# [−][src]Crate cv_core

## Re-exports

 `pub use nalgebra;` `pub use sample_consensus;`

 geom

## Structs

 CameraIntrinsics This contains intrinsic camera parameters as per this Wikipedia page. CameraPoint A 3d vector which is relative to the camera's optical center and orientation where the positive Y axis is up and positive Z axis is forwards from the center of the camera. The unit of distance of a `CameraPoint` is unspecified and relative to the current reconstruction. CameraPose This contains a camera pose, which is a pose of the camera relative to the world. This transforms camera points (with depth as `z`) into world coordinates. This also tells you where the camera is located and oriented in the world. CameraSpecification This contains basic camera specifications that one could find on a manufacturer's website. This only contains parameters that cannot be changed about a camera. The focal length is not included since that can typically be changed and images can also be magnified. EssentialMatrix This stores an essential matrix, which is satisfied by the following constraint: ImageKeyPoint A point on an image frame. This type should only be used when the point location is on the image frame in pixel coordinates. This means the keypoint is neither undistorted nor normalized. KeyPointWorldMatch Normalized keypoint to world point match KeyPointsMatch Normalized keypoint match NormalizedKeyPoint A point in normalized image coordinates. This keypoint has been corrected for distortion and normalized based on the camrea intrinsic matrix. Please note that the intrinsic matrix accounts for the natural focal length and any magnification to the image. Ultimately, the key points must be represented by their position on the camera sensor and normalized to the focal length of the camera. RelativeCameraPose This contains a relative pose, which is a pose that transforms the `CameraPoint` of one image into the corresponding `CameraPoint` of another image. This transforms the point from the camera space of camera `A` to camera `B`. WorldPoint A point in "world" coordinates. This means that the real-world units of the pose are unknown, but the unit of distance and orientation are the same as the current reconstruction. WorldPose This contains a world pose, which is a pose of the world relative to the camera. This maps `WorldPoint` into `CameraPoint`, changing an absolute position into a vector relative to the camera.