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CameraCalibration

iris::camera::calibration

Struct CameraCalibration 

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pub struct CameraCalibration;

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impl CameraCalibration

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pub fn calibrate_camera( object_points: &[Vec<Point<f64>>], image_points: &[Vec<Point<f64>>], _image_size: Size<usize>, ) -> Result<([[f64; 3]; 3], Vec<f64>)>

Estimates the intrinsic camera matrix, distortion coefficients, and extrinsics.

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pub fn project_points( object_points: &[Point<f64>], rvec: &[[f64; 3]; 3], tvec: &[[f64; 3]; 1], camera_matrix: &[[f64; 3]; 3], dist_coeffs: &[f64], ) -> Result<Vec<Point<f64>>>

Projects 3D points onto the 2D image plane using intrinsic camera matrix and extrinsics.

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pub fn find_homography( src: &[Point<f64>], dst: &[Point<f64>], ) -> Result<[[f64; 3]; 3]>

Computes a 3x3 homography matrix mapping src to dst.

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pub fn solve_pnp( _object_points: &[Point<f64>], _image_points: &[Point<f64>], _camera_matrix: &[[f64; 3]; 3], _dist_coeffs: &[f64], ) -> Result<([[f64; 3]; 3], [[f64; 3]; 1])>

Solves Perspective-n-Point pose estimation problem.

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pub fn find_fundamental_mat( src: &[Point<f64>], dst: &[Point<f64>], ) -> Result<[[f64; 3]; 3]>

Computes a 3x3 Fundamental Matrix mapping coordinates between stereo views.

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pub fn find_essential_mat( src: &[Point<f64>], dst: &[Point<f64>], camera_matrix: &[[f64; 3]; 3], ) -> Result<[[f64; 3]; 3]>

Computes the 3x3 Essential Matrix from stereo correspondences.

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