Struct DivisionModel 

pub struct DivisionModel {
    pub lambda: f64,
    pub cx: f64,
    pub cy: f64,
}

Single-parameter division distortion model.

Maps distorted (observed) pixel coordinates to undistorted coordinates:

x_u = cx + (x_d - cx) / (1 + λ · r²)
y_u = cy + (y_d - cy) / (1 + λ · r²)

where r² = (x_d - cx)² + (y_d - cy)².

• λ < 0 → barrel distortion (most common in wide-angle lenses)
• λ > 0 → pincushion distortion
• λ = 0 → identity (no distortion)

Implements PixelMapper for use with Detector::detect_with_mapper. Also used internally by the self-undistort estimator.

Fields

lambda: f64

Distortion parameter.

cx: f64

Distortion center x (pixels).

cy: f64

Distortion center y (pixels).

Implementations

impl DivisionModel

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

Create a division model with explicit parameters.

pub fn centered(lambda: f64, width: u32, height: u32) -> Self

Create a division model centered on the image.

pub fn identity(width: u32, height: u32) -> Self

Identity model (zero distortion) centered on the image.

pub fn undistort_point(&self, distorted_xy: [f64; 2]) -> [f64; 2]

Undistort a single point.

pub fn distort_point(&self, undistorted_xy: [f64; 2]) -> Option<[f64; 2]>

Distort a point (inverse mapping: undistorted → distorted).

Uses an iterative fixed-point method since the inverse has no closed form.

pub fn undistort_points(&self, points: &[[f64; 2]]) -> Vec<[f64; 2]>

Undistort a batch of points.

Trait Implementations

impl Clone for DivisionModel

fn clone(&self) -> DivisionModel

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for DivisionModel

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for DivisionModel

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl PartialEq for DivisionModel

fn eq(&self, other: &DivisionModel) -> 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 PixelMapper for DivisionModel

fn image_to_working_pixel(&self, image_xy: [f64; 2]) -> Option<[f64; 2]>

Map from image (distorted) pixel coordinates to working coordinates.

fn working_to_image_pixel(&self, working_xy: [f64; 2]) -> Option<[f64; 2]>

Map from working coordinates back to image (distorted) pixel coordinates.

impl Serialize for DivisionModel

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 DivisionModel

impl StructuralPartialEq for DivisionModel