Struct FThetaCamera 

pub struct FThetaCamera {
    pub cx: f64,
    pub cy: f64,
    pub distortion: DistortionModel,
}

NVIDIA f-theta fisheye camera with 6 intrinsic parameters.

Stores the principal point (cx, cy) and the four forward-polynomial coefficients k₁…k₄. The model is isotropic (no separate fx/fy).

Fields

cx: f64

Principal point x (u₀ in the paper), pixels.

cy: f64

Principal point y (v₀ in the paper), pixels.

distortion: DistortionModel

Forward-polynomial distortion — must be DistortionModel::FTheta.

Implementations

impl FThetaCamera

pub fn new( cx: f64, cy: f64, distortion: DistortionModel, ) -> Result<FThetaCamera, CameraModelError>

Create a new f-theta camera.

Errors

Returns CameraModelError::InvalidParams if distortion is not DistortionModel::FTheta, or if any parameter fails validation.

pub fn try_from_params(params: &[f64]) -> Result<FThetaCamera, CameraModelError>

Build directly from the six scalar parameters [cx, cy, k1, k2, k3, k4].

pub fn distortion_params(&self) -> (f64, f64, f64, f64)

Extract (k1, k2, k3, k4) from the stored distortion.

Panics

Panics if self.distortion is not DistortionModel::FTheta — this cannot happen after successful construction.

pub fn linear_estimation( &self, points_3d: &Matrix<f64, Const<3>, Dyn, VecStorage<f64, Const<3>, Dyn>>, points_2d: &Matrix<f64, Const<2>, Dyn, VecStorage<f64, Const<2>, Dyn>>, ) -> Result<FThetaCamera, CameraModelError>

Least-squares estimation of k₁..k₄ given 3D-2D correspondences, assuming cx and cy are already known.

Constructs a Vandermonde system [θ θ² θ³ θ⁴] · [k₁ k₂ k₃ k₄]ᵀ = r and solves it with SVD (nalgebra full-pivoting).

Returns an updated FThetaCamera with the estimated polynomial coefficients. The principal point is unchanged.

Arguments

• points_3d — 3×N matrix of 3D points in camera frame
• points_2d — 2×N matrix of observed pixel coordinates

Trait Implementations

impl CameraModel for FThetaCamera

const INTRINSIC_DIM: usize = 6

Number of intrinsic parameters (compile-time constant).

type IntrinsicJacobian = Matrix<f64, Const<2>, Const<6>, ArrayStorage<f64, 2, 6>>

Jacobian type for intrinsics: 2 × INTRINSIC_DIM.

type PointJacobian = Matrix<f64, Const<2>, Const<3>, ArrayStorage<f64, 2, 3>>

Jacobian type for 3D point: 2 × 3.

fn project( &self, p_cam: &Matrix<f64, Const<3>, Const<1>, ArrayStorage<f64, 3, 1>>, ) -> Result<Matrix<f64, Const<2>, Const<1>, ArrayStorage<f64, 2, 1>>, CameraModelError>

Projects a 3D point in camera coordinates to 2D image coordinates.

fn unproject( &self, point_2d: &Matrix<f64, Const<2>, Const<1>, ArrayStorage<f64, 2, 1>>, ) -> Result<Matrix<f64, Const<3>, Const<1>, ArrayStorage<f64, 3, 1>>, CameraModelError>

Unprojects a 2D image point to a normalized 3D ray in camera frame.

fn jacobian_point( &self, p_cam: &Matrix<f64, Const<3>, Const<1>, ArrayStorage<f64, 3, 1>>, ) -> <FThetaCamera as CameraModel>::PointJacobian

Jacobian of projection with respect to 3D point coordinates.

fn jacobian_intrinsics( &self, p_cam: &Matrix<f64, Const<3>, Const<1>, ArrayStorage<f64, 3, 1>>, ) -> <FThetaCamera as CameraModel>::IntrinsicJacobian

Jacobian of projection with respect to intrinsic parameters.

fn validate_params(&self) -> Result<(), CameraModelError>

Validates camera intrinsic and distortion parameters.

fn get_pinhole_params(&self) -> PinholeParams

Returns the pinhole parameters (fx, fy, cx, cy).

fn get_distortion(&self) -> DistortionModel

Returns the distortion model and parameters.

fn get_model_name(&self) -> &'static str

Returns the camera model name identifier.

fn jacobian_pose( &self, p_world: &Matrix<f64, Const<3>, Const<1>, ArrayStorage<f64, 3, 1>>, pose: &SE3, ) -> (Self::PointJacobian, Matrix<f64, Const<3>, Const<6>, ArrayStorage<f64, 3, 6>>)

Jacobian of projection w.r.t. camera pose (SE3).

fn project_batch( &self, points_cam: &Matrix<f64, Const<3>, Dyn, VecStorage<f64, Const<3>, Dyn>>, ) -> Matrix<f64, Const<2>, Dyn, VecStorage<f64, Const<2>, Dyn>>

Batch projection of multiple 3D points to 2D image coordinates.

impl Clone for FThetaCamera

fn clone(&self) -> FThetaCamera

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for FThetaCamera

fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.

impl From<&FThetaCamera> for [f64; 6]

Parameter order: [cx, cy, k1, k2, k3, k4].

fn from(cam: &FThetaCamera) -> [f64; 6]

Converts to this type from the input type.

impl From<&FThetaCamera> for Matrix<f64, Dyn, Const<1>, VecStorage<f64, Dyn, Const<1>>>

fn from( cam: &FThetaCamera, ) -> Matrix<f64, Dyn, Const<1>, VecStorage<f64, Dyn, Const<1>>>

Converts to this type from the input type.

impl From<[f64; 6]> for FThetaCamera

fn from(p: [f64; 6]) -> FThetaCamera

Converts to this type from the input type.

impl PartialEq for FThetaCamera

fn eq(&self, other: &FThetaCamera) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl TryFrom<&[f64]> for FThetaCamera

type Error = CameraModelError

The type returned in the event of a conversion error.

fn try_from( params: &[f64], ) -> Result<FThetaCamera, <FThetaCamera as TryFrom<&[f64]>>::Error>

Performs the conversion.

impl Copy for FThetaCamera

impl StructuralPartialEq for FThetaCamera