Struct BALPinholeCameraStrict 

pub struct BALPinholeCameraStrict {
    pub f: f64,
    pub distortion: DistortionModel,
}

Strict BAL camera model matching Snavely’s Bundler convention.

3 intrinsic parameters: focal length f (with fx = fy = f), and two radial distortion coefficients k1, k2. The principal point is fixed at the origin (cx = cy = 0) and the camera looks down -Z. Matches the BAL file format used by Ceres Solver, GTSAM, and the original Bundler software.

Fields

f: f64

Single focal length (fx = fy = f)

distortion: DistortionModel

Implementations

impl BALPinholeCameraStrict

pub fn new( pinhole: PinholeParams, distortion: DistortionModel, ) -> Result<BALPinholeCameraStrict, CameraModelError>

Creates a new strict BAL pinhole camera with distortion.

Requires pinhole.fx == pinhole.fy and pinhole.cx == pinhole.cy == 0. Distortion must be DistortionModel::Radial.

Errors

Returns CameraModelError::InvalidParams if the strict BAL constraints are violated or if the distortion type is wrong.

Example

use apex_camera_models::{BALPinholeCameraStrict, PinholeParams, DistortionModel};

let pinhole = PinholeParams::new(500.0, 500.0, 0.0, 0.0)?;
let distortion = DistortionModel::Radial { k1: -0.1, k2: 0.01 };
let camera = BALPinholeCameraStrict::new(pinhole, distortion)?;

pub fn new_no_distortion( f: f64, ) -> Result<BALPinholeCameraStrict, CameraModelError>

Creates a strict BAL pinhole camera with zero distortion.

Errors

Returns CameraModelError if f is not positive and finite.

Trait Implementations

impl CameraModel for BALPinholeCameraStrict

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 frame to pixel coordinates.

Errors

Returns CameraModelError::ProjectionOutOfBounds if the point is not in front of the camera (z ≥ -MIN_DEPTH).

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

Returns the 2×3 Jacobian of the projection with respect to the 3D point in camera frame. See the BAL pinhole cookbook chapter for the full derivation.

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

Returns the pose Jacobian (∂(u,v)/∂p_cam, ∂p_cam/∂δξ) for a 3D point in world frame and a camera-to-world pose. Uses right perturbation on SE(3) and the skew-symmetric cross-product matrix. See the cookbook chapter on SE(3) pose Jacobians for the general formula.

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

Returns the 2×3 intrinsic Jacobian ∂(u,v)/∂[f, k1, k2]. See the BAL pinhole cookbook chapter for the derivation.

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 pixel to a unit 3D ray in camera frame (BAL convention: ray has z = -1/√(1+r²)). Uses a fixed 5-iteration fixed-point solve to invert the radial distortion.

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

Validates that f is positive and finite, and that the distortion coefficients are finite.

Errors

Returns CameraModelError on any violation.

fn get_pinhole_params(&self) -> PinholeParams

Returns fx = fy = f and cx = cy = 0.

fn get_distortion(&self) -> DistortionModel

Returns the stored distortion model.

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

Returns the model name "bal_pinhole".

const INTRINSIC_DIM: usize = 3

Number of intrinsic parameters (compile-time constant).

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

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

Projects N 3D points in one call. Invalid projections are replaced by the sentinel (1e6, 1e6). Models may override with a vectorised implementation.

impl Clone for BALPinholeCameraStrict

fn clone(&self) -> BALPinholeCameraStrict

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for BALPinholeCameraStrict

impl Debug for BALPinholeCameraStrict

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

Formats the value using the given formatter.

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

Parameter order: [f, k1, k2].

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

Converts to this type from the input type.

impl From<&BALPinholeCameraStrict> for [f64; 3]

Parameter order: [f, k1, k2].

fn from(camera: &BALPinholeCameraStrict) -> [f64; 3]

Converts to this type from the input type.

impl From<[f64; 3]> for BALPinholeCameraStrict

Parameter order: [f, k1, k2].

fn from(params: [f64; 3]) -> BALPinholeCameraStrict

Converts to this type from the input type.

impl PartialEq for BALPinholeCameraStrict

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for BALPinholeCameraStrict

impl TryFrom<&[f64]> for BALPinholeCameraStrict

Parameter order: [f, k1, k2].

type Error = CameraModelError

The type returned in the event of a conversion error.

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

Performs the conversion.