Struct DoubleSphereCamera 

pub struct DoubleSphereCamera {
    pub pinhole: PinholeParams,
    pub distortion: DistortionModel,
}

Double Sphere camera model with 6 parameters.

Fields

pinhole: PinholeParams

distortion: DistortionModel

Implementations

impl DoubleSphereCamera

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

Creates a new Double Sphere camera.

Errors

Returns CameraModelError::InvalidParams if distortion is not DistortionModel::DoubleSphere, or if validation fails (e.g. non-positive focal length, alpha out of range).

Example

use apex_camera_models::{CameraModel, DistortionModel, DoubleSphereCamera, PinholeParams};

let pinhole = PinholeParams::new(300.0, 300.0, 320.0, 240.0)?;
let distortion = DistortionModel::DoubleSphere { xi: -0.2, alpha: 0.6 };
let camera = DoubleSphereCamera::new(pinhole, distortion)?;
assert_eq!(camera.get_model_name(), "double_sphere");

pub fn linear_estimation( &mut 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<(), CameraModelError>

Estimates the alpha parameter via linear least-squares given 3D–2D correspondences. xi is reset to 0.0. Requires the intrinsics [fx, fy, cx, cy] to already be set; needs at least 1 correspondence.

Trait Implementations

impl CameraModel for DoubleSphereCamera

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 the camera frame to 2D image coordinates. Returns CameraModelError::PointBehindCamera / PointOutsideImage if the point violates the model’s domain (check_projection_condition).

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 unit 3D ray via the double-sphere algebraic inverse. Returns CameraModelError::PointOutsideImage if the unprojection domain (check_unprojection_condition) is violated.

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

2×3 Jacobian ∂(u,v)/∂(x,y,z). See the cookbook for the full derivation.

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

2×6 Jacobian ∂(u,v)/∂[fx, fy, cx, cy, xi, alpha]. See the cookbook for the full derivation.

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

Validates the camera parameters.

Validation Rules

• fx, fy must be positive (> 0) and finite
• cx, cy must be finite
• ξ must be finite
• α must be in (0, 1]

Errors

Returns CameraModelError if any rule is violated.

fn get_pinhole_params(&self) -> PinholeParams

Returns the pinhole parameters.

fn get_distortion(&self) -> DistortionModel

Returns the distortion model (must be DistortionModel::DoubleSphere).

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

Returns the model name: "double_sphere".

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 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>>)

∂(u,v)/∂(δξ) — 2×6 Jacobian of projection w.r.t. the camera pose.

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 DoubleSphereCamera

fn clone(&self) -> DoubleSphereCamera

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for DoubleSphereCamera

impl Debug for DoubleSphereCamera

Debug formatter for DoubleSphereCamera.

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

Formats the value using the given formatter.

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

Converts the camera to a dynamic vector with layout [fx, fy, cx, cy, xi, alpha].

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

Converts to this type from the input type.

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

Converts the camera to a fixed-size array with layout [fx, fy, cx, cy, xi, alpha].

fn from(camera: &DoubleSphereCamera) -> [f64; 6]

Converts to this type from the input type.

impl From<[f64; 6]> for DoubleSphereCamera

Creates a camera from a fixed-size array with layout [fx, fy, cx, cy, xi, alpha].

fn from(params: [f64; 6]) -> DoubleSphereCamera

Converts to this type from the input type.

impl PartialEq for DoubleSphereCamera

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for DoubleSphereCamera

impl TryFrom<&[f64]> for DoubleSphereCamera

Creates a camera from a slice with layout [fx, fy, cx, cy, xi, alpha]. Returns an error if the slice has fewer than 6 elements.

type Error = CameraModelError

The type returned in the event of a conversion error.

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

Performs the conversion.