Struct Intrinsics

pub struct Intrinsics {
    pub principal_point: (Float, Float),
    pub focal: (Float, Float),
    pub skew: Float,
}

Intrinsic parameters of a pinhole camera model.

Fields

principal_point: (Float, Float)

Principal point (in the optical center axis) of the camera.

focal: (Float, Float)

Focal length in pixels along both axes.

skew: Float

Skew of the camera, usually 0.0.

Implementations

impl Intrinsics

pub fn matrix(&self) -> Affine2<Float>

Equivalent matrix representation of intrinsic parameters.

pub fn multi_res(self, n: usize) -> Vec<Self>

Generate a multi-resolution vector of intrinsic parameters. Each level corresponds to a camera with half resolution.

pub fn half_res(&self) -> Self

Compute intrinsic parameters of a camera with half resolution.

Since the (0,0) coordinates correspond the center of the first pixel, and not its top left corner, a shift of 0.5 is performed for the principal point before and after the resolution scaling.

pub fn project(&self, point: Point3) -> Vec3

Project a 3D point in camera coordinates into a 2D homogeneous image point.

pub fn back_project(&self, point: Point2, depth: Float) -> Point3

Back project a pixel with depth info into a 3D point in camera coordinates.

Trait Implementations

impl Clone for Intrinsics

fn clone(&self) -> Intrinsics

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Intrinsics

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

Formats the value using the given formatter.

impl PartialEq for Intrinsics

fn eq(&self, other: &Intrinsics) -> 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 StructuralPartialEq for Intrinsics