Enum GeneralCameraEnum

pub enum GeneralCameraEnum<S: IsScalar<BATCH, DM, DN>, const BATCH: usize, const DM: usize, const DN: usize> {
    Perspective(PerspectiveCameraEnum<S, BATCH, DM, DN>),
    Orthographic(OrthographicCamera<S, BATCH, DM, DN>),
}

Generalized camera enum

Variants

Perspective(PerspectiveCameraEnum<S, BATCH, DM, DN>)

Perspective camera enum

Orthographic(OrthographicCamera<S, BATCH, DM, DN>)

Orthographic camera

Implementations

impl<S: IsScalar<BATCH, DM, DN>, const BATCH: usize, const DM: usize, const DN: usize> GeneralCameraEnum<S, BATCH, DM, DN>

pub fn new_perspective(model: PerspectiveCameraEnum<S, BATCH, DM, DN>) -> Self

Create a new perspective camera instance

Trait Implementations

impl<S: Clone + IsScalar<BATCH, DM, DN>, const BATCH: usize, const DM: usize, const DN: usize> Clone for GeneralCameraEnum<S, BATCH, DM, DN>

fn clone(&self) -> GeneralCameraEnum<S, BATCH, DM, DN>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<S: Debug + IsScalar<BATCH, DM, DN>, const BATCH: usize, const DM: usize, const DN: usize> Debug for GeneralCameraEnum<S, BATCH, DM, DN>

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

Formats the value using the given formatter.

impl<S: IsScalar<BATCH, DM, DN>, const BATCH: usize, const DM: usize, const DN: usize> IsCamera<S, BATCH, DM, DN> for GeneralCameraEnum<S, BATCH, DM, DN>

fn new_pinhole(params: S::Vector<4>, image_size: ImageSize) -> Self

Creates a new pinhole camera

fn new_kannala_brandt(params: S::Vector<8>, image_size: ImageSize) -> Self

Creates a new Kannala-Brandt camera

fn new_brown_conrady(params: S::Vector<12>, image_size: ImageSize) -> Self

Creates a new Brown-Conrady camera

fn new_enhanced_unified(params: S::Vector<6>, image_size: ImageSize) -> Self

Creates a new Enhanced Unified camera

fn image_size(&self) -> ImageSize

Returns the image size

fn cam_proj<P>(&self, point_in_camera: P) -> S::Vector<2>

where P: Borrow<S::Vector<3>>,

Projects a 3D point in the camera frame to a pixel in the image

fn cam_unproj_with_z<P>(&self, pixel: P, z: S) -> S::Vector<3>

where P: Borrow<S::Vector<2>>,

Unprojects a pixel in the image to a 3D point in the camera frame

fn distort<P>(&self, proj_point_in_camera_z1_plane: P) -> S::Vector<2>

where P: Borrow<S::Vector<2>>,

Distortion - maps a point in the camera z=1 plane to a distorted point

fn undistort<P>(&self, pixel: P) -> S::Vector<2>

where P: Borrow<S::Vector<2>>,

Undistortion - maps a distorted pixel to a point in the camera z=1 plane

fn dx_distort_x<P>(&self, proj_point_in_camera_z1_plane: P) -> S::Matrix<2, 2>

where P: Borrow<S::Vector<2>>,

Derivative of the distortion w.r.t. the point in the camera z=1 plane

fn try_get_brown_conrady(self) -> Option<BrownConradyCamera<S, BATCH, DM, DN>>

Returns the brown-conrady camera

fn try_get_kannala_brandt(self) -> Option<KannalaBrandtCamera<S, BATCH, DM, DN>>

Returns the kannala-brandt camera

fn try_get_pinhole(self) -> Option<PinholeCamera<S, BATCH, DM, DN>>

Returns the pinhole camera

fn try_get_enhanced_unified( self, ) -> Option<EnhancedUnifiedCamera<S, BATCH, DM, DN>>

Returns the enhanced unified camera