Crate dlt[−][src]
Expand description
DLT (direct linear transform) algorithm for camera calibration
This is typically used for calibrating cameras and requires a minimum of 6 corresponding pairs of 2D and 3D locations.
Testing
Unit tests
To run the unit tests:
cargo test
Test for no_std
Since the thumbv7em-none-eabihf
target does not have std
available, we
can build for it to check that our crate does not inadvertently pull in std.
The unit tests require std, so cannot be run on a no_std
platform. The
following will fail if a std dependency is present:
cargo build --no-default-features --target thumbv7em-none-eabihf
Example
use dlt::{dlt_corresponding, CorrespondingPoint}; let points: Vec<CorrespondingPoint<f64>> = vec![ CorrespondingPoint { object_point: [-1., -2., -3.], image_point: [219.700, 39.400], }, CorrespondingPoint { object_point: [0., 0., 0.], image_point: [320.000, 240.000], }, CorrespondingPoint { object_point: [1., 2., 3.], image_point: [420.300, 440.600], }, CorrespondingPoint { object_point: [1.1, 2.2, 3.3], image_point: [430.330, 460.660], }, CorrespondingPoint { object_point: [4., 5., 6.], image_point: [720.600, 741.200], }, CorrespondingPoint { object_point: [4.4, 5.5, 6.6], image_point: [760.660, 791.320], }, CorrespondingPoint { object_point: [7., 8., 9.], image_point: [1020.900, 1041.800], }, CorrespondingPoint { object_point: [7.7, 8.8, 9.9], image_point: [1090.990, 1121.980], }, ]; let pmat = dlt_corresponding(&points, 1e-10).unwrap(); // could now call `cam_geom::Camera::from_perspective_matrix(&pmat)`
See also
You may also be interested in:
cam-geom
- Rust crate with 3D camera models which can use the calibration data from DLT.dlt-examples
- Unpublished crate in the dlt repository which demonstrates usage with cam-geom library.
Structs
A point with a view in image (2D) and world (3D) coordinates.
Functions
Direct Linear Transformation (DLT) to find a camera calibration matrix.
Convenience wrapper around the dlt
function.