[−][src]Struct cv_pinhole::CameraIntrinsicsK1Distortion
This contains intrinsic camera parameters as per this Wikipedia page.
This also performs undistortion by applying one radial distortion coefficient (K1).
Fields
simple_intrinsics: CameraIntrinsics
k1: f64
Implementations
impl CameraIntrinsicsK1Distortion
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pub fn new(simple_intrinsics: CameraIntrinsics, k1: f64) -> Self
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Creates the camera intrinsics using simple intrinsics with no distortion and a K1 distortion coefficient.
Trait Implementations
impl CameraModel for CameraIntrinsicsK1Distortion
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type Projection = NormalizedKeyPoint
fn calibrate<P>(&self, point: P) -> NormalizedKeyPoint where
P: ImagePoint,
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P: ImagePoint,
Takes in a point from an image in pixel coordinates and
converts it to a NormalizedKeyPoint
.
use cv_core::{KeyPoint, CameraModel}; use cv_pinhole::{NormalizedKeyPoint, CameraIntrinsics, CameraIntrinsicsK1Distortion}; use cv_core::nalgebra::{Vector2, Vector3, Point2}; let intrinsics = CameraIntrinsics { focals: Vector2::new(800.0, 900.0), principal_point: Point2::new(500.0, 600.0), skew: 1.7, }; let k1 = -0.164624; let intrinsics = CameraIntrinsicsK1Distortion::new( intrinsics, k1, ); let kp = KeyPoint(Point2::new(471.0, 322.0)); let nkp = intrinsics.calibrate(kp); let simple_nkp = intrinsics.simple_intrinsics.calibrate(kp); let distance = (nkp.0.coords - (simple_nkp.0.coords / (1.0 + k1 * simple_nkp.0.coords.norm_squared()))).norm(); assert!(distance < 0.1);
fn uncalibrate(&self, projection: NormalizedKeyPoint) -> KeyPoint
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Converts a NormalizedKeyPoint
back into pixel coordinates.
use cv_core::{KeyPoint, CameraModel}; use cv_pinhole::{NormalizedKeyPoint, CameraIntrinsics, CameraIntrinsicsK1Distortion}; use cv_core::nalgebra::{Vector2, Vector3, Point2}; let intrinsics = CameraIntrinsics { focals: Vector2::new(800.0, 900.0), principal_point: Point2::new(500.0, 600.0), skew: 1.7, }; let intrinsics = CameraIntrinsicsK1Distortion::new( intrinsics, -0.164624, ); 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, "{:?}", (kp.0 - ukp.0).norm());
impl Clone for CameraIntrinsicsK1Distortion
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fn clone(&self) -> CameraIntrinsicsK1Distortion
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fn clone_from(&mut self, source: &Self)
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impl Copy for CameraIntrinsicsK1Distortion
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impl Debug for CameraIntrinsicsK1Distortion
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impl PartialEq<CameraIntrinsicsK1Distortion> for CameraIntrinsicsK1Distortion
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fn eq(&self, other: &CameraIntrinsicsK1Distortion) -> bool
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fn ne(&self, other: &CameraIntrinsicsK1Distortion) -> bool
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impl PartialOrd<CameraIntrinsicsK1Distortion> for CameraIntrinsicsK1Distortion
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fn partial_cmp(&self, other: &CameraIntrinsicsK1Distortion) -> Option<Ordering>
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fn lt(&self, other: &CameraIntrinsicsK1Distortion) -> bool
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fn le(&self, other: &CameraIntrinsicsK1Distortion) -> bool
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fn gt(&self, other: &CameraIntrinsicsK1Distortion) -> bool
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fn ge(&self, other: &CameraIntrinsicsK1Distortion) -> bool
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impl StructuralPartialEq for CameraIntrinsicsK1Distortion
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Auto Trait Implementations
impl Send for CameraIntrinsicsK1Distortion
impl Sync for CameraIntrinsicsK1Distortion
impl Unpin for CameraIntrinsicsK1Distortion
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
fn borrow_mut(&mut self) -> &mut T
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impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<T> Scalar for T where
T: PartialEq<T> + Copy + Any + Debug,
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T: PartialEq<T> + Copy + Any + Debug,
fn inlined_clone(&self) -> T
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fn is<T>() -> bool where
T: Scalar,
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T: Scalar,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
SS: SubsetOf<SP>,
fn to_subset(&self) -> Option<SS>
fn is_in_subset(&self) -> bool
fn to_subset_unchecked(&self) -> SS
fn from_subset(element: &SS) -> SP
impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
fn to_owned(&self) -> T
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fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,