Struct mvg::Camera

pub struct Camera<R: RealField + Copy> { /* private fields */ }

Implementations

impl<R: RealField + Copy> Camera<R>

pub fn new( width: usize, height: usize, extrinsics: ExtrinsicParameters<R>, intrinsics: RosOpenCvIntrinsics<R> ) -> Result<Self>

pub fn from_pmat( width: usize, height: usize, pmat: &OMatrix<R, U3, U4> ) -> Result<Self>

pub fn as_pmat(&self) -> Option<&OMatrix<R, U3, U4>>

convert, if possible, into a 3x4 matrix

pub fn linear_part_as_pmat(&self) -> &OMatrix<R, U3, U4>

pub fn linearize_to_cam_geom( &self ) -> Camera<R, IntrinsicParametersPerspective<R>>

Return a linearized copy of self.

The returned camera will not have distortion. In other words, the raw projected (“distorted”) pixels are identical with the “undistorted” variant. The camera model is a perfect linear pinhole.

pub fn align(&self, s: R, rot: Matrix3<R>, t: Vector3<R>) -> Result<Self>

pub fn flip(&self) -> Option<Camera<R>>

return a copy of this camera looking in the opposite direction

The returned camera has the same 3D->2D projection. (The 2D->3D projection results in a vector in the opposite direction.)

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

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

pub fn to_pymvg(&self, name: &str) -> PymvgCamera<R>

pub fn width(&self) -> usize

pub fn height(&self) -> usize

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>

pub fn project_pixel_to_3d_with_dist( &self, pt2d: &UndistortedPixel<R>, dist: R ) -> PointWorldFrame<R>

where DefaultAllocator: Allocator<R, U1, U2> + Allocator<R, U1, U3>,

pub fn project_distorted_pixel_to_3d_with_dist( &self, pt2d: &DistortedPixel<R>, dist: R ) -> PointWorldFrame<R>

Trait Implementations

impl<R: RealField + Copy> AsRef<Camera<R, RosOpenCvIntrinsics<R>>> for Camera<R>

fn as_ref(&self) -> &Camera<R, RosOpenCvIntrinsics<R>>

Converts this type into a shared reference of the (usually inferred) input type.

impl<R: Clone + RealField + Copy> Clone for Camera<R>

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

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<R: Debug + RealField + Copy> Debug for Camera<R>

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

Formats the value using the given formatter.

impl<R: RealField + Copy> Default for Camera<R>

fn default() -> Camera<R>

Returns the “default value” for a type.

impl<'de, R: RealField + Deserialize<'de> + Copy> Deserialize<'de> for Camera<R>

fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>

where D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl<R: PartialEq + RealField + Copy> PartialEq for Camera<R>

fn eq(&self, other: &Camera<R>) -> 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<R: RealField + Serialize + Copy> Serialize for Camera<R>

fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>

where S: Serializer,

Serialize this value into the given Serde serializer.

impl<R: RealField + Copy> StructuralPartialEq for Camera<R>