Struct Camera 

pub struct Camera<S, P, D, Sm, K>
where
    S: RealField + Copy,
    P: ProjectionModel<S>,
    D: DistortionModel<S>,
    Sm: SensorModel<S>,
    K: IntrinsicsModel<S>,
{
    pub proj: P,
    pub dist: D,
    pub sensor: Sm,
    pub k: K,
    /* private fields */
}

A composable camera model: projection -> distortion -> sensor -> intrinsics.

Fields

proj: P

Projection model (e.g. pinhole).

dist: D

Distortion model (e.g. Brown-Conrady).

sensor: Sm

Sensor model (e.g. identity or tilted homography).

k: K

Intrinsics model (K).

Implementations

impl<S, P, D, Sm, K> Camera<S, P, D, Sm, K>

where S: RealField + Copy, P: ProjectionModel<S>, D: DistortionModel<S>, Sm: SensorModel<S>, K: IntrinsicsModel<S>,

pub fn new(proj: P, dist: D, sensor: Sm, k: K) -> Self

Build a camera from its component models.

pub fn project_point_c(&self, p_c: &Vector3<S>) -> Option<Point2<S>>

Project a 3D point in camera coordinates into pixel coordinates.

Returns None if the point is behind the camera or not projectable.

pub fn project_point(&self, p_c: &Point3<S>) -> Option<Point2<S>>

Project a 3D point in camera coordinates into pixel coordinates.

This is a convenience wrapper around project_point_c.

pub fn backproject_pixel(&self, px: &Point2<S>) -> Ray<S>

Backproject a pixel to a point on the z = 1 plane in camera coordinates.

Trait Implementations

impl<S, P, D, Sm, K> Clone for Camera<S, P, D, Sm, K>

where S: RealField + Copy + Clone, P: ProjectionModel<S> + Clone, D: DistortionModel<S> + Clone, Sm: SensorModel<S> + Clone, K: IntrinsicsModel<S> + Clone,

fn clone(&self) -> Camera<S, P, D, Sm, K>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<S, P, D, Sm, K> Debug for Camera<S, P, D, Sm, K>

where S: RealField + Copy + Debug, P: ProjectionModel<S> + Debug, D: DistortionModel<S> + Debug, Sm: SensorModel<S> + Debug, K: IntrinsicsModel<S> + Debug,

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

Formats the value using the given formatter.

impl<'de, S, P, D, Sm, K> Deserialize<'de> for Camera<S, P, D, Sm, K>

where S: RealField + Copy, P: ProjectionModel<S> + Deserialize<'de>, D: DistortionModel<S> + Deserialize<'de>, Sm: SensorModel<S> + Deserialize<'de>, K: IntrinsicsModel<S> + Deserialize<'de>,

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl<S, P, D, Sm, K> Serialize for Camera<S, P, D, Sm, K>

where S: RealField + Copy, P: ProjectionModel<S> + Serialize, D: DistortionModel<S> + Serialize, Sm: SensorModel<S> + Serialize, K: IntrinsicsModel<S> + Serialize,

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

where __S: Serializer,

Serialize this value into the given Serde serializer.