Struct EucmParams 

pub struct EucmParams<R> {
    pub fx: R,
    pub fy: R,
    pub cx: R,
    pub cy: R,
    pub alpha: R,
    pub beta: R,
}

Parameters of an Extended Unified Camera Model

This implements cam_geom::IntrinsicParameters.

Extended Unified Camera Model originally described in B. Khomutenko, G. Garcia, and P. Martinet. “An enhanced unified camera model”. IEEE Robotics and Automation Letters, 1(1):137–144, Jan 2016. This formulation follows “The Double Sphere Camera Model” by Vladyslav Usenko, Nikolaus Demmel and Daniel Cremers doi:10.1109/3DV.2018.00069.

When compiled with the serde-serialize feature, can be serialized and deserialized using serde.

Fields

fx: R

fy: R

cx: R

cy: R

alpha: R

beta: R

Trait Implementations

impl<R: Clone> Clone for EucmParams<R>

fn clone(&self) -> EucmParams<R>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<R: Debug> Debug for EucmParams<R>

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

Formats the value using the given formatter.

impl<R: RealField> IntrinsicParameters<R> for EucmParams<R>

type BundleType = SharedOriginRayBundle<R>

What type of ray bundle is returned when projecting pixels to rays.

fn pixel_to_camera<IN, NPTS>( &self, pixels: &Pixels<R, NPTS, IN>, ) -> RayBundle<CameraFrame, Self::BundleType, R, NPTS, Owned<R, NPTS, U3>>

where Self::BundleType: Bundle<R>, IN: Storage<R, NPTS, U2>, NPTS: Dim, DefaultAllocator: Allocator<U1, U2> + Allocator<NPTS, U2> + Allocator<NPTS, U3>,

project pixels to camera coords

fn camera_to_pixel<IN, NPTS>( &self, camera: &Points<CameraFrame, R, NPTS, IN>, ) -> Pixels<R, NPTS, Owned<R, NPTS, U2>>

where IN: Storage<R, NPTS, U3>, NPTS: Dim, DefaultAllocator: Allocator<NPTS, U2>,

project camera coords to pixel coordinates