Struct opencv_ros_camera::RosOpenCvIntrinsics

pub struct RosOpenCvIntrinsics<R: RealField> {
    pub is_opencv_compatible: bool,
    pub p: MatrixMN<R, U3, U4>,
    pub k: MatrixN<R, U3>,
    pub distortion: Distortion<R>,
    pub rect: MatrixN<R, U3>,
    // some fields omitted
}

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: MatrixMN<R, U3, U4>

The intrinsic parameter matrix P.

k: MatrixN<R, U3>

The intrinsic parameter matrix K. Scaled from P.

distortion: Distortion<R>

The non-linear distortion parameters D specifying image warping.

rect: MatrixN<R, U3>

The stereo rectification matrix.

Implementations

impl<R: RealField> RosOpenCvIntrinsics<R>

pub fn from_components(
    p: MatrixMN<R, U3, U4>,
    k: MatrixN<R, U3>,
    distortion: Distortion<R>,
    rect: MatrixN<R, U3>
) -> Result<Self>

Construct from the individual 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

create a simple set of intrinsic parameters

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

create intrinsic parameters with distorion

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>, 

project multiple pixels to 3D camera coords at a given distance from cam center

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>, 

project multiple pixels to 3D camera coords at a given distance from cam center

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>,
    DefaultAllocator: Allocator<R, U1, U2>, 

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

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>,
    DefaultAllocator: Allocator<R, U1, U2>, 

Convert undistorted pixel coordinates to 3D coordinates 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

Performs the conversion.

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>,
    DefaultAllocator: Allocator<R, NPTS, U3>,
    DefaultAllocator: 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<RosOpenCvIntrinsics<R>> 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: &RosOpenCvIntrinsics<R>) -> bool

This method tests for !=.

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>