Struct Camera 

pub struct Camera {
    pub camera_id: CameraId,
    pub model: CameraModelKind,
    pub width: u64,
    pub height: u64,
    pub params: Vec<f64>,
    pub focal_from_prior: bool,
}

Camera (intrinsic parameters). focal_from_prior is memory-only (not stored in the model file).

Fields

camera_id: CameraId

Camera id.

model: CameraModelKind

Camera model.

width: u64

Image width (pixels).

height: u64

Image height (pixels).

params: Vec<f64>

Model parameters (order per CameraModelKind::params_info).

focal_from_prior: bool

Whether the focal length came from prior information such as EXIF (for choosing the calibration path).

Implementations

impl Camera

pub fn new( camera_id: CameraId, model: CameraModelKind, width: u64, height: u64, params: Vec<f64>, ) -> Result<Self>

Creates after validating the parameter count.

pub fn from_focal( model: CameraModelKind, focal: f64, width: u64, height: u64, ) -> Self

Initializes with focal length f: focal = f, principal point = (W/2, H/2), distortion 0.

pub fn verify_params(&self) -> bool

Whether the parameter count matches the model.

pub fn mean_focal(&self) -> f64

Mean focal length.

pub fn focal_length_x(&self) -> f64

x focal length.

pub fn focal_length_y(&self) -> f64

y focal length (same as x for single-focal models).

pub fn set_focal_length(&mut self, f: f64)

Sets all focal parameters to f.

pub fn principal_point_x(&self) -> f64

Principal point x.

pub fn principal_point_y(&self) -> f64

Principal point y.

pub fn set_principal_point(&mut self, cx: f64, cy: f64)

Sets the principal point.

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

Copy of the distortion (extra) parameters.

pub fn is_undistorted(&self) -> bool

No-distortion test: all extra parameters are 0.

pub fn calibration_matrix(&self) -> Mat3

Calibration matrix K (distortion ignored).

pub fn has_implausible_params( &self, min_focal_ratio: f64, max_focal_ratio: f64, max_extra_param: f64, ) -> bool

Abnormal-parameter test.

pub fn rescale(&mut self, scale: f64)

Uniform resize: multiplies focal and principal point by s, size is rounded. Distortion coefficients unchanged.

pub fn rescale_to(&mut self, new_width: u64, new_height: u64)

Resize to a new size: multiplies focal and principal point by per-axis sx = W’/W, sy = H’/H.

pub fn img_to_cam_threshold(&self, threshold_px: f64) -> f64

Converts a pixel error threshold to a normalized-plane threshold: τ / mean focal length.

pub fn normalized_to_img(&self, uv: &Vec2) -> Vec2

Normalized plane (u, v) -> pixel (with distortion).

pub fn cam_to_img(&self, xc: &Vec3) -> Option<Vec2>

3D point in camera coordinates -> pixel. None if Z < f64 ε.

pub fn img_to_normalized(&self, xy: &Vec2) -> Option<Vec2>

Pixel -> normalized plane (undistortion). None if Newton does not converge within 100 iterations.

pub fn img_to_ray(&self, xy: &Vec2) -> Option<Vec3>

Pixel -> unit ray (u, v, 1)/‖·‖.

pub fn cam_to_img_with_jacobian( &self, xc: &Vec3, d_params: Option<&mut [f64]>, ) -> Option<(Vec2, Matrix2x3<f64>)>

Projection and analytic Jacobian.

Returns: (pixel, ∂pixel/∂camera-coordinates 2×3). If d_params is given, fills ∂pixel/∂parameters as row-major 2×num_params (first row = x, second row = y, columns = parameter order). None if Z < ε (BA then sets the residual and Jacobian to 0).

Trait Implementations

impl Clone for Camera

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Camera

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

Formats the value using the given formatter.

impl PartialEq for Camera

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for Camera