Struct city2ba::SnavelyCamera

pub struct SnavelyCamera {
    pub loc: Vector3<f64>,
    pub dir: Basis3<f64>,
    pub intrin: Vector3<f64>,
}

Camera expressed as Rx+t with intrinsics.

The camera points down the negative z axis. Up is the positive y axis.

Fields

loc: Vector3<f64>

Translational parameter t

dir: Basis3<f64>

Rotational parameter R

intrin: Vector3<f64>

Intrinsics. intrin[0] is the focal length, intrin[1] is the squared distortion, and intrin[2] is the quadratic distortion.

Methods

impl SnavelyCamera

pub fn from_vec(x: Vec<f64>) -> Self

Parse a camera from a vector of parameters. Order is rotation as a 3 element Rodrigues vector, translation, intrinsics.

pub fn to_vec(&self) -> Vec<f64>

Parse a camera to a vector of parameters. Order is rotation as a 3 element Rodrigues vector, translation, intrinsics.

pub fn rotation(&self) -> Basis3<f64>

R parameter of camera.

pub fn focal_length(&self) -> f64

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

pub fn modify_intrin(self, delta: Vector3<f64>) -> Self

Adjust the intrinsics of the camera as intrin + delta.

Trait Implementations

impl Camera for SnavelyCamera

fn project_world(&self, p: &Point3<f64>) -> Point3<f64>

Project a point from the world into the camera coordinate system

fn project(&self, p: Point3<f64>) -> Point2<f64>

Project a point from camera space into pixel coordinates

fn from_position_direction(position: Point3<f64>, dir: Basis3<f64>) -> Self

Create a camera from a position and direction.

fn center(&self) -> Point3<f64>

Center of the camera.

fn transform(self, delta_dir: Basis3<f64>, delta_loc: Vector3<f64>) -> Self

Transform a camera with a rotational and translational modification.

fn to_world(&self, p: Point3<f64>) -> Point3<f64>

Project a point in this camera's coordinate system into the world.

impl Clone for SnavelyCamera

fn clone(&self) -> SnavelyCamera

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for SnavelyCamera

fn fmt(&self, f: &mut Formatter) -> Result

Formats the value using the given formatter.