Struct CalibrationPerturbation 

pub struct CalibrationPerturbation {
    pub camera_position_m: f64,
    pub look_at_m: f64,
    pub focal_length_px: f64,
    pub principal_point_px: f64,
}

Calibration perturbation: the generation calibration (used to project ground truth into 2D — i.e. “what was imaged”) stays perfect, while the tracking calibration (what Braid reconstructs with) is perturbed by these magnitudes. A nonzero perturbation makes triangulation slightly inconsistent with the detections, so reprojection error is realistic rather than zero — exercising robustness and reprojection-error-driven behavior.

All magnitudes default to zero (perfect == tracking, the clean baseline). Offsets are sampled deterministically from the scenario seed, so a (config, seed) reproduces the perturbed calibration exactly.

Fields

camera_position_m: f64

Max per-axis camera position error (meters): moves each camera center.

look_at_m: f64

Max per-axis look-at target error (meters): rotates each camera (a pointing error) without moving its center.

focal_length_px: f64

Max focal-length error (pixels).

principal_point_px: f64

Max per-axis principal-point error (pixels).

Implementations

impl CalibrationPerturbation

pub fn is_identity(&self) -> bool

Whether this perturbation is a no-op (all magnitudes zero), so the tracking calibration equals the perfect generation calibration.

pub fn offsets(&self, seed: u64, cam_index: usize) -> CameraCalibOffsets

The deterministic calibration offsets for camera cam_index, given the scenario seed. Each component is uniform in [-magnitude, +magnitude].

Trait Implementations

impl Clone for CalibrationPerturbation

fn clone(&self) -> CalibrationPerturbation

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for CalibrationPerturbation

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

Formats the value using the given formatter.

impl Default for CalibrationPerturbation

fn default() -> CalibrationPerturbation

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for CalibrationPerturbation

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl PartialEq for CalibrationPerturbation

fn eq(&self, other: &CalibrationPerturbation) -> 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 Serialize for CalibrationPerturbation

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

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for CalibrationPerturbation