pub struct Camera<R, I>where
I: IntrinsicParameters<R>,
R: RealField,{ /* private fields */ }
Expand description
A camera model that can convert world coordinates into pixel coordinates.
Examples
Creates a new perspective camera:
use cam_geom::*;
use nalgebra::*;
// perepective parameters - focal length of 100, no skew, pixel center at (640,480)
let intrinsics = IntrinsicParametersPerspective::from(PerspectiveParams {
fx: 100.0,
fy: 100.0,
skew: 0.0,
cx: 640.0,
cy: 480.0,
});
// Set extrinsic parameters - camera at (10,0,10), looing at (0,0,0), up (0,0,1)
let camcenter = Vector3::new(10.0, 0.0, 10.0);
let lookat = Vector3::new(0.0, 0.0, 0.0);
let up = Unit::new_normalize(Vector3::new(0.0, 0.0, 1.0));
let pose = ExtrinsicParameters::from_view(&camcenter, &lookat, &up);
// Create camera with both intrinsic and extrinsic parameters.
let cam = Camera::new(intrinsics, pose);
Creates a new orthographic camera:
use cam_geom::*;
use nalgebra::*;
// orthographic parameters - scale of 100, pixel center at (640,480)
let intrinsics = IntrinsicParametersOrthographic::from(OrthographicParams {
sx: 100.0,
sy: 100.0,
cx: 640.0,
cy: 480.0,
});
// Set extrinsic parameters - camera at (10,0,10), looing at (0,0,0), up (0,0,1)
let camcenter = Vector3::new(10.0, 0.0, 10.0);
let lookat = Vector3::new(0.0, 0.0, 0.0);
let up = Unit::new_normalize(Vector3::new(0.0, 0.0, 1.0));
let pose = ExtrinsicParameters::from_view(&camcenter, &lookat, &up);
// Create camera with both intrinsic and extrinsic parameters.
let cam = Camera::new(intrinsics, pose);
Implementations§
source§impl<R, I> Camera<R, I>where
I: IntrinsicParameters<R>,
R: RealField,
impl<R, I> Camera<R, I>where I: IntrinsicParameters<R>, R: RealField,
sourcepub fn new(intrinsics: I, extrinsics: ExtrinsicParameters<R>) -> Self
pub fn new(intrinsics: I, extrinsics: ExtrinsicParameters<R>) -> Self
Create a new camera from intrinsic and extrinsic parameters.
Arguments
Intrinsic parameters and extrinsic parameters
sourcepub fn extrinsics(&self) -> &ExtrinsicParameters<R>
pub fn extrinsics(&self) -> &ExtrinsicParameters<R>
Return a reference to the extrinsic parameters.
sourcepub fn intrinsics(&self) -> &I
pub fn intrinsics(&self) -> &I
Return a reference to the intrinsic parameters.
sourcepub fn world_to_pixel<NPTS, InStorage>(
&self,
world: &Points<WorldFrame, R, NPTS, InStorage>
) -> Pixels<R, NPTS, Owned<R, NPTS, U2>>where
NPTS: Dim,
InStorage: Storage<R, NPTS, U3>,
DefaultAllocator: Allocator<R, NPTS, U3> + Allocator<R, NPTS, U2>,
pub fn world_to_pixel<NPTS, InStorage>( &self, world: &Points<WorldFrame, R, NPTS, InStorage> ) -> Pixels<R, NPTS, Owned<R, NPTS, U2>>where NPTS: Dim, InStorage: Storage<R, NPTS, U3>, DefaultAllocator: Allocator<R, NPTS, U3> + Allocator<R, NPTS, U2>,
take 3D coordinates in world frame and convert to pixel coordinates
sourcepub fn pixel_to_world<IN, NPTS>(
&self,
pixels: &Pixels<R, NPTS, IN>
) -> RayBundle<WorldFrame, I::BundleType, R, NPTS, Owned<R, NPTS, U3>>where
I::BundleType: Bundle<R>,
IN: Storage<R, NPTS, U2>,
NPTS: Dim,
DefaultAllocator: Allocator<R, U1, U2> + Allocator<R, NPTS, U2> + Allocator<R, NPTS, U3>,
pub fn pixel_to_world<IN, NPTS>( &self, pixels: &Pixels<R, NPTS, IN> ) -> RayBundle<WorldFrame, I::BundleType, R, NPTS, Owned<R, NPTS, U3>>where I::BundleType: Bundle<R>, IN: Storage<R, NPTS, U2>, NPTS: Dim, DefaultAllocator: Allocator<R, U1, U2> + Allocator<R, NPTS, U2> + Allocator<R, NPTS, U3>,
take pixel coordinates and project to 3D in world frame
output arguments:
camera
- camera frame coordinate rays
world
- world frame coordinate rays
Note that the camera frame coordinates are returned as they must be computed anyway, so this additional data is “free”.
source§impl<R: RealField> Camera<R, IntrinsicParametersPerspective<R>>
impl<R: RealField> Camera<R, IntrinsicParametersPerspective<R>>
sourcepub fn from_perspective_matrix<S>(
pmat: &Matrix<R, U3, U4, S>
) -> Result<Self, Error>where
S: Storage<R, U3, U4> + Clone,
pub fn from_perspective_matrix<S>( pmat: &Matrix<R, U3, U4, S> ) -> Result<Self, Error>where S: Storage<R, U3, U4> + Clone,
Create a Camera
from a 3x4 perspective projection matrix.
sourcepub fn as_camera_matrix(&self) -> SMatrix<R, 3, 4>
pub fn as_camera_matrix(&self) -> SMatrix<R, 3, 4>
Create a 3x4 perspective projection matrix modeling this camera.
Trait Implementations§
source§impl<R, I> Clone for Camera<R, I>where
I: IntrinsicParameters<R> + Clone,
R: RealField + Clone,
impl<R, I> Clone for Camera<R, I>where I: IntrinsicParameters<R> + Clone, R: RealField + Clone,
source§impl<R, I> Debug for Camera<R, I>where
I: IntrinsicParameters<R> + Debug,
R: RealField + Debug,
impl<R, I> Debug for Camera<R, I>where I: IntrinsicParameters<R> + Debug, R: RealField + Debug,
source§impl<'de, R, I> Deserialize<'de> for Camera<R, I>where
I: IntrinsicParameters<R> + Deserialize<'de>,
R: RealField + Deserialize<'de>,
impl<'de, R, I> Deserialize<'de> for Camera<R, I>where I: IntrinsicParameters<R> + Deserialize<'de>, R: RealField + Deserialize<'de>,
source§fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>where
__D: Deserializer<'de>,
fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>where __D: Deserializer<'de>,
source§impl<R, I> PartialEq<Camera<R, I>> for Camera<R, I>where
I: IntrinsicParameters<R> + PartialEq,
R: RealField + PartialEq,
impl<R, I> PartialEq<Camera<R, I>> for Camera<R, I>where I: IntrinsicParameters<R> + PartialEq, R: RealField + PartialEq,
source§impl<R, I> Serialize for Camera<R, I>where
I: IntrinsicParameters<R> + Serialize,
R: RealField + Serialize,
impl<R, I> Serialize for Camera<R, I>where I: IntrinsicParameters<R> + Serialize, R: RealField + Serialize,
impl<R, I> StructuralPartialEq for Camera<R, I>where I: IntrinsicParameters<R>, R: RealField,
Auto Trait Implementations§
impl<R, I> RefUnwindSafe for Camera<R, I>where I: RefUnwindSafe, R: RefUnwindSafe,
impl<R, I> Send for Camera<R, I>where I: Send,
impl<R, I> Sync for Camera<R, I>where I: Sync,
impl<R, I> Unpin for Camera<R, I>where I: Unpin, R: Unpin,
impl<R, I> UnwindSafe for Camera<R, I>where I: UnwindSafe, R: UnwindSafe,
Blanket Implementations§
source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere T: ?Sized,
source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
§impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere SS: SubsetOf<SP>,
§fn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
self
from the equivalent element of its
superset. Read more§fn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
self
is actually part of its subset T
(and can be converted to it).§fn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
self.to_subset
but without any property checks. Always succeeds.§fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
self
to the equivalent element of its superset.