Crate cv_core

Re-exports

pub use nalgebra;

pub use sample_consensus;

Structs

CameraIntrinsics	This contains intrinsic camera parameters as per this Wikipedia page.
CameraPose	This contains a camera pose, which is a pose of the camera relative to the world. This transforms camera points (with depth as z) into world coordinates. This also tells you where the camera is located and oriented in the world.
CameraSpecification	This contains basic camera specifications that one could find on a manufacturer's website. This only contains parameters that cannot be changed about a camera. The focal length is not included since that can typically be changed and images can also be magnified.
ImageKeyPoint	A point on an image frame. This type should only be used when the point location is on the image frame in pixel coordinates. This means the keypoint is neither undistorted nor normalized.
KeyPointWorldMatch	Normalized keypoint to world point match
KeyPointsMatch	Normalized keypoint match
NormalizedKeyPoint	A point in normalized image coordinates. This keypoint has been corrected for distortion and normalized based on the camrea intrinsic matrix. Please note that the intrinsic matrix accounts for the natural focal length and any magnification to the image. Ultimately, the key points must be represented by their position on the camera sensor and normalized to the focal length of the camera.
WorldPoint	A point in "world" coordinates. This means that the real-world units of the pose are unknown, but the unit of distance and orientation are the same as the current reconstruction.
WorldPose	This contains a world pose, which is a pose of the world relative to the camera. This transforms world points into camera points. These camera points are 3d and the z axis represents the depth. Projecting these points onto the plane at z = 1 will tell you where the points are in normalized image coordinates on the image.