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Affine2D

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pub(all) struct Affine2D {
  a00 : Double
  a01 : Double
  a02 : Double
  a10 : Double
  a11 : Double
  a12 : Double
} derive(Eq, 
Debug)

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Affine2D::apply

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Affine2D::determinant

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fn Affine2D::determinant(a : Affine2D) -> Double

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Affine2D::identity

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fn Affine2D::identity() -> Affine2D

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Affine2D::inverse

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CameraPair

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EssentialMatrix

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pub(all) struct EssentialMatrix {
  matrix : 
Mat3
} derive(Eq, 
Debug)

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FundamentalMatrix

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pub(all) struct FundamentalMatrix {
  matrix : 
Mat3
} derive(Eq, 
Debug)

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Homography

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PointMatch

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pub(all) struct PointMatch {
  left_index : Int
  right_index : Int
  distance : Double
} derive(Eq, 
Debug)

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PointTrack

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ReconstructionReport

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pub(all) struct ReconstructionReport {
  total : Int
  positive_depth : Int
  median_depth : Double
  median_parallax : Double
} derive(Eq, 
Debug)

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TrackObservation

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pub(all) struct TrackObservation {
  point_id : Int
  pixel : 
Point2
  view_id : Int
} derive(Eq, 
Debug)

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TrackObservation::new

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fn TrackObservation::new(point_id~ : Int, pixel~ : 
Point2, view_id~ : Int) -> TrackObservation

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TriangulatedPoint

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pub(all) struct TriangulatedPoint {
  point : 
Point3
  separation : Double
} derive(Eq, 
Debug)

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affine_reprojection_errors

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angular_residuals

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angular_rms

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baseline_is_usable

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baseline_length

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bearing_angle

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bearing_residual

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cheirality_mask

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count_inliers

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fn count_inliers(values : ArrayView[Bool]) -> Int

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count_true

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fn count_true(values : ArrayView[Bool]) -> Int

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depth_clamp

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depth_statistics

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enforce_positive_depth

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epipolar_distance

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epipolar_inlier_mask

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epipolar_line_in_right

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epipolar_residual

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epipolar_residuals

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essential_scale

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fn essential_scale(f : FundamentalMatrix) -> Double

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estimate_affine

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estimate_essential_from_fundamental

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estimate_fundamental

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estimate_fundamental_from_translation

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fn estimate_fundamental_from_translation(t : 
Vec3) -> FundamentalMatrix

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estimate_homography

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estimate_homography_from_four

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filter_matches

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fn filter_matches(matches : ArrayView[PointMatch], maximum_distance~ : Double) -> Array[PointMatch]

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homography_condition_indicator

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fn homography_condition_indicator(h : Homography) -> Double

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homography_inlier_mask

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homography_reprojection_error

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is_visible

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line_point_residual

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match_distance_statistics

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fn match_distance_statistics(matches : ArrayView[PointMatch]) -> (Double, Double) raise 
GeometryError

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match_indices

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fn match_indices(matches : ArrayView[PointMatch]) -> (Array[Int], Array[Int])

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median_parallax

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mutual_matches

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nearest_matches

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nearest_point

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normalize_bearing

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normalize_fundamental

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normalize_homogeneous

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normalize_homography

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normalized_track_error

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observation_count

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fn observation_count(tracks : ArrayView[PointTrack]) -> Int

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parallax_degrees

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point_line_distance

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pose_depth

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pose_error

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pose_rotation_error

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pose_translation_error

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positive_depth_mask

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fn positive_depth_mask(points : ArrayView[
Point3]) -> Array[Bool]

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reconstruction_report

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reconstruction_usable

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fn reconstruction_usable(report : ReconstructionReport, minimum_positive_ratio? : Double, minimum_parallax? : Double) -> Bool

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reprojection_residual_matrix

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residual_norms

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fn residual_norms(matrix : ArrayView[Array[Double]]) -> Array[Double]

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residual_vector

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robust_track_cost

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sampson_error

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sampson_residuals

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symmetric_epipolar_residual

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total_reprojection_error

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track_bounds

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track_reprojection_errors

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track_visibility

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fn track_visibility(track : PointTrack, pose : 
CameraPose, near? : Double) -> Bool

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tracks_cost

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triangulate_from_rays

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triangulate_many

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triangulated_point_is_in_front

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triangulation_angle

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triangulation_is_well_conditioned

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fn triangulation_is_well_conditioned(result : TriangulatedPoint, max_separation? : Double) -> Bool

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triangulation_quality

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fn triangulation_quality(result : TriangulatedPoint, angle : Double, separation_limit : Double) -> Double

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triangulation_reprojection_check

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fn triangulation_reprojection_check(result : TriangulatedPoint, left : 
Ray3, right : 
Ray3, threshold~ : Double) -> Bool

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unique_right_matches

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fn unique_right_matches(matches : ArrayView[PointMatch]) -> Array[PointMatch]

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visible_points

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visible_track_count

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