dlt 0.2.1

DLT (direct linear transform) algorithm for camera calibration
Documentation

Crate dlt for the Rust language

Crates.io Documentation Crate License Dependency status

DLT (direct linear transform) algorithm for camera calibration

This is typically used for calibrating cameras and requires a minimum of 6 corresponding pairs of 2D and 3D locations.

Testing

Unit tests

To run the unit tests:

cargo test

Test for no_std

Since the thumbv7em-none-eabihf target does not have std available, we can build for it to check that our crate does not inadvertently pull in std. The unit tests require std, so cannot be run on a no_std platform. The following will fail if a std dependency is present:

# install target with: "rustup target add thumbv7em-none-eabihf"
cargo build --no-default-features --target thumbv7em-none-eabihf

Example

use dlt::{dlt_corresponding, CorrespondingPoint};
use cam_geom::{Camera, Points};

let points: Vec<CorrespondingPoint<f64>> = vec![
    CorrespondingPoint {
        object_point: [-1., -2., -3.],
        image_point: [219.700, 39.400],
    },
    CorrespondingPoint {
        object_point: [0., 0., 0.],
        image_point: [320.000, 240.000],
    },
    CorrespondingPoint {
        object_point: [1., 2., 3.],
        image_point: [420.300, 440.600],
    },
    CorrespondingPoint {
        object_point: [1.1, 2.2, 3.3],
        image_point: [430.330, 460.660],
    },
    CorrespondingPoint {
        object_point: [4., 5., 6.],
        image_point: [720.600, 741.200],
    },
    CorrespondingPoint {
        object_point: [4.4, 5.5, 6.6],
        image_point: [760.660, 791.320],
    },
    CorrespondingPoint {
        object_point: [7., 8., 9.],
        image_point: [1020.900, 1041.800],
    },
    CorrespondingPoint {
        object_point: [7.7, 8.8, 9.9],
        image_point: [1090.990, 1121.980],
    },
];

let pmat = dlt_corresponding(&points, 1e-10).unwrap();
let cam = Camera::from_perspective_matrix(&pmat).unwrap();
for orig in points.iter() {
    let world = Points::new(nalgebra::RowVector3::from_row_slice(&orig.object_point));
    let px = cam.world_to_pixel(&world);
    approx::assert_relative_eq!(px.data.as_slice(), &orig.image_point[..], epsilon = 1e-4);
}

See also

You may also be interested in:

  • cam-geom - Rust crate with 3D camera models which can use the calibration data from DLT.

Regenerate README.md

The README.md file can be regenerated with:

cargo readme > README.md

Code of conduct

Anyone who interacts with this software in any space, including but not limited to this GitHub repository, must follow our code of conduct.

License

Licensed under either of these: