Struct PinholeCameraModel 

pub struct PinholeCameraModel {
    pub fx: f64,
    pub fy: f64,
    pub cx: f64,
    pub cy: f64,
    pub width: usize,
    pub height: usize,
}

Pinhole camera intrinsic model.

Coordinate convention

• X points right, Y points down, Z points forward (camera space).
• The image origin is at the top-left pixel centre.

Projection: u = fx * X/Z + cx, v = fy * Y/Z + cy.

Fields

fx: f64

Focal length in pixels along the X axis.

fy: f64

Focal length in pixels along the Y axis.

cx: f64

Principal point X coordinate in pixels.

cy: f64

Principal point Y coordinate in pixels.

width: usize

Image width in pixels.

height: usize

Image height in pixels.

Implementations

impl PinholeCameraModel

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

Create a new pinhole camera model.

pub fn from_calibration_matrix( k: &[[f64; 3]; 3], width: usize, height: usize, ) -> Self

Build from a 3×3 calibration matrix K.

let k = [[800.0, 0.0, 320.0], [0.0, 800.0, 240.0], [0.0, 0.0, 1.0]];
let cam = PinholeCameraModel::from_calibration_matrix(&k, 640, 480);
assert!((cam.fx - 800.0).abs() < 1e-9);

pub fn to_matrix(&self) -> [[f64; 3]; 3]

Return the intrinsic matrix K as a flat row-major 3×3 array.

pub fn fov_x(&self) -> f64

Horizontal field-of-view in radians.

pub fn fov_y(&self) -> f64

Vertical field-of-view in radians.

Trait Implementations

impl Clone for PinholeCameraModel

fn clone(&self) -> PinholeCameraModel

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PinholeCameraModel

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

Formats the value using the given formatter.

impl PartialEq for PinholeCameraModel

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for PinholeCameraModel