sophus_sensor 0.15.0

Camera models for computer vision
Documentation 
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use core::{
    borrow::Borrow,
    marker::PhantomData,
};

use sophus_autodiff::linalg::{
    IsScalar,
    IsVector,
};

use crate::{
    camera::Camera,
    distortions::AffineDistortionImpl,
    traits::IsProjection,
};

/// Orthographic projection implementation
#[derive(Debug, Clone)]
pub struct OrthographisProjectionImpl<
    S: IsScalar<BATCH, DM, DN>,
    const BATCH: usize,
    const DM: usize,
    const DN: usize,
> {
    phantom: PhantomData<S>,
}

impl<S: IsScalar<BATCH, DM, DN>, const BATCH: usize, const DM: usize, const DN: usize>
    IsProjection<S, BATCH, DM, DN> for OrthographisProjectionImpl<S, BATCH, DM, DN>
{
    fn proj<P>(point_in_camera: P) -> S::Vector<2>
    where
        P: Borrow<S::Vector<3>>,
    {
        point_in_camera.borrow().get_fixed_subvec::<2>(0)
    }

    fn unproj<P>(point_in_camera: P, extension: S) -> S::Vector<3>
    where
        P: Borrow<S::Vector<2>>,
    {
        let point_in_camera = point_in_camera.borrow();
        S::Vector::<3>::from_array([point_in_camera.elem(0), point_in_camera.elem(1), extension])
    }

    fn dx_proj_x<P>(_point_in_camera: P) -> S::Matrix<2, 3>
    where
        P: Borrow<S::Vector<3>>,
    {
        unimplemented!("dx_proj_x not implemented for ProjectionOrtho")
    }
}

/// Orthographic camera
pub type OrthographicCamera<S, const BATCH: usize, const DM: usize, const DN: usize> = Camera<
    S,
    0,
    4,
    BATCH,
    DM,
    DN,
    AffineDistortionImpl<S, BATCH, DM, DN>,
    OrthographisProjectionImpl<S, BATCH, DM, DN>,
>;