Data Types Quick Reference

Core Math Types

All based on nalgebra with f64 precision:

Type	Definition	Description
`Real`	`f64`	Scalar type
`Pt2`	`Point2<f64>`	2D point
`Pt3`	`Point3<f64>`	3D point
`Vec2`	`Vector2<f64>`	2D vector
`Vec3`	`Vector3<f64>`	3D vector
`Mat3`	`Matrix3<f64>`	3×3 matrix
`Mat4`	`Matrix4<f64>`	4×4 matrix
`Iso3`	`Isometry3<f64>`	SE(3) rigid transform

Camera Model Types

Type	Parameters	Description
`FxFyCxCySkew<S>`	`fx, fy, cx, cy, skew`	Intrinsics matrix
`BrownConrady5<S>`	`k1, k2, k3, p1, p2, iters`	Distortion model
`Pinhole`	(none)	Projection model
`IdentitySensor`	(none)	No sensor tilt
`ScheimpflugParams`	`tilt_x, tilt_y`	Scheimpflug tilt
`Camera<S,P,D,Sm,K>`	`proj, dist, sensor, k`	Composable camera

Observation Types

Type	Fields	Description
`CorrespondenceView`	`points_3d, points_2d, weights`	2D-3D correspondences
`View<Meta>`	`obs, meta`	Observation + metadata
`PlanarDataset`	`views: Vec<View<NoMeta>>`	Planar calibration input
`RigView<Meta>`	`obs: RigViewObs, meta`	Multi-camera view
`RigDataset<Meta>`	`num_cameras, views`	Multi-camera input
`ReprojectionStats`	`mean, rms, max, count`	Error statistics

Fix Masks

Type	Fields	Description
`IntrinsicsFixMask`	`fx, fy, cx, cy` (bool each)	Fix individual intrinsics
`DistortionFixMask`	`k1, k2, k3, p1, p2` (bool each)	Fix individual distortion params
`CameraFixMask`	`intrinsics, distortion`	Combined camera fix mask
`FixedMask`	opaque (`all_free()`, `all_fixed(dim)`, `fix_indices(&[usize])`)	IR-level parameter fixing

Optimization IR Types

Type	Description
`ProblemIR`	Complete optimization problem
`ParamBlock`	Parameter group (id, name, dim, manifold, fixed)
`ResidualBlock`	Residual definition (params, loss, factor)
`ParamId`	Unique parameter identifier
`FactorKind`	Residual computation type (enum)
`ManifoldKind`	Parameter geometry (Euclidean, SE3, SO3, S2)
`RobustLoss`	Loss function (None, Huber, Cauchy, Arctan)

Session Types

Type	Description
`CalibrationSession<P>`	Generic session container
`SessionMetadata`	Problem name, version, timestamps
`LogEntry`	Audit log entry (timestamp, operation, success)
`ExportRecord<E>`	Timestamped export
`InvalidationPolicy`	What to clear on input/config change

Backend Types

Type	Description
`BackendSolveOptions`	Solver settings (max_iters, tolerances, etc.)
`BackendSolution`	Optimized params + solve report
`SolveReport`	Initial/final cost, iterations, termination
`LinearSolverType`	SparseCholesky or SparseQR

Hand-Eye Types

Type	Description
`HandEyeMode`	EyeInHand or EyeToHand
`HandeyeMeta`	`base_se3_gripper: Iso3`
`RobotPoseMeta`	`base_se3_gripper: Iso3`