Struct cv_pinhole::CameraIntrinsicsK1Distortion

pub struct CameraIntrinsicsK1Distortion {
    pub simple_intrinsics: CameraIntrinsics,
    pub k1: f64,
}

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

pub fn new(simple_intrinsics: CameraIntrinsics, k1: f64) -> Self

Creates the camera intrinsics using simple intrinsics with no distortion and a K1 distortion coefficient.

Trait Implementations

impl CameraModel for CameraIntrinsicsK1Distortion

type Projection = NormalizedKeyPoint

fn calibrate<P>(&self, point: P) -> NormalizedKeyPoint where
    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

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

fn clone(&self) -> CameraIntrinsicsK1Distortion

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for CameraIntrinsicsK1Distortion

impl Debug for CameraIntrinsicsK1Distortion

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

Formats the value using the given formatter.

impl PartialEq<CameraIntrinsicsK1Distortion> for CameraIntrinsicsK1Distortion

fn eq(&self, other: &CameraIntrinsicsK1Distortion) -> bool

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

fn ne(&self, other: &CameraIntrinsicsK1Distortion) -> bool

This method tests for !=.

impl PartialOrd<CameraIntrinsicsK1Distortion> for CameraIntrinsicsK1Distortion

fn partial_cmp(&self, other: &CameraIntrinsicsK1Distortion) -> Option<Ordering>

This method returns an ordering between self and other values if one exists.

fn lt(&self, other: &CameraIntrinsicsK1Distortion) -> bool

This method tests less than (for self and other) and is used by the < operator.

fn le(&self, other: &CameraIntrinsicsK1Distortion) -> bool

This method tests less than or equal to (for self and other) and is used by the <= operator.

fn gt(&self, other: &CameraIntrinsicsK1Distortion) -> bool

This method tests greater than (for self and other) and is used by the > operator.

fn ge(&self, other: &CameraIntrinsicsK1Distortion) -> bool

This method tests greater than or equal to (for self and other) and is used by the >= operator.

impl StructuralPartialEq for CameraIntrinsicsK1Distortion