Struct PinholeCamera 

pub struct PinholeCamera {
    pub intrinsics: CameraIntrinsics,
    pub distortion: BrownConrady,
}

A pinhole camera with optional Brown–Conrady lens distortion.

Fields

intrinsics: CameraIntrinsics

Intrinsic calibration.

distortion: BrownConrady

Lens distortion coefficients.

Implementations

impl PinholeCamera

pub const fn new(intrinsics: CameraIntrinsics) -> Self

Creates a camera with no lens distortion.

pub const fn with_distortion(self, distortion: BrownConrady) -> Self

Attaches a Brown–Conrady distortion model.

pub fn project(&self, point: Vec3<f64>) -> Result<Vec2<f64>, CameraError>

Projects a camera-space point into distorted pixel coordinates.

pub fn unproject( &self, pixel: Vec2<f64>, depth: f64, ) -> Result<Vec3<f64>, CameraError>

Unprojects a distorted pixel and metric depth into camera space.

Trait Implementations

impl Clone for PinholeCamera

fn clone(&self) -> PinholeCamera

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PinholeCamera

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

Formats the value using the given formatter.

impl PartialEq for PinholeCamera

fn eq(&self, other: &PinholeCamera) -> 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 Copy for PinholeCamera

impl StructuralPartialEq for PinholeCamera