Struct opencv_ros_camera::RosOpenCvIntrinsics

pub struct RosOpenCvIntrinsics<R: RealField> {
    pub is_opencv_compatible: bool,
    pub p: SMatrix<R, 3, 4>,
    pub k: SMatrix<R, 3, 3>,
    pub distortion: Distortion<R>,
    pub rect: SMatrix<R, 3, 3>,
    /* private fields */
}

A perspective camera model with distortion compatible with OpenCV and ROS.

This camera model is compatible with OpenCV and ROS, including stereo rectification and Brown-Conrady distortion. To load from a ROS YAML file, see the from_ros_yaml function.

See this page for an expanded definition of the parameters.

To convert from a NamedIntrinsicParameters struct, use its intrinsics field.

See the module-level documentation for more information.

Fields

is_opencv_compatible: bool

If these intrinsics have zero skew, they are “opencv compatible” and this is true.

p: SMatrix<R, 3, 4>

The intrinsic parameter matrix P.

k: SMatrix<R, 3, 3>

The intrinsic parameter matrix K. Scaled from P.

distortion: Distortion<R>

The non-linear distortion parameters D specifying image warping.

rect: SMatrix<R, 3, 3>

The stereo rectification matrix.

Implementations

impl<R: RealField> RosOpenCvIntrinsics<R>

pub fn from_components( p: SMatrix<R, 3, 4>, k: SMatrix<R, 3, 3>, distortion: Distortion<R>, rect: SMatrix<R, 3, 3> ) -> Result<Self>

Construct intrinsics from raw components.

Returns Err(Error::InvalidInput) if rect cannot be inverted.

pub fn from_params(fx: R, skew: R, fy: R, cx: R, cy: R) -> Self

Construct intrinsics from individual parameters with no distortion.

fx and fy are the horizontal and vertical focal lengths. skew is the pixel skew (typically near zero). cx and cy is the center of the optical axis in pixel coordinates.

pub fn from_params_with_distortion( fx: R, skew: R, fy: R, cx: R, cy: R, distortion: Distortion<R> ) -> Self

Construct intrinsics from individual parameters.

fx and fy are the horizontal and vertical focal lengths. skew is the pixel skew (typically near zero). cx and cy is the center of the optical axis in pixel coordinates. distortion is a vector of the distortion terms.

pub fn distort<NPTS, IN>( &self, undistorted: &UndistortedPixels<R, NPTS, IN> ) -> Pixels<R, NPTS, Owned<R, NPTS, U2>>

where NPTS: Dim, IN: Storage<R, NPTS, U2>, DefaultAllocator: Allocator<R, NPTS, U2>,

Convert undistorted pixel coordinates to distorted pixel coordinates.

This will take coordinates from, e.g. a linear camera model, warp them into their distorted counterparts. This distortion thus models the action of a real lens.

pub fn undistort<NPTS, IN>( &self, distorted: &Pixels<R, NPTS, IN> ) -> UndistortedPixels<R, NPTS, Owned<R, NPTS, U2>>

where NPTS: Dim, IN: Storage<R, NPTS, U2>, DefaultAllocator: Allocator<R, NPTS, U2>,

Convert distorted pixel coordinates to undistorted pixel coordinates.

This will take distorted coordinates from, e.g. detections from a real camera image, and undo the effect of the distortion model. This “undistortion” thus converts coordinates from a real lens into coordinates that can be used with a linear camera model.

This method calls undistort_ext using the default termination criteria.

pub fn undistort_ext<NPTS, IN>( &self, distorted: &Pixels<R, NPTS, IN>, criteria: impl Into<Option<TermCriteria>> ) -> UndistortedPixels<R, NPTS, Owned<R, NPTS, U2>>

where NPTS: Dim, IN: Storage<R, NPTS, U2>, DefaultAllocator: Allocator<R, NPTS, U2>,

Convert distorted pixel coordinates to undistorted pixel coordinates.

This will take distorted coordinates from, e.g. detections from a real camera image, and undo the effect of the distortion model. This “undistortion” thus converts coordinates from a real lens into coordinates that can be used with a linear camera model.

If the termination criteria are not specified, the default of five iterations is used.

pub fn camera_to_undistorted_pixel<IN, NPTS>( &self, camera: &Points<CameraFrame, R, NPTS, IN> ) -> UndistortedPixels<R, NPTS, Owned<R, NPTS, U2>>

where IN: Storage<R, NPTS, U3>, NPTS: Dim, DefaultAllocator: Allocator<R, NPTS, U2> + Allocator<R, U1, U2>,

Convert 3D coordinates in CameraFrame to undistorted pixel coords.

pub fn undistorted_pixel_to_camera<IN, NPTS>( &self, undistorteds: &UndistortedPixels<R, NPTS, IN> ) -> RayBundle<CameraFrame, SharedOriginRayBundle<R>, R, NPTS, Owned<R, NPTS, U3>>

where IN: Storage<R, NPTS, U2>, NPTS: Dim, DefaultAllocator: Allocator<R, NPTS, U3> + Allocator<R, U1, U2>,

Convert undistorted pixel coordinates to 3D coords in the CameraFrame.

Trait Implementations

impl<R: Clone + RealField> Clone for RosOpenCvIntrinsics<R>

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

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<R: Debug + RealField> Debug for RosOpenCvIntrinsics<R>

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

Formats the value using the given formatter.

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

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

where D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl<R: RealField> From<IntrinsicParametersPerspective<R>> for RosOpenCvIntrinsics<R>

fn from(orig: IntrinsicParametersPerspective<R>) -> Self

Converts to this type from the input type.

impl<R: RealField> IntrinsicParameters<R> for RosOpenCvIntrinsics<R>

type BundleType = SharedOriginRayBundle<R>

What type of ray bundle is returned when projecting pixels to rays.

fn pixel_to_camera<IN, NPTS>( &self, pixels: &Pixels<R, NPTS, IN> ) -> RayBundle<CameraFrame, Self::BundleType, R, NPTS, Owned<R, NPTS, U3>>

where Self::BundleType: Bundle<R>, IN: Storage<R, NPTS, U2>, NPTS: Dim, DefaultAllocator: Allocator<R, NPTS, U2> + Allocator<R, NPTS, U3> + Allocator<R, U1, U2>,

project pixels to camera coords

fn camera_to_pixel<IN, NPTS>( &self, camera: &Points<CameraFrame, R, NPTS, IN> ) -> Pixels<R, NPTS, Owned<R, NPTS, U2>>

where IN: Storage<R, NPTS, U3>, NPTS: Dim, DefaultAllocator: Allocator<R, NPTS, U2>,

project camera coords to pixel coordinates

impl<R: PartialEq + RealField> PartialEq for RosOpenCvIntrinsics<R>

fn eq(&self, other: &RosOpenCvIntrinsics<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> Serialize for RosOpenCvIntrinsics<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> StructuralPartialEq for RosOpenCvIntrinsics<R>