Struct flydra_mvg::MultiCamera

pub struct MultiCamera<R: RealField + Copy + Default + Serialize> { /* private fields */ }

A camera which may be looking at water

Note that we specifically do not have the methods project_distorted_pixel_to_3d_with_dist and project_pixel_to_3d_with_dist because these are dangerous in the sense that depending on dist, the resulting pixel may be subject to refraction. Instead, we have only the ray based methods.

Implementations

impl<R: RealField + Copy + Default + Serialize> MultiCamera<R>

pub fn to_cam(self) -> Camera<R>

pub fn project_pixel_to_ray(&self, pt: &UndistortedPixel<R>) -> Ray

pub fn project_distorted_pixel_to_ray(&self, pt: &DistortedPixel<R>) -> Ray

pub fn project_ray_to_pixel(&self, ray: &Ray) -> UndistortedPixel<R>

pub fn project_ray_to_distorted_pixel(&self, ray: &Ray) -> DistortedPixel<R>

pub fn project_3d_to_ray(&self, pt3d: &PointWorldFrame<R>) -> Ray

projects a 3D point to a ray

If the point is under water, the ray is in the direction the camera sees it (not the straight-line direction).

pub fn linearize_numerically_at( &self, center: &PointWorldFrame<R>, delta: R ) -> Result<OMatrix<R, U2, U3>>

pub fn project_3d_to_pixel( &self, pt3d: &PointWorldFrame<R> ) -> UndistortedPixel<R>

pub fn project_3d_to_distorted_pixel( &self, pt3d: &PointWorldFrame<R> ) -> DistortedPixel<R>

where DefaultAllocator: Allocator<R, U1, U2>,

pub fn extrinsics(&self) -> &ExtrinsicParameters<R>

pub fn do_not_use_intrinsics(&self) -> &RosOpenCvIntrinsics<R>

Return the intrinsic parameters, but probably does not do what you want.

Commenting out for now. Probably does not do what you think it does. In particular, since we may have a refractive boundary, cannot just simply map coordinates between 2d pixel coordinate and 3D ray, because after the boundary, the ray will be different.

pub fn undistort(&self, a: &DistortedPixel<R>) -> UndistortedPixel<R>

pub fn width(&self) -> usize

pub fn height(&self) -> usize

pub fn name(&self) -> &str

Trait Implementations

impl<R: Clone + RealField + Copy + Default + Serialize> Clone for MultiCamera<R>

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

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<R: Debug + RealField + Copy + Default + Serialize> Debug for MultiCamera<R>

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

Formats the value using the given formatter.