Crate spatialrust_camera

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Camera models, projection geometry, and RGB-D conversion.

Structs§

BrownConrady: Brown–Conrady radial and tangential lens-distortion coefficients.
BundleObservation: One 2D observation of a bundle point.
BundleProblem: Sparse fixed-camera bundle problem.
BundleView: Calibrated camera and world-to-camera pose used by bundle adjustment.
CalibrationOptions: Shared robust least-squares controls.
CalibrationReport: Common numerical receipt returned by calibration solvers.
CameraIntrinsics: Pinhole camera intrinsic parameters and image dimensions.
DepthConversionOptions: Controls conversion from stored depth values to metric camera coordinates.
FisheyeObservation: Fisheye angle/radius sample in normalized image coordinates.
HandEyeMotionPair: Robot/camera relative motions for A X = X B hand-eye calibration.
KannalaBrandt4: Kannala–Brandt four-coefficient fisheye model.
PinholeCamera: A pinhole camera with optional Brown–Conrady lens distortion.
PinholeObservation: Known camera-space point and observed image pixel for mono calibration.
RigidTransform3: Rigid transform represented as a rotation matrix and translation.
StereoCalibration: Stereo calibration result with explicit right-from-left transform.
StereoPointPair: Matched 3D point expressed in left and right camera frames.

bundle_adjust_points: Refines world-space points while keeping calibrated camera poses fixed.
calibrate_fisheye: Fits a Kannala–Brandt four-coefficient angle polynomial.
calibrate_hand_eye_translation: Solves hand-eye translation for a supplied hand-eye rotation.
calibrate_pinhole: Fits fx, fy, cx, cy from known camera-space points with robust reweighting.
calibrate_stereo_translation: Fits stereo translation for a supplied relative rotation.
depth_to_point_cloud: Converts an aligned depth image into an XYZ point cloud.
depth_to_xyz_dense: Converts depth into a dense H×W×3 XYZ buffer (row-major interleaved).
depth_to_xyz_dense_into: Fills a caller-provided dense H×W×3 XYZ buffer (length must be H*W*3).
rgbd_to_point_cloud: Converts aligned RGB and depth images into an XYZRGB point cloud.