Module camera 

Zero-cost camera distortion model trait and implementations. Zero-cost camera distortion model abstractions.

This module defines the CameraModel trait and its three concrete implementations:

• PinholeModel: Ideal pinhole (no distortion). IS_RECTIFIED = true causes the compiler to eliminate all distortion branches in the hot path.
• [BrownConradyModel]: Standard polynomial radial + tangential distortion (OpenCV convention).
• [KannalaBrandtModel]: Equidistant fisheye projection model.

All models operate on normalized image coordinates (xn, yn) — i.e., after dividing pixel coordinates by the focal lengths and subtracting the principal point: xn = (px - cx) / fx, yn = (py - cy) / fy.

Structs

PinholeModel

Ideal pinhole camera model (no distortion).

Traits

CameraModel

A compile-time abstraction over camera distortion models.