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) -> Camera<S, P, D, Sm, K>

Build a camera from its component models.

pub fn project_point_c( &self, p_c: &Matrix<S, Const<3>, Const<1>, ArrayStorage<S, 3, 1>>, ) -> Option<OPoint<S, Const<2>>>

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: &OPoint<S, Const<3>>, ) -> Option<OPoint<S, Const<2>>>

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: &OPoint<S, Const<2>>) -> 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: Clone + RealField + Copy, P: Clone + ProjectionModel<S>, D: Clone + DistortionModel<S>, Sm: Clone + SensorModel<S>, K: Clone + IntrinsicsModel<S>,

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

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

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<Camera<S, P, D, Sm, K>, <__D as Deserializer<'de>>::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 as Serializer>::Ok, <__S as Serializer>::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.