Struct visual_odometry_rs::core::camera::Camera

pub struct Camera {
    pub intrinsics: Intrinsics,
    pub extrinsics: Extrinsics,
}

A camera has intrinsic and extrinsic parameters. Warning: extrinsics here is the pose of the camera, not directly the projection matrix parameters.

As it stands, it is currently limited to the pinhole camera model.

Fields

intrinsics: Intrinsics

Intrinsic parameters of the camera.

extrinsics: Extrinsics

Extrinsic parameters of the camera pose.

Methods

impl Camera

pub fn new(intrinsics: Intrinsics, extrinsics: Extrinsics) -> Self

Initialize a camera from intrinsic and extrinsic parameters.

pub fn project(&self, point: Point3) -> Vec3

Project a 3D point into its corresponding pixel in the image generated by the camera. Result is still in homogeneous coordinates (thus Vec3).

pub fn back_project(&self, point: Point2, depth: Float) -> Point3

From a 2D pixel position and a depth info, back project this point into the 3D world.

pub fn multi_res(self, n: usize) -> Vec<Self>

Generate a multi-resolution camera. Extrinsics are left intact, but intrinsics are scaled at each level.

pub fn half_res(&self) -> Self

Generate a camera corresponding to an image with half resolution. Extrinsics are left intact, but intrinsics are scaled.

Trait Implementations

impl PartialEq<Camera> for Camera

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

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

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

This method tests for !=.

impl Clone for Camera

fn clone(&self) -> Camera

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Camera

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

Formats the value using the given formatter.