Struct cv_pinhole::CameraIntrinsics

pub struct CameraIntrinsics {
    pub focals: Vector2<f64>,
    pub principal_point: Point2<f64>,
    pub skew: f64,
}

This contains intrinsic camera parameters as per this Wikipedia page.

For a high quality camera, this may be sufficient to normalize image coordinates. Undistortion may also be necessary to normalize image coordinates.

Fields

focals: Vector2<f64>

principal_point: Point2<f64>

skew: f64

Implementations

impl CameraIntrinsics

pub fn identity() -> Self

Creates camera intrinsics that would create an identity intrinsic matrix. This would imply that the pixel positions have an origin at 0,0, the pixel distance unit is the focal length, pixels are square, and there is no skew.

pub fn focals(self, focals: Vector2<f64>) -> Self

pub fn focal(self, focal: f64) -> Self

pub fn principal_point(self, principal_point: Point2<f64>) -> Self

pub fn skew(self, skew: f64) -> Self

pub fn matrix(&self) -> Matrix3<f64>

Trait Implementations

impl CameraModel for CameraIntrinsics

type Projection = NormalizedKeyPoint

fn calibrate<P>(&self, point: P) -> NormalizedKeyPoint where
    P: ImagePoint, 

Takes in a point from an image in pixel coordinates and converts it to a NormalizedKeyPoint.

let intrinsics = CameraIntrinsics {
    focals: Vector2::new(800.0, 900.0),
    principal_point: Point2::new(500.0, 600.0),
    skew: 1.7,
};
let kp = KeyPoint(Point2::new(471.0, 322.0));
let nkp = intrinsics.calibrate(kp);
let calibration_matrix = intrinsics.matrix();
let distance = (kp.to_homogeneous() - calibration_matrix * nkp.to_homogeneous()).norm();
assert!(distance < 0.1);

fn uncalibrate(&self, projection: NormalizedKeyPoint) -> KeyPoint

Converts a NormalizedKeyPoint back into pixel coordinates.

let intrinsics = CameraIntrinsics {
    focals: Vector2::new(800.0, 900.0),
    principal_point: Point2::new(500.0, 600.0),
    skew: 1.7,
};
let kp = KeyPoint(Point2::new(471.0, 322.0));
let nkp = intrinsics.calibrate(kp);
let ukp = intrinsics.uncalibrate(nkp);
assert!((kp.0 - ukp.0).norm() < 1e-6);

impl Clone for CameraIntrinsics

fn clone(&self) -> CameraIntrinsics

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for CameraIntrinsics

impl Debug for CameraIntrinsics

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

Formats the value using the given formatter.

impl PartialEq<CameraIntrinsics> for CameraIntrinsics

fn eq(&self, other: &CameraIntrinsics) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &CameraIntrinsics) -> bool

This method tests for !=.

impl PartialOrd<CameraIntrinsics> for CameraIntrinsics

fn partial_cmp(&self, other: &CameraIntrinsics) -> Option<Ordering>

This method returns an ordering between self and other values if one exists.

fn lt(&self, other: &CameraIntrinsics) -> bool

This method tests less than (for self and other) and is used by the < operator.

fn le(&self, other: &CameraIntrinsics) -> bool

This method tests less than or equal to (for self and other) and is used by the <= operator.

fn gt(&self, other: &CameraIntrinsics) -> bool

This method tests greater than (for self and other) and is used by the > operator.

fn ge(&self, other: &CameraIntrinsics) -> bool

This method tests greater than or equal to (for self and other) and is used by the >= operator.

impl StructuralPartialEq for CameraIntrinsics