Struct CameraIntrinsics 

pub struct CameraIntrinsics {
    pub fx: f64,
    pub fy: f64,
    pub cx: f64,
    pub cy: f64,
    pub distortion: DistortionCoeffs,
}

Camera intrinsics parameters with optional lens distortion.

Fields

fx: f64

Focal length in x (pixels).

fy: f64

Focal length in y (pixels).

cx: f64

Principal point x (pixels).

cy: f64

Principal point y (pixels).

distortion: DistortionCoeffs

Lens distortion model and coefficients. Defaults to DistortionCoeffs::None.

Implementations

impl CameraIntrinsics

pub fn new(fx: f64, fy: f64, cx: f64, cy: f64) -> Self

Create new intrinsics with no distortion (ideal pinhole).

Existing call sites remain unchanged.

pub fn as_matrix(&self) -> Matrix3<f64>

Convert to a 3x3 matrix.

pub fn inv_matrix(&self) -> Matrix3<f64>

Get inverse matrix.

pub fn undistort_pixel(&self, px: f64, py: f64) -> [f64; 2]

Map a pixel coordinate (px, py) in the distorted image to an ideal (undistorted) pixel coordinate.

For DistortionCoeffs::None this is an identity operation.

pub fn distort_normalized(&self, xn: f64, yn: f64) -> [f64; 2]

Apply distortion to a normalized ideal point (xn, yn) and return the distorted pixel coordinates (px, py).

For DistortionCoeffs::None this projects without distortion.

Trait Implementations

impl Clone for CameraIntrinsics

fn clone(&self) -> CameraIntrinsics

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for CameraIntrinsics

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for CameraIntrinsics

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl PartialEq for CameraIntrinsics

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

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Serialize for CameraIntrinsics

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl Copy for CameraIntrinsics

impl StructuralPartialEq for CameraIntrinsics