[−][src]Trait cv::CameraModel

pub trait CameraModel {
    type Projection: Bearing;
    fn calibrate<P>(&self, point: P) -> Self::Projection
    where
        P: ImagePoint;

    fn uncalibrate(&self, projection: Self::Projection) -> KeyPoint;
}

Allows conversion between the point on an image and the internal projection which can describe the bearing of the projection out of the camera.

Associated Types

type Projection: Bearing

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Required methods

fn calibrate<P>(&self, point: P) -> Self::Projection where
    P: ImagePoint, 

Extracts a projection from a pixel location in an image.

fn uncalibrate(&self, projection: Self::Projection) -> KeyPoint

Extracts the pixel location in the image from the projection.

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Implementations on Foreign Types

impl CameraModel for CameraIntrinsics[src]

type Projection = NormalizedKeyPoint

fn calibrate<P>(&self, point: P) -> NormalizedKeyPoint where
    P: ImagePoint, [src]

Takes in a point from an image in pixel coordinates and converts it to a [NormalizedKeyPoint].

let intrinsics = CameraIntrinsics {
    focals: Vector2::new(800.0, 900.0),
    principal_point: Point2::new(500.0, 600.0),
    skew: 1.7,
};
let kp = KeyPoint(Point2::new(471.0, 322.0));
let nkp = intrinsics.calibrate(kp);
let calibration_matrix = intrinsics.matrix();
let distance = (kp.to_homogeneous() - calibration_matrix * nkp.to_homogeneous()).norm();
assert!(distance < 0.1);

fn uncalibrate(&self, projection: NormalizedKeyPoint) -> KeyPoint[src]

Converts a [NormalizedKeyPoint] back into pixel coordinates.

let intrinsics = CameraIntrinsics {
    focals: Vector2::new(800.0, 900.0),
    principal_point: Point2::new(500.0, 600.0),
    skew: 1.7,
};
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);

impl CameraModel for CameraIntrinsicsK1Distortion[src]

type Projection = NormalizedKeyPoint

fn calibrate<P>(&self, point: P) -> NormalizedKeyPoint where
    P: ImagePoint, [src]

Takes in a point from an image in pixel coordinates and converts it to a [NormalizedKeyPoint].

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[src]

Converts a [NormalizedKeyPoint] back into pixel coordinates.

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());
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Implementors

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