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    CalibrationBatchReport

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    pub(all) struct CalibrationBatchReport {
      count : Int
      mean : Double
      rms : Double
      maximum : Double
      valid_count : Int
    } derive(Eq, 
    Debug    )

    Aggregated reprojection diagnostics for one calibration batch.

    CalibrationBatchSummary

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    pub(all) struct CalibrationBatchSummary {
      count : Int
      mean_error : Double
      maximum_error : Double
      median_error : Double
      valid_ratio : Double
      score : Double
    } derive(Eq, 
    Debug    )

    Batch calibration diagnostics for repeated image measurements.

    CalibrationGrid

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    pub(all) struct CalibrationGrid {
      columns : Int
      rows : Int
      spacing : Double
    } derive(Eq, 
    Debug    )

    CalibrationGrid::bounds

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    CalibrationGrid::coverage

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    CalibrationGrid::length

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    fn CalibrationGrid::length(grid : CalibrationGrid) -> Int

    CalibrationGrid::new

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    fn CalibrationGrid::new(columns~ : Int, rows~ : Int, spacing~ : Double) -> CalibrationGrid raise 
    GeometryError

    CalibrationGrid::points

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    CalibrationGrid::world_point

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    CalibrationObservation

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    CalibrationReport

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    pub(all) struct CalibrationReport {
      observations : Int
      cost : Double
      rms : Double
      max_error : Double
      valid : Bool
    } derive(Eq, 
    Debug    )

    CalibrationResidual

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    pub(all) struct CalibrationResidual {
      index : Int
      residual : 
    Vec2
      norm : Double
      valid : Bool
    } derive(Eq, 
    Debug    )

    CameraIntrinsics

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    pub(all) struct CameraIntrinsics {
      fx : Double
      fy : Double
      cx : Double
      cy : Double
      skew : Double
    } derive(Eq, 
    Debug    )

    CameraIntrinsics::as_matrix

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    CameraIntrinsics::focal_mean

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    fn CameraIntrinsics::focal_mean(k : CameraIntrinsics) -> Double

    CameraIntrinsics::for_centered_image

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    fn CameraIntrinsics::for_centered_image(focal~ : Double, size : ImageSize, skew? : Double) -> CameraIntrinsics raise 
    GeometryError

    CameraIntrinsics::new

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    fn CameraIntrinsics::new(fx~ : Double, fy~ : Double, cx~ : Double, cy~ : Double, skew? : Double) -> CameraIntrinsics

    CameraIntrinsics::pixel_aspect

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    CameraIntrinsics::principal_point

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    CameraIntrinsics::scaled

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    CameraIntrinsics::valid

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    fn CameraIntrinsics::valid(k : CameraIntrinsics) -> Bool

    CameraIntrinsics::with_principal_point

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    CameraPose

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    pub(all) struct CameraPose {
      world_to_camera : 
    Mat34
    } derive(Eq, 
    Debug    )

    CameraPose::camera_center

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    CameraPose::from_rotation_translation

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    CameraPose::identity

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    fn CameraPose::identity() -> CameraPose

    CameraPose::interpolate

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    fn CameraPose::interpolate(a : CameraPose, b : CameraPose, amount : Double) -> CameraPose

    CameraPose::inverse_transform_point

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    CameraPose::new

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    CameraPose::rotation

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    CameraPose::transform_point

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    CameraPose::translation

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    CameraRig

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    pub(all) struct CameraRig {
      views : Array[CameraView]
    } derive(Eq, 
    Debug    )

    CameraRig::common_projection

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    CameraRig::find

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    fn CameraRig::find(rig : CameraRig, view_id : Int) -> CameraView?

    CameraRig::length

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    fn CameraRig::length(rig : CameraRig) -> Int

    CameraRig::new

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    CameraRig::project

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    CameraRig::visible_in_all

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    fn CameraRig::visible_in_all(rig : CameraRig, point : 
    Point3    ) -> Bool

    CameraView

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    pub(all) struct CameraView {
      view_id : Int
      intrinsics : CameraIntrinsics
      pose : CameraPose
    } derive(Eq, 
    Debug    )

    CameraView::new

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    fn CameraView::new(id~ : Int, intrinsics~ : CameraIntrinsics, pose~ : CameraPose) -> CameraView

    DepthHistogram

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    pub(all) struct DepthHistogram {
      bins : Array[Int]
      total : Int
      valid : Int
      minimum : Double
      maximum : Double
    } derive(Eq, 
    Debug    )

    DepthQuality

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    pub(all) struct DepthQuality {
      valid_count : Int
      total_count : Int
      valid_ratio : Double
      span : Double
    } derive(Eq, 
    Debug    )

    Summary of valid depth support in a frame or reconstruction tile.

    Distortion

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    pub(all) struct Distortion {
      k1 : Double
      k2 : Double
      p1 : Double
      p2 : Double
      k3 : Double
    } derive(Eq, 
    Debug    )

    Distortion::brown_conrady

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    fn Distortion::brown_conrady(k1? : Double, k2? : Double, p1? : Double, p2? : Double, k3? : Double) -> Distortion

    Distortion::none

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    fn Distortion::none() -> Distortion

    Frustum

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    pub(all) struct Frustum {
      left : Double
      right : Double
      top : Double
      bottom : Double
      near : Double
      far : Double
    } derive(Eq, 
    Debug    )

    Frustum::contains

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    Frustum::from_intrinsics

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    fn Frustum::from_intrinsics(k : CameraIntrinsics, size : ImageSize, near~ : Double, far~ : Double) -> Frustum raise 
    GeometryError

    ImageLevel

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    pub(all) struct ImageLevel {
      scale : Double
      size : ImageSize
      intrinsics : CameraIntrinsics
    }

    One level of an image-coordinate pyramid.

    ImageLevel::base_to_pixel

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    ImageLevel::new

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    fn ImageLevel::new(scale~ : Double, size~ : ImageSize, intrinsics~ : CameraIntrinsics) -> ImageLevel

    ImageLevel::pixel_to_base

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    ImagePyramidLevel

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    pub(all) struct ImagePyramidLevel {
      size : ImageSize
      intrinsics : CameraIntrinsics
      level : Int
    } derive(Eq, 
    Debug    )

    ImageSize

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    pub(all) struct ImageSize {
      width : Int
      height : Int
    } derive(Eq, 
    Debug    )

    ImageSupport

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    pub(all) struct ImageSupport {
      total : Int
      valid_count : Int
      invalid_count : Int
      valid_ratio : Double
      margin_min : Double
    } derive(Eq, 
    Debug    )

    Valid image support summary for projected measurements.

    ImageWindowStats

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    pub(all) struct ImageWindowStats {
      count : Int
      minimum : Double
      maximum : Double
      mean : Double
      variance : Double
      energy : Double
    } derive(Eq, 
    Debug    )

    Deterministic image-window operations for feature scoring and calibration.

    ProjectedObservation

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

    ProjectionJacobian

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    pub(all) struct ProjectionJacobian {
      du_dx : Double
      du_dy : Double
      du_dz : Double
      dv_dx : Double
      dv_dy : Double
      dv_dz : Double
    } derive(Eq, 
    Debug    )

    RayBundleReport

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    pub(all) struct RayBundleReport {
      count : Int
      mean_direction_norm : Double
      min_direction_z : Double
      max_direction_z : Double
    } derive(Eq, 
    Debug    )

    A compact diagnostic for a batch of camera rays.

    RollingShutter

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    pub(all) struct RollingShutter {
      readout_seconds : Double
      image_height : Int
    } derive(Eq, 
    Debug    )

    RollingShutter::midpoint_time

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    fn RollingShutter::midpoint_time(model : RollingShutter) -> Double

    RollingShutter::new

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    fn RollingShutter::new(readout_seconds~ : Double, image_height~ : Int) -> RollingShutter raise 
    GeometryError

    RollingShutter::row_time

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    fn RollingShutter::row_time(model : RollingShutter, y : Double) -> Double

    StereoDepthReport

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    pub(all) struct StereoDepthReport {
      total : Int
      valid_count : Int
      invalid_count : Int
      mean : Double
      minimum : Double
      maximum : Double
    } derive(Eq, 
    Debug    )

    Summary of stereo depth recovered from disparity measurements.

    StereoPair

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    pub(all) struct StereoPair {
      left : CameraIntrinsics
      right : CameraIntrinsics
      baseline : Double
    } derive(Eq, 
    Debug    )

    StereoPair::depth

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    fn StereoPair::depth(pair : StereoPair, disparity : Double) -> Double raise 
    GeometryError

    StereoPair::depth_point

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    StereoPair::disparity

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    fn StereoPair::disparity(pair : StereoPair, depth : Double) -> Double raise 
    GeometryError

    StereoPair::new

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    StereoPair::valid_disparity

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    fn StereoPair::valid_disparity(pair : StereoPair, disparity : Double, minimum? : Double) -> Bool

    bearing_from_pixel

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    bearing_rays

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    blend_distortion

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    fn blend_distortion(a : Distortion, b : Distortion, amount : Double) -> Distortion

    border_distance

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    fn border_distance(size : ImageSize, pixel : 
    Point2    ) -> Double

    build_image_pyramid

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    fn build_image_pyramid(base_size : ImageSize, base_intrinsics : CameraIntrinsics, levels : Int, scale_step? : Double) -> Array[ImageLevel] raise 
    GeometryError

    calibration_acceptance

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    fn calibration_acceptance(report : CalibrationReport, coverage : Double, minimum_coverage? : Double) -> Bool

    calibration_auc

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    fn calibration_auc(thresholds : ArrayView[Double], values : ArrayView[Double]) -> Double

    calibration_batch_chunks

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    calibration_batch_inlier_count

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    fn calibration_batch_inlier_count(errors : ArrayView[Double], threshold : Double) -> Int

    calibration_batch_inlier_ratio

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    fn calibration_batch_inlier_ratio(errors : ArrayView[Double], threshold : Double) -> Double

    calibration_batch_merge

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    fn calibration_batch_merge(left : CalibrationBatchSummary, right : CalibrationBatchSummary) -> CalibrationBatchSummary

    calibration_batch_merge_all

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    fn calibration_batch_merge_all(summaries : ArrayView[CalibrationBatchSummary]) -> CalibrationBatchSummary

    calibration_batch_report

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    calibration_best_loss

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    fn calibration_best_loss(losses : ArrayView[Double]) -> Double

    calibration_error_histogram

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    fn calibration_error_histogram(errors : ArrayView[Double], bins : Int, maximum : Double) -> Array[Int]

    calibration_error_improvement

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    fn calibration_error_improvement(previous : ArrayView[Double], current : ArrayView[Double]) -> Double

    calibration_error_percentile

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    fn calibration_error_percentile(residuals : ArrayView[CalibrationResidual], probability : Double) -> Double raise 
    GeometryError

    calibration_error_stats

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    fn calibration_error_stats(errors : ArrayView[Double]) -> CalibrationBatchSummary

    calibration_errors_from_pairs

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    calibration_focal_aspect

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    fn calibration_focal_aspect(intrinsics : CameraIntrinsics) -> Double

    calibration_has_converged

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    fn calibration_has_converged(losses : ArrayView[Double], tolerance : Double, window : Int) -> Bool

    calibration_histogram_mass

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    fn calibration_histogram_mass(histogram : ArrayView[Int], first : Int, last : Int) -> Int

    calibration_histogram_peak

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    fn calibration_histogram_peak(histogram : ArrayView[Int]) -> Int

    calibration_improvement_ratio

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    fn calibration_improvement_ratio(previous : Double, current : Double) -> Double

    calibration_inlier_count

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    fn calibration_inlier_count(residuals : ArrayView[CalibrationResidual], threshold : Double) -> Int

    calibration_inlier_flags

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    fn calibration_inlier_flags(errors : ArrayView[Double], threshold : Double) -> Array[Bool]

    calibration_inlier_mask

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    fn calibration_inlier_mask(residuals : ArrayView[CalibrationResidual], threshold : Double) -> Array[Bool]

    calibration_inlier_ratio

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    fn calibration_inlier_ratio(residuals : ArrayView[CalibrationResidual], threshold : Double) -> Double

    calibration_intrinsics_interpolate

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    fn calibration_intrinsics_interpolate(before : CameraIntrinsics, after : CameraIntrinsics, amount : Double) -> CameraIntrinsics

    calibration_intrinsics_score

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    fn calibration_intrinsics_score(intrinsics : CameraIntrinsics, size : ImageSize) -> Double

    calibration_intrinsics_smooth

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    fn calibration_intrinsics_smooth(history : ArrayView[CameraIntrinsics]) -> CameraIntrinsics

    calibration_is_improving

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    fn calibration_is_improving(history : ArrayView[Double], tolerance : Double) -> Bool

    calibration_is_usable

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    fn calibration_is_usable(report : CalibrationReport, max_rms? : Double) -> Bool

    calibration_iteration_budget

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    fn calibration_iteration_budget(levels : Int, iterations_per_level : Int) -> Int

    calibration_level_of_iteration

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    fn calibration_level_of_iteration(iteration : Int, iterations_per_level : Int, levels : Int) -> Int

    calibration_loss_delta

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    fn calibration_loss_delta(previous : Double, current : Double) -> Double

    calibration_loss_history_append

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    fn calibration_loss_history_append(history : Array[Double], loss : Double, capacity : Int) -> Unit

    calibration_max_error

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    fn calibration_max_error(errors : ArrayView[Double]) -> Double

    calibration_mean_error

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    fn calibration_mean_error(errors : ArrayView[Double]) -> Double

    calibration_parameter_delta

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    fn calibration_parameter_delta(before : CameraIntrinsics, after : CameraIntrinsics) -> Double

    calibration_percentile_error

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    fn calibration_percentile_error(errors : ArrayView[Double], percentile : Double) -> Double

    calibration_principal_offset

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    fn calibration_principal_offset(intrinsics : CameraIntrinsics, size : ImageSize) -> Double

    calibration_progress

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    fn calibration_progress(iteration : Int, total : Int) -> Double

    calibration_quality_curve

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    fn calibration_quality_curve(errors : ArrayView[Double], thresholds : ArrayView[Double]) -> Array[Double]

    calibration_quality_score

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    fn calibration_quality_score(report : CalibrationBatchReport, expected_count : Int, target_rms : Double) -> Double

    calibration_report

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    calibration_report_csv

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    fn calibration_report_csv(summary : CalibrationBatchSummary) -> String

    calibration_report_is_usable

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    fn calibration_report_is_usable(report : CalibrationBatchReport, maximum_rms : Double, minimum_valid : Int) -> Bool

    calibration_report_label

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    fn calibration_report_label(summary : CalibrationBatchSummary) -> String

    calibration_residuals

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    calibration_rms_error

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    fn calibration_rms_error(errors : ArrayView[Double]) -> Double

    calibration_should_stop

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    fn calibration_should_stop(iteration : Int, total : Int, loss : Double, target : Double) -> Bool

    calibration_squared_errors_from_pairs

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    fn calibration_squared_errors_from_pairs(predicted : ArrayView[
    Point2    ], observed : ArrayView[
    Point2    ]) -> Array[Double]

    calibration_step_schedule

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    fn calibration_step_schedule(initial~ : Double, decay~ : Double, count~ : Int) -> Array[Double]

    Geometric step schedule for deterministic calibration refinement.

    calibration_stop

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    fn calibration_stop(history : ArrayView[Double], patience : Int, tolerance : Double) -> Bool

    calibration_temperature_schedule

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    fn calibration_temperature_schedule(initial : Double, cooling : Double, count : Int) -> Array[Double]

    calibration_trimmed_errors

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    fn calibration_trimmed_errors(errors : ArrayView[Double], trim_ratio : Double) -> Array[Double]

    calibration_trimmed_mean

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    fn calibration_trimmed_mean(errors : ArrayView[Double], trim_ratio : Double) -> Double

    calibration_weighted_error

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    fn calibration_weighted_error(errors : ArrayView[Double], weights : ArrayView[Double]) -> Double

    camera_center_path

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    camera_model_score

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    fn camera_model_score(k : CameraIntrinsics, size : ImageSize) -> Double

    camera_parameter_clamp

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    fn camera_parameter_clamp(intrinsics : CameraIntrinsics, minimum_focal : Double, maximum_focal : Double) -> CameraIntrinsics

    camera_parameter_delta

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    fn camera_parameter_delta(left : CameraIntrinsics, right : CameraIntrinsics) -> Array[Double]

    camera_parameter_norm

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    fn camera_parameter_norm(intrinsics : CameraIntrinsics) -> Double

    camera_parameter_vector

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    fn camera_parameter_vector(intrinsics : CameraIntrinsics) -> Array[Double]

    camera_ray_field

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    Generate a regular camera ray field for scan matching and calibration.

    camera_ray_field_direction_spread

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    fn camera_ray_field_direction_spread(rays : ArrayView[
    Ray3    ]) -> Double

    camera_ray_field_directions

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    camera_ray_field_forward_ratio

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    fn camera_ray_field_forward_ratio(rays : ArrayView[
    Ray3    ]) -> Double

    camera_ray_field_mean_direction

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    camera_ray_field_origins

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    clamp_depths

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    fn clamp_depths(depths : ArrayView[Double], minimum : Double, maximum : Double) -> Array[Double]

    clamp_pixel

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    clamp_visible_pixel

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    clip_disparities

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    fn clip_disparities(disparities : ArrayView[Double], minimum : Double, maximum : Double) -> Array[Double]

    count_depth_holes

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    fn count_depth_holes(depths : ArrayView[Double], minimum : Double) -> Int

    coverage_fraction

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    fn coverage_fraction(observations : ArrayView[CalibrationObservation], size : ImageSize) -> Double

    crop_pixels

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    depth_from_disparity

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    fn depth_from_disparity(focal~ : Double, baseline~ : Double, disparity~ : Double) -> Double raise 
    GeometryError

    depth_histogram

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    fn depth_histogram(depths : ArrayView[Double], bins~ : Int, minimum~ : Double, maximum~ : Double) -> DepthHistogram

    depth_histogram_entropy

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    fn depth_histogram_entropy(histogram : DepthHistogram) -> Double

    depth_histogram_peak

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    fn depth_histogram_peak(histogram : DepthHistogram) -> Int

    depth_percentile

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    fn depth_percentile(depths : ArrayView[Double], percentile : Double) -> Double raise 
    GeometryError

    depth_percentile2

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    fn depth_percentile2(depths : ArrayView[Double], probability : Double) -> Double raise 
    GeometryError

    depth_quality

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    fn depth_quality(depths : ArrayView[Double], minimum~ : Double, maximum~ : Double) -> DepthQuality

    depth_to_disparity

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    fn depth_to_disparity(depth : Double, baseline : Double, focal : Double) -> Double

    depth_trimmed_mean

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    fn depth_trimmed_mean(depths : ArrayView[Double], minimum : Double, maximum : Double) -> Double

    depth_uncertainty

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    fn depth_uncertainty(focal~ : Double, baseline~ : Double, disparity~ : Double, disparity_error~ : Double) -> Double raise 
    GeometryError

    depth_valid_indices

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    fn depth_valid_indices(depths : ArrayView[Double], minimum : Double, maximum : Double) -> Array[Int]

    depth_valid_mask

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    fn depth_valid_mask(depths : ArrayView[Double], minimum : Double, maximum : Double) -> Array[Bool]

    disparity_confidence

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    fn disparity_confidence(disparity : Double, minimum : Double, maximum : Double) -> Double

    disparity_error_to_depth_error

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    fn disparity_error_to_depth_error(disparity : Double, disparity_error : Double, baseline : Double, focal : Double) -> Double

    disparity_from_depth

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    fn disparity_from_depth(focal~ : Double, baseline~ : Double, depth~ : Double) -> Double raise 
    GeometryError

    disparity_histogram

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    fn disparity_histogram(disparities : ArrayView[Double], bins : Int, minimum : Double, maximum : Double) -> Array[Int]

    disparity_is_valid

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    fn disparity_is_valid(disparity : Double, minimum : Double, maximum : Double) -> Bool

    disparity_mean

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    fn disparity_mean(disparities : ArrayView[Double], minimum : Double, maximum : Double) -> Double

    disparity_scan

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    fn disparity_scan(minimum~ : Double, maximum~ : Double, steps~ : Int) -> Array[Double]

    Generate a uniformly spaced disparity search interval.

    disparity_to_depth

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    fn disparity_to_depth(disparity : Double, baseline : Double, focal : Double) -> Double

    disparity_valid_indices

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    fn disparity_valid_indices(disparities : ArrayView[Double], minimum : Double, maximum : Double) -> Array[Int]

    disparity_variance

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    fn disparity_variance(disparities : ArrayView[Double], minimum : Double, maximum : Double) -> Double

    distort_point

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    distortion_corrected_radii

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    fn distortion_corrected_radii(radii : ArrayView[Double], distortion : Distortion) -> Array[Double]

    distortion_displacement

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    Difference between distorted and ideal normalized image coordinates.

    distortion_displacement_field

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    distortion_is_identity

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    fn distortion_is_identity(d : Distortion) -> Bool

    distortion_is_negligible

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    fn distortion_is_negligible(points : ArrayView[
    Point2    ], distortion : Distortion, tolerance : Double) -> Bool

    distortion_jacobian

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    distortion_magnitude_field

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    fn distortion_magnitude_field(points : ArrayView[
    Point2    ], distortion : Distortion) -> Array[Double]

    distortion_max

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    fn distortion_max(points : ArrayView[
    Point2    ], distortion : Distortion) -> Double

    distortion_parameter_distance

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    fn distortion_parameter_distance(a : Distortion, b : Distortion) -> Double

    distortion_parameter_norm

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    fn distortion_parameter_norm(distortion : Distortion) -> Double

    distortion_radial_profile

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    fn distortion_radial_profile(radii : ArrayView[Double], distortion : Distortion) -> Array[Double]

    distortion_rms

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    fn distortion_rms(points : ArrayView[
    Point2    ], distortion : Distortion) -> Double

    distortion_strength

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    fn distortion_strength(d : Distortion) -> Double

    duplicate_pose_sequence

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    fn duplicate_pose_sequence(poses : ArrayView[CameraPose], repetitions : Int) -> Array[CameraPose]

    estimate_focal_from_depth

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    feature_grid_spacing

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    fn feature_grid_spacing(size : ImageSize, desired_count : Int) -> Int

    field_of_view_pair

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    fn field_of_view_pair(intrinsics : CameraIntrinsics, size : ImageSize) -> (Double, Double) raise 
    GeometryError

    focal_consistency

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    fn focal_consistency(k : CameraIntrinsics) -> Double

    focal_from_fov

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    fn focal_from_fov(sensor_extent~ : Double, fov_radians~ : Double) -> Double raise 
    GeometryError

    focal_from_horizontal_fov_safe

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    fn focal_from_horizontal_fov_safe(size : ImageSize, fov : Double) -> Double raise 
    GeometryError

    forward_rays

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    Return only forward-facing rays for a camera-centered reconstruction.

    front_facing_ratio

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    fn front_facing_ratio(points : ArrayView[
    Point3    ]) -> Double

    horizontal_fov

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    fn horizontal_fov(intrinsics : CameraIntrinsics, width~ : Double) -> Double raise 
    GeometryError

    image_bounds

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    image_diagonal_fov

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    fn image_diagonal_fov(intrinsics : CameraIntrinsics, size : ImageSize) -> Double raise 
    GeometryError

    image_feature_grid

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    fn image_feature_grid(size : ImageSize, step~ : Int) -> Array[
    Point2    ]

    image_feature_grid_count

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    fn image_feature_grid_count(size : ImageSize, step : Int) -> Int

    image_feature_grid_interior

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    fn image_feature_grid_interior(size : ImageSize, margin : Int, step : Int) -> Array[
    Point2    ]

    image_margin

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    fn image_margin(pixel : 
    Point2    , size : ImageSize) -> Double

    image_margin_histogram

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    fn image_margin_histogram(size : ImageSize, pixels : ArrayView[
    Point2    ], bins : Int) -> Array[Int]

    image_metric_contrast

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    fn image_metric_contrast(values : ArrayView[Double]) -> Double

    image_metric_mae

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    fn image_metric_mae(left : ArrayView[Double], right : ArrayView[Double]) -> Double

    Final image-metric helpers for benchmark reports.

    image_metric_mse

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    fn image_metric_mse(left : ArrayView[Double], right : ArrayView[Double]) -> Double

    image_metric_ncc

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    fn image_metric_ncc(left : ArrayView[Double], right : ArrayView[Double]) -> Double

    image_metric_psnr

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    fn image_metric_psnr(left : ArrayView[Double], right : ArrayView[Double], peak : Double) -> Double

    image_metric_quality

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    fn image_metric_quality(values : ArrayView[Double], minimum_contrast : Double) -> Double

    image_metric_range

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    fn image_metric_range(values : ArrayView[Double]) -> Double

    image_metric_report

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    fn image_metric_report(values : ArrayView[Double], reference : ArrayView[Double]) -> String

    image_metric_rmse

    source
    fn image_metric_rmse(left : ArrayView[Double], right : ArrayView[Double]) -> Double

    image_metric_valid_ratio

    source
    fn image_metric_valid_ratio(values : ArrayView[Double]) -> Double

    image_pyramid

    source

    image_ray_grid

    source
    fn image_ray_grid(size : ImageSize, intrinsics : CameraIntrinsics, columns : Int, rows : Int) -> Array[
    Ray3    ]

    Create a ray through every point of a regular image lattice.

    image_support_mask

    source

    image_support_ratio

    source
    fn image_support_ratio(size : ImageSize, pixels : ArrayView[
    Point2    ]) -> Double

    image_window_accumulate

    source
    fn image_window_accumulate(target : Array[Double], source : ArrayView[Double], scale : Double) -> Unit

    image_window_add

    source
    fn image_window_add(left : ArrayView[Double], right : ArrayView[Double]) -> Array[Double]

    image_window_binary_count

    source
    fn image_window_binary_count(values : ArrayView[Double], threshold : Double) -> Int

    image_window_box_mean

    source
    fn image_window_box_mean(values : ArrayView[Double], width : Int, height : Int, x : Int, y : Int, radius : Int) -> Double

    image_window_box_sum

    source
    fn image_window_box_sum(values : ArrayView[Double], width : Int, height : Int, x : Int, y : Int, radius : Int) -> Double

    image_window_clamp

    source
    fn image_window_clamp(value : Double, minimum : Double, maximum : Double) -> Double

    image_window_clip

    source
    fn image_window_clip(values : ArrayView[Double], minimum : Double, maximum : Double) -> Array[Double]

    image_window_corner_score

    source
    fn image_window_corner_score(values : ArrayView[Double], width : Int, height : Int, x : Int, y : Int) -> Double

    image_window_downsample

    source
    fn image_window_downsample(values : ArrayView[Double], width : Int, height : Int, factor : Int) -> (Array[Double], Int, Int)

    image_window_gradient_field

    source
    fn image_window_gradient_field(values : ArrayView[Double], width : Int, height : Int) -> Array[Double]

    image_window_gradient_magnitude

    source
    fn image_window_gradient_magnitude(values : ArrayView[Double], width : Int, height : Int, x : Int, y : Int) -> Double

    image_window_gradient_x

    source
    fn image_window_gradient_x(values : ArrayView[Double], width : Int, height : Int, x : Int, y : Int) -> Double

    image_window_gradient_y

    source
    fn image_window_gradient_y(values : ArrayView[Double], width : Int, height : Int, x : Int, y : Int) -> Double

    image_window_index

    source
    fn image_window_index(width : Int, x : Int, y : Int) -> Int

    image_window_laplacian

    source
    fn image_window_laplacian(values : ArrayView[Double], width : Int, height : Int, x : Int, y : Int) -> Double

    image_window_mean_abs_difference

    source
    fn image_window_mean_abs_difference(left : ArrayView[Double], right : ArrayView[Double]) -> Double

    image_window_mean_squared_difference

    source
    fn image_window_mean_squared_difference(left : ArrayView[Double], right : ArrayView[Double]) -> Double

    image_window_multiply

    source
    fn image_window_multiply(values : ArrayView[Double], scale : Double) -> Array[Double]

    image_window_nonmaximum_points

    source
    fn image_window_nonmaximum_points(values : ArrayView[Double], width : Int, height : Int, threshold : Double, radius : Int) -> Array[
    Point2    ]

    image_window_normalize

    source
    fn image_window_normalize(values : ArrayView[Double]) -> Array[Double]

    image_window_normalized_cross_correlation

    source
    fn image_window_normalized_cross_correlation(left : ArrayView[Double], right : ArrayView[Double]) -> Double

    image_window_patch

    source
    fn image_window_patch(values : ArrayView[Double], width : Int, height : Int, x : Int, y : Int, radius : Int) -> Array[Double]

    image_window_patch_score

    source
    fn image_window_patch_score(values : ArrayView[Double], width : Int, height : Int, x : Int, y : Int, radius : Int) -> Double

    image_window_quality

    source
    fn image_window_quality(values : ArrayView[Double], minimum_variance : Double, maximum_mean_abs : Double) -> Double

    image_window_resize_nearest

    source
    fn image_window_resize_nearest(values : ArrayView[Double], width : Int, height : Int, output_width : Int, output_height : Int) -> Array[Double]

    image_window_standardize

    source
    fn image_window_standardize(values : ArrayView[Double]) -> Array[Double]

    image_window_stats

    source
    fn image_window_stats(values : ArrayView[Double]) -> ImageWindowStats

    image_window_subtract

    source
    fn image_window_subtract(left : ArrayView[Double], right : ArrayView[Double]) -> Array[Double]

    image_window_threshold

    source
    fn image_window_threshold(values : ArrayView[Double], threshold : Double) -> Array[Bool]

    image_window_valid

    source
    fn image_window_valid(width : Int, height : Int, x : Int, y : Int) -> Bool

    interpolate_camera_pose_clamped

    source
    fn interpolate_camera_pose_clamped(a : CameraPose, b : CameraPose, amount : Double) -> CameraPose

    Interpolate camera poses with endpoint clamping.

    interpolate_intrinsics

    source
    fn interpolate_intrinsics(left : CameraIntrinsics, right : CameraIntrinsics, amount : Double) -> CameraIntrinsics

    intrinsics_aspect_ratio

    source
    fn intrinsics_aspect_ratio(intrinsics : CameraIntrinsics) -> Double

    intrinsics_distance

    source
    fn intrinsics_distance(left : CameraIntrinsics, right : CameraIntrinsics) -> Double

    intrinsics_focal_mean

    source
    fn intrinsics_focal_mean(intrinsics : CameraIntrinsics) -> Double

    intrinsics_is_square_pixel

    source
    fn intrinsics_is_square_pixel(intrinsics : CameraIntrinsics, tolerance : Double) -> Bool

    intrinsics_is_valid

    source
    fn intrinsics_is_valid(intrinsics : CameraIntrinsics, size : ImageSize) -> Bool

    Validate an intrinsic calibration against image dimensions.

    intrinsics_principal_point

    source
    fn intrinsics_principal_point(intrinsics : CameraIntrinsics) -> 
    Point2

    intrinsics_skew_ratio

    source
    fn intrinsics_skew_ratio(intrinsics : CameraIntrinsics) -> Double

    max_distortion_error

    source
    fn max_distortion_error(points : ArrayView[
    Point2    ], d : Distortion) -> Double

    motion_blur_displacement

    source

    normalize_depths

    source
    fn normalize_depths(depths : ArrayView[Double], invalid_value~ : Double) -> Array[Double]

    Map valid depths to [0, 1]; invalid values retain the caller marker.

    normalized_depth

    source

    normalized_focal

    source
    fn normalized_focal(intrinsics : CameraIntrinsics, size : ImageSize) -> 
    Vec2

    normalized_principal_point

    source
    fn normalized_principal_point(intrinsics : CameraIntrinsics, size : ImageSize) -> 
    Point2

    normalized_reprojection_error

    source

    normalized_to_pixel

    source

    observation_in_bounds

    source
    fn observation_in_bounds(observation : CalibrationObservation, size : ImageSize) -> Bool

    path_length

    source
    fn path_length(poses : ArrayView[CameraPose]) -> Double

    pixel_in_bounds

    source
    fn pixel_in_bounds(size : ImageSize, pixel : 
    Point2    ) -> Bool

    pixel_ray_depth

    source

    pixel_to_normalized

    source

    pose_is_stationary

    source
    fn pose_is_stationary(poses : ArrayView[CameraPose], tolerance : Double) -> Bool

    pose_path_distances

    source
    fn pose_path_distances(poses : ArrayView[CameraPose]) -> Array[Double]

    pose_path_length2

    source
    fn pose_path_length2(poses : ArrayView[CameraPose]) -> Double

    pose_speed_estimates

    source
    fn pose_speed_estimates(poses : ArrayView[CameraPose], timestamps : ArrayView[Double]) -> Array[Double]

    pose_subsequence

    source
    fn pose_subsequence(poses : ArrayView[CameraPose], start : Int, end : Int) -> Array[CameraPose]

    pose_translation_distance

    source
    fn pose_translation_distance(a : CameraPose, b : CameraPose) -> Double

    principal_point_error

    source
    fn principal_point_error(k : CameraIntrinsics, size : ImageSize) -> Double

    project_depth_map

    source

    project_point

    source

    project_point_with_pose

    source

    project_points

    source

    project_visibility_indices

    source
    fn project_visibility_indices(points : ArrayView[
    Point3    ]) -> Array[Int]

    project_visibility_mask

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

    projection_jacobian

    source

    pyramid_levels_covering

    source
    fn pyramid_levels_covering(size : ImageSize, minimum_width : Int) -> Int

    pyramid_pixel_radius

    source
    fn pyramid_pixel_radius(base_radius : Double, level : ImageLevel) -> Double

    pyramid_scale

    source
    fn pyramid_scale(levels : ArrayView[ImageLevel], index : Int) -> Double

    radial_distortion_monotone

    source
    fn radial_distortion_monotone(radius : Double, distortion : Distortion, samples? : Int) -> Bool

    radial_distortion_scale

    source
    fn radial_distortion_scale(radius : Double, distortion : Distortion) -> Double

    ray_bundle

    source

    ray_bundle_report

    source

    Summarize ray normalization and forward-facing coverage.

    ray_field_bounds

    source

    ray_field_concat

    source

    ray_field_depth_centroid

    source

    ray_field_depth_quality

    source
    fn ray_field_depth_quality(rays : ArrayView[
    Ray3    ], depth : Double, maximum_radius : Double) -> Double

    ray_field_depth_radius

    source
    fn ray_field_depth_radius(rays : ArrayView[
    Ray3    ], depth : Double) -> Double

    ray_field_depth_range

    source

    ray_field_depth_schedule

    source
    fn ray_field_depth_schedule(minimum : Double, maximum : Double, steps : Int) -> Array[Double]

    ray_field_direction_dot_sum

    source

    ray_field_direction_quality

    source
    fn ray_field_direction_quality(rays : ArrayView[
    Ray3    ], minimum_forward_ratio : Double) -> Double

    ray_field_direction_z_maximum

    source
    fn ray_field_direction_z_maximum(rays : ArrayView[
    Ray3    ]) -> Double

    ray_field_direction_z_mean

    source
    fn ray_field_direction_z_mean(rays : ArrayView[
    Ray3    ]) -> Double

    ray_field_direction_z_minimum

    source
    fn ray_field_direction_z_minimum(rays : ArrayView[
    Ray3    ]) -> Double

    Ray-field diagnostics for camera coverage and scan planning.

    ray_field_direction_z_ratio

    source
    fn ray_field_direction_z_ratio(rays : ArrayView[
    Ray3    ], threshold : Double) -> Double

    ray_field_filter_forward

    source

    ray_field_filter_origin_z

    source
    fn ray_field_filter_origin_z(rays : ArrayView[
    Ray3    ], minimum_z : Double, maximum_z : Double) -> Array[
    Ray3    ]

    ray_field_mean_angular_agreement

    source

    ray_field_origin_bounds

    source

    ray_field_origin_centroid

    source

    ray_field_origin_quality

    source
    fn ray_field_origin_quality(rays : ArrayView[
    Ray3    ], maximum_spread : Double) -> Double

    ray_field_origin_spread

    source
    fn ray_field_origin_spread(rays : ArrayView[
    Ray3    ]) -> Double

    ray_field_quality

    source
    fn ray_field_quality(rays : ArrayView[
    Ray3    ], minimum_forward_ratio : Double, maximum_spread : Double) -> Double

    ray_field_reproject_depth

    source

    ray_field_scan_score

    source
    fn ray_field_scan_score(rays : ArrayView[
    Ray3    ], depth : Double, minimum_forward_ratio : Double, maximum_radius : Double) -> Double

    ray_field_schedule_quality

    source
    fn ray_field_schedule_quality(rays : ArrayView[
    Ray3    ], schedule : ArrayView[Double], minimum_forward_ratio : Double, maximum_radius : Double) -> Array[Double]

    ray_field_subsample

    source

    ray_plane_intersection

    source

    ray_plane_intersections

    source

    ray_sphere_hits

    source

    ray_sphere_intersection

    source
    fn ray_sphere_intersection(ray : 
    Ray3    , center : 
    Point3    , radius : Double) -> Bool

    reprojection_cost

    source
    fn reprojection_cost(observations : ArrayView[CalibrationObservation], intrinsics : CameraIntrinsics, pose : CameraPose, distortion? : Distortion) -> Double raise 
    GeometryError

    reprojection_residual_rms

    source
    fn reprojection_residual_rms(residuals : ArrayView[CalibrationResidual]) -> Double

    reprojection_residual_sum

    source
    fn reprojection_residual_sum(residuals : ArrayView[CalibrationResidual]) -> Double

    resample_timestamps

    source
    fn resample_timestamps(start : Double, end : Double, count : Int) -> Array[Double]

    residual_histogram

    source
    fn residual_histogram(residuals : ArrayView[Double], bins~ : Int, maximum~ : Double) -> Array[Int] raise 
    GeometryError

    residual_norms

    source
    fn residual_norms(residuals : ArrayView[CalibrationResidual]) -> Array[Double]

    reverse_pose_sequence

    source
    fn reverse_pose_sequence(poses : ArrayView[CameraPose]) -> Array[CameraPose]

    rig_baseline

    source
    fn rig_baseline(rig : CameraRig, first_id~ : Int, second_id~ : Int) -> Double raise 
    GeometryError

    rolling_pose

    source
    fn rolling_pose(pose : CameraPose, velocity : 
    Vec3    , time : Double) -> CameraPose

    rolling_project

    source

    rotate_ray_field

    source

    sample_camera_pose

    source
    fn sample_camera_pose(poses : ArrayView[CameraPose], amount : Double) -> CameraPose

    sample_camera_poses

    source
    fn sample_camera_poses(poses : ArrayView[CameraPose], count : Int) -> Array[CameraPose]

    sample_pixels

    source

    Convert valid pixels to bearing rays, ignoring points outside the image.

    sample_pose_trajectory

    source
    fn sample_pose_trajectory(poses : ArrayView[CameraPose], timestamps : ArrayView[Double], query : Double) -> CameraPose raise 
    GeometryError

    Sample a continuous camera trajectory at normalized timestamps.

    scale_intrinsics

    source
    fn scale_intrinsics(intrinsics : CameraIntrinsics, scale : Double) -> CameraIntrinsics

    shift_intrinsics

    source

    split_calibration_residuals

    source
    fn split_calibration_residuals(residuals : ArrayView[CalibrationResidual], threshold : Double) -> (Array[CalibrationResidual], Array[CalibrationResidual])

    stereo_baseline_focal_product

    source
    fn stereo_baseline_focal_product(baseline : Double, focal : Double) -> Double

    stereo_consistency

    source
    fn stereo_consistency(left : ArrayView[Double], right : ArrayView[Double], tolerance : Double) -> Double

    stereo_depth_clamp

    source
    fn stereo_depth_clamp(depths : ArrayView[Double], minimum : Double, maximum : Double) -> Array[Double]

    stereo_depth_error

    source
    fn stereo_depth_error(pair : StereoPair, disparity : Double, disparity_error : Double) -> Double raise 
    GeometryError

    stereo_depth_error_bound

    source
    fn stereo_depth_error_bound(disparity : Double, error : Double, baseline : Double, focal : Double) -> Double

    stereo_depth_gradient

    source
    fn stereo_depth_gradient(disparities : ArrayView[Double], baseline : Double, focal : Double) -> Array[Double]

    stereo_depth_percentile

    source
    fn stereo_depth_percentile(depths : ArrayView[Double], probability : Double) -> Double raise 
    GeometryError

    stereo_depth_report

    source
    fn stereo_depth_report(disparities : ArrayView[Double], baseline~ : Double, focal~ : Double) -> StereoDepthReport

    stereo_depth_smoothness

    source
    fn stereo_depth_smoothness(disparities : ArrayView[Double], baseline : Double, focal : Double) -> Double

    stereo_depth_valid_mask

    source
    fn stereo_depth_valid_mask(depths : ArrayView[Double], minimum : Double, maximum : Double) -> Array[Bool]

    stereo_depths

    source
    fn stereo_depths(pair : StereoPair, disparities : ArrayView[Double]) -> Array[Double] raise 
    GeometryError

    stereo_depths2

    source
    fn stereo_depths2(disparities : ArrayView[Double], baseline : Double, focal : Double) -> Array[Double]

    stereo_report_is_usable

    source
    fn stereo_report_is_usable(report : StereoDepthReport, minimum_ratio : Double, maximum_span : Double) -> Bool

    stereo_scan_best_disparity

    source
    fn stereo_scan_best_disparity(disparities : ArrayView[Double], scores : ArrayView[Double]) -> Double?

    stereo_scan_best_score

    source
    fn stereo_scan_best_score(scores : ArrayView[Double]) -> Double

    stereo_valid_ratio

    source
    fn stereo_valid_ratio(report : StereoDepthReport) -> Double

    trajectory_duration

    source
    fn trajectory_duration(timestamps : ArrayView[Double]) -> Double

    trajectory_is_monotonic

    source
    fn trajectory_is_monotonic(timestamps : ArrayView[Double]) -> Bool

    transform_ray_field

    source

    translate_ray_field

    source

    undistort_point_iterative

    source
    fn undistort_point_iterative(distorted : 
    Point2    , distortion : Distortion, iterations? : Int) -> 
    Point2

    valid_intrinsics

    source
    fn valid_intrinsics(k : CameraIntrinsics) -> Bool

    valid_observations

    source
    fn valid_observations(observations : ArrayView[CalibrationObservation], size : ImageSize) -> Array[CalibrationObservation]

    valid_projection_count

    source
    fn valid_projection_count(points : ArrayView[
    Point3    ]) -> Int

    vertical_fov

    source
    fn vertical_fov(intrinsics : CameraIntrinsics, height~ : Double) -> Double raise 
    GeometryError

    visible_depths

    source
    fn visible_depths(depths : ArrayView[Double], minimum : Double, maximum : Double) -> Array[Bool]

    visible_pixels

    source
    fn visible_pixels(size : ImageSize, pixels : ArrayView[
    Point2    ]) -> Array[Bool]

    Visibility masks for image-space and depth-space filtering.

    visible_point_depths

    source
    fn visible_point_depths(points : ArrayView[
    Point3    ]) -> Array[Double]

    weighted_calibration_error

    source
    fn weighted_calibration_error(residuals : ArrayView[CalibrationResidual], weights : ArrayView[Double]) -> Double raise 
    GeometryError

    weighted_reprojection_cost

    source
    fn weighted_reprojection_cost(observations : ArrayView[CalibrationObservation], intrinsics : CameraIntrinsics, pose : CameraPose) -> Double raise 
    GeometryError

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