Struct cam_geom::IntrinsicParametersPerspective

pub struct IntrinsicParametersPerspective<R: RealField> { /* private fields */ }

A pinhole perspective camera model. Implements IntrinsicParameters.

Create an IntrinsicParametersPerspective as described for PerspectiveParams by using .into().

Implementations

impl<R: RealField> IntrinsicParametersPerspective<R>

pub fn from_normalized_3x4_matrix(p: SMatrix<R, 3, 4>) -> Result<Self, Error>

Create a new instance given an intrinsic parameter matrix.

Returns an error if the intrinsic parameter matrix is not normalized or otherwise does not represent a perspective camera model.

pub fn fx(&self) -> R

Get X focal length

pub fn fy(&self) -> R

Get Y focal length

pub fn skew(&self) -> R

Get skew

pub fn cx(&self) -> R

Get X center

pub fn cy(&self) -> R

Get Y center

Trait Implementations

impl<R: Clone + RealField> Clone for IntrinsicParametersPerspective<R>

fn clone(&self) -> IntrinsicParametersPerspective<R>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<R: RealField> Debug for IntrinsicParametersPerspective<R>

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

Formats the value using the given formatter.

impl<'de, R: RealField + Deserialize<'de>> Deserialize<'de> for IntrinsicParametersPerspective<R>

fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>

where D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl<R: RealField> From<PerspectiveParams<R>> for IntrinsicParametersPerspective<R>

fn from(params: PerspectiveParams<R>) -> Self

Converts to this type from the input type.

impl<R> IntrinsicParameters<R> for IntrinsicParametersPerspective<R>

where R: RealField,

type BundleType = SharedOriginRayBundle<R>

What type of ray bundle is returned when projecting pixels to rays.

fn pixel_to_camera<IN, NPTS>( &self, pixels: &Pixels<R, NPTS, IN> ) -> RayBundle<CameraFrame, Self::BundleType, R, NPTS, Owned<R, NPTS, U3>>

where Self::BundleType: Bundle<R>, IN: Storage<R, NPTS, U2>, NPTS: Dim, DefaultAllocator: Allocator<R, NPTS, U3>,

project pixels to camera coords

fn camera_to_pixel<IN, NPTS>( &self, camera: &Points<CameraFrame, R, NPTS, IN> ) -> Pixels<R, NPTS, Owned<R, NPTS, U2>>

where IN: Storage<R, NPTS, U3>, NPTS: Dim, DefaultAllocator: Allocator<R, NPTS, U2>,

project camera coords to pixel coordinates

impl<R: PartialEq + RealField> PartialEq for IntrinsicParametersPerspective<R>

fn eq(&self, other: &IntrinsicParametersPerspective<R>) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl<R> Serialize for IntrinsicParametersPerspective<R>

where R: Serialize + RealField,

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

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl<R: RealField> StructuralPartialEq for IntrinsicParametersPerspective<R>