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§
- 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.
- FTheta
Camera - NVIDIA f-theta fisheye camera with 6 intrinsic 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 - Linear intrinsic parameters shared by every model except F-Theta.
- 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. 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§
- Camera
Model - Trait for camera projection models.
Functions§
- validate_
point_ in_ front - Returns
Ok(())ifz >= GEOMETRIC_PRECISION(1e-6) andErr(PointAtCameraCenter)otherwise. Used to reject points too close to the optical axis that would cause numerical instability in the perspective division.