameters.
- Pinhole
Camera - Pinhole camera model with 4 intrinsic parameters.
- Pinhole
Params - The “Common 4” - Linear intrinsic parameters.
- RadTan
Camera - A Radial-Tangential camera model with 9 intrinsic parameters.
- UcmCamera
- Unified Camera Model with 5 parameters.
Enums§
- Camera
Model Error - Camera model errors.
- Distortion
Model - Lens distortion models.
Constants§
- CONVERGENCE_
THRESHOLD - Convergence threshold for iterative unprojection algorithms.
- GEOMETRIC_
PRECISION - Precision constant for geometric validity checks (e.g., point in front of camera).
- JACOBIAN_
TEST_ TOLERANCE - Tolerance for numerical Jacobian validation in tests.
- MIN_
DEPTH - Minimum depth for valid 3D points (meters).
- NUMERICAL_
DERIVATIVE_ EPS - Epsilon for numerical differentiation in Jacobian computation.
- PROJECTION_
TEST_ TOLERANCE - Tolerance for projection/unprojection test assertions.
Traits§
- Camera
Model - Trait for camera projection models.
Functions§
- skew_
symmetric - Compute skew-symmetric matrix from a 3D vector.
- validate_
point_ in_ front - Validates that a 3D point is in front of the camera.