Struct re_types::components::PinholeProjection

pub struct PinholeProjection(pub Mat3x3);

Component: Camera projection, from image coordinates to view coordinates.

Child from parent. Image coordinates from camera view coordinates.

Example:

1496.1     0.0  980.5
   0.0  1496.1  744.5
   0.0     0.0    1.0

Tuple Fields

0: Mat3x3

Implementations

impl PinholeProjection

pub fn from_focal_length_and_principal_point( focal_length: impl Into<Vec2D>, principal_point: impl Into<Vec2D>, ) -> Self

Create a new pinhole projection matrix from a focal length and principal point.

pub fn with_principal_point(self, principal_point: impl Into<Vec2D>) -> Self

Principal point of the pinhole camera, i.e. the intersection of the optical axis and the image plane.

see definition of intrinsic matrix

pub fn focal_length_in_pixels(&self) -> Vec2D

X & Y focal length in pixels.

see definition of intrinsic matrix

pub fn principal_point(&self) -> Vec2

Principal point of the pinhole camera, i.e. the intersection of the optical axis and the image plane.

see definition of intrinsic matrix

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

Project camera-space coordinates into pixel coordinates, returning the same z/depth.

pub fn unproject(&self, pixel: Vec3) -> Vec3

Given pixel coordinates and a world-space depth, return a position in the camera space.

The returned z is the same as the input z (depth).

pub fn fov_y(&self, resolution: impl Into<Resolution>) -> f32

Field of View on the Y axis, i.e. the angle between top and bottom (in radians).

Methods from Deref<Target = Mat3x3>

pub const IDENTITY: Self = _

pub fn col(&self, index: usize) -> Vec3D

Returns the matrix column for the given index.

Panics

Panics if index is greater than 2.

pub fn get(&self, row: usize, col: usize) -> f32

Get a specific element.

pub fn set(&mut self, row: usize, col: usize, value: f32)

Set a specific element.

Trait Implementations

impl Borrow<Mat3x3> for PinholeProjection

fn borrow(&self) -> &Mat3x3

Immutably borrows from an owned value.

impl Clone for PinholeProjection

fn clone(&self) -> PinholeProjection

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Component for PinholeProjection

fn descriptor() -> ComponentDescriptor

Returns the complete ComponentDescriptor for this Component.

fn name() -> ComponentName

The fully-qualified name of this component, e.g. rerun.components.Position2D.

impl Debug for PinholeProjection

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

Formats the value using the given formatter.

impl Default for PinholeProjection

fn default() -> Self

Returns the “default value” for a type.

impl Deref for PinholeProjection

type Target = Mat3x3

The resulting type after dereferencing.

fn deref(&self) -> &Mat3x3

Dereferences the value.

impl DerefMut for PinholeProjection

fn deref_mut(&mut self) -> &mut Mat3x3

Mutably dereferences the value.

impl<'a> From<&'a PinholeProjection> for Cow<'a, PinholeProjection>

fn from(value: &'a PinholeProjection) -> Self

Converts to this type from the input type.

impl<'a> From<PinholeProjection> for Cow<'a, PinholeProjection>

fn from(value: PinholeProjection) -> Self

Converts to this type from the input type.

impl<T: Into<Mat3x3>> From<T> for PinholeProjection

fn from(v: T) -> Self

Converts to this type from the input type.

impl Loggable for PinholeProjection

fn arrow_datatype() -> DataType

The underlying [arrow::datatypes::DataType], excluding datatype extensions.

fn to_arrow_opt<'a>( data: impl IntoIterator<Item = Option<impl Into<Cow<'a, Self>>>>, ) -> SerializationResult<ArrayRef>

where Self: Clone + 'a,

Given an iterator of options of owned or reference values to the current Loggable, serializes them into an Arrow array.

fn from_arrow_opt( arrow_data: &dyn Array, ) -> DeserializationResult<Vec<Option<Self>>>

where Self: Sized,

Given an Arrow array, deserializes it into a collection of optional Loggables.

fn from_arrow(arrow_data: &dyn Array) -> DeserializationResult<Vec<Self>>

where Self: Sized,

Given an Arrow array, deserializes it into a collection of Loggables.

fn arrow_empty() -> Arc<dyn Array>

fn to_arrow<'a>( data: impl IntoIterator<Item = impl Into<Cow<'a, Self>>>, ) -> Result<Arc<dyn Array>, SerializationError>

where Self: 'a,

Given an iterator of owned or reference values to the current Loggable, serializes them into an Arrow array.

impl PartialEq for PinholeProjection

fn eq(&self, other: &PinholeProjection) -> 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 PartialOrd for PinholeProjection

fn partial_cmp(&self, other: &PinholeProjection) -> Option<Ordering>

This method returns an ordering between self and other values if one exists.

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

This method tests less than (for self and other) and is used by the < operator.

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

This method tests less than or equal to (for self and other) and is used by the <= operator.

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

This method tests greater than (for self and other) and is used by the > operator.

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

This method tests greater than or equal to (for self and other) and is used by the >= operator.

impl SizeBytes for PinholeProjection

fn heap_size_bytes(&self) -> u64

Returns how many bytes self uses on the heap.

fn is_pod() -> bool

Is Self just plain old data?

fn total_size_bytes(&self) -> u64

Returns the total size of self in bytes, accounting for both stack and heap space.

fn stack_size_bytes(&self) -> u64

Returns the total size of self on the stack, in bytes.

impl Copy for PinholeProjection

impl StructuralPartialEq for PinholeProjection