Struct opencv_ros_camera::RosOpenCvIntrinsics

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pub struct RosOpenCvIntrinsics<R: RealField> {
    pub is_opencv_compatible: bool,
    pub p: SMatrix<R, 3, 4>,
    pub k: SMatrix<R, 3, 3>,
    pub distortion: Distortion<R>,
    pub rect: SMatrix<R, 3, 3>,
    /* private fields */
}

Expand description

A perspective camera model with distortion compatible with OpenCV and ROS.

This camera model is compatible with OpenCV and ROS, including stereo rectification and Brown-Conrady distortion. To load from a ROS YAML file, see the from_ros_yaml function.

See this page for an expanded definition of the parameters.

To convert from a NamedIntrinsicParameters struct, use its intrinsics field.

See the module-level documentation for more information.

Fields

is_opencv_compatible: bool

If these intrinsics have zero skew, they are “opencv compatible” and this is true.

p: SMatrix<R, 3, 4>

The intrinsic parameter matrix P.

k: SMatrix<R, 3, 3>

The intrinsic parameter matrix K. Scaled from P.

distortion: Distortion<R>

The non-linear distortion parameters D specifying image warping.

rect: SMatrix<R, 3, 3>

The stereo rectification matrix.

Implementations

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impl<R: RealField> RosOpenCvIntrinsics<R>

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pub fn from_components(
 p: SMatrix<R, 3, 4>,
 k: SMatrix<R, 3, 3>,
 distortion: Distortion<R>,
 rect: SMatrix<R, 3, 3>
) -> Result<Self>

Construct intrinsics from raw components.

Returns Err(Error::InvalidInput) if rect cannot be inverted.

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pub fn from_params(fx: R, skew: R, fy: R, cx: R, cy: R) -> Self

Construct intrinsics from individual parameters with no distortion.

fx and fy are the horizontal and vertical focal lengths. skew is the pixel skew (typically near zero). cx and cy is the center of the optical axis in pixel coordinates.

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pub fn from_params_with_distortion(
 fx: R,
 skew: R,
 fy: R,
 cx: R,
 cy: R,
 distortion: Distortion<R>
) -> Self

Construct intrinsics from individual parameters.

fx and fy are the horizontal and vertical focal lengths. skew is the pixel skew (typically near zero). cx and cy is the center of the optical axis in pixel coordinates. distortion is a vector of the distortion terms.

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pub fn distort<NPTS, IN>(
 &self,
 undistorted: &UndistortedPixels<R, NPTS, IN>
) -> Pixels<R, NPTS, Owned<R, NPTS, U2>> where
 NPTS: Dim,
 IN: Storage<R, NPTS, U2>,
 DefaultAllocator: Allocator<R, NPTS, U2>,

Convert undistorted pixel coordinates to distorted pixel coordinates.

This will take coordinates from, e.g. a linear camera model, warp them into their distorted counterparts. This distortion thus models the action of a real lens.

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pub fn undistort<NPTS, IN>(
 &self,
 distorted: &Pixels<R, NPTS, IN>
) -> UndistortedPixels<R, NPTS, Owned<R, NPTS, U2>> where
 NPTS: Dim,
 IN: Storage<R, NPTS, U2>,
 DefaultAllocator: Allocator<R, NPTS, U2>,

Convert distorted pixel coordinates to undistorted pixel coordinates.

This will take distorted coordinates from, e.g. detections from a real camera image, and undo the effect of the distortion model. This “undistortion” thus converts coordinates from a real lens into coordinates that can be used with a linear camera model.

This method calls undistort_ext using the default termination criteria.

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pub fn undistort_ext<NPTS, IN>(
 &self,
 distorted: &Pixels<R, NPTS, IN>,
 criteria: impl Into<Option<TermCriteria>>
) -> UndistortedPixels<R, NPTS, Owned<R, NPTS, U2>> where
 NPTS: Dim,
 IN: Storage<R, NPTS, U2>,
 DefaultAllocator: Allocator<R, NPTS, U2>,

Convert distorted pixel coordinates to undistorted pixel coordinates.

This will take distorted coordinates from, e.g. detections from a real camera image, and undo the effect of the distortion model. This “undistortion” thus converts coordinates from a real lens into coordinates that can be used with a linear camera model.

If the termination criteria are not specified, the default of five iterations is used.

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pub fn camera_to_undistorted_pixel<IN, NPTS>(
 &self,
 camera: &Points<CameraFrame, R, NPTS, IN>
) -> UndistortedPixels<R, NPTS, Owned<R, NPTS, U2>> where
 IN: Storage<R, NPTS, U3>,
 NPTS: Dim,
 DefaultAllocator: Allocator<R, NPTS, U2>,
 DefaultAllocator: Allocator<R, U1, U2>,

Convert 3D coordinates in CameraFrame to undistorted pixel coords.

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pub fn undistorted_pixel_to_camera<IN, NPTS>(
 &self,
 undistorteds: &UndistortedPixels<R, NPTS, IN>
) -> RayBundle<CameraFrame, SharedOriginRayBundle<R>, R, NPTS, Owned<R, NPTS, U3>> where
 IN: Storage<R, NPTS, U2>,
 NPTS: Dim,
 DefaultAllocator: Allocator<R, NPTS, U3>,
 DefaultAllocator: Allocator<R, U1, U2>,

Convert undistorted pixel coordinates to 3D coords in the CameraFrame.

Trait Implementations

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impl<R: Clone + RealField> Clone for RosOpenCvIntrinsics<R>

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fn clone(&self) -> RosOpenCvIntrinsics<R>

Returns a copy of the value. Read more

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

Performs copy-assignment from source. Read more

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impl<R: Debug + RealField> Debug for RosOpenCvIntrinsics<R>

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

Formats the value using the given formatter. Read more

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impl<'de, R: RealField + Deserialize<'de>> Deserialize<'de> for RosOpenCvIntrinsics<R>

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fn deserialize<D>(deserializer: D) -> Result<Self, D::Error> where
D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer. Read more

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impl<R: RealField> From<IntrinsicParametersPerspective<R>> for RosOpenCvIntrinsics<R>

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fn from(orig: IntrinsicParametersPerspective<R>) -> Self

Converts to this type from the input type.

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impl<R: RealField> IntrinsicParameters<R> for RosOpenCvIntrinsics<R>

type BundleType = SharedOriginRayBundle<R>

What type of ray bundle is returned when projecting pixels to rays.

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fn pixel_to_camera<IN, NPTS>(
 &self,
 pixels: &Pixels<R, NPTS, IN>
) -> RayBundle<CameraFrame, Self::BundleType, R, NPTS, Owned<R, NPTS, U3>> where
 Self::BundleType: Bundle<R>,
 IN: Storage<R, NPTS, U2>,
 NPTS: Dim,
 DefaultAllocator: Allocator<R, NPTS, U2>,
 DefaultAllocator: Allocator<R, NPTS, U3>,
 DefaultAllocator: Allocator<R, U1, U2>,

project pixels to camera coords

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fn camera_to_pixel<IN, NPTS>(
 &self,
 camera: &Points<CameraFrame, R, NPTS, IN>
) -> Pixels<R, NPTS, Owned<R, NPTS, U2>> where
 IN: Storage<R, NPTS, U3>,
 NPTS: Dim,
 DefaultAllocator: Allocator<R, NPTS, U2>,

project camera coords to pixel coordinates

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impl<R: PartialEq + RealField> PartialEq<RosOpenCvIntrinsics<R>> for RosOpenCvIntrinsics<R>

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fn eq(&self, other: &RosOpenCvIntrinsics<R>) -> bool

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

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fn ne(&self, other: &RosOpenCvIntrinsics<R>) -> bool

This method tests for !=.

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impl<R: RealField + Serialize> Serialize for RosOpenCvIntrinsics<R>

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fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error> where
S: Serializer,

Serialize this value into the given Serde serializer. Read more

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impl<R: RealField> StructuralPartialEq for RosOpenCvIntrinsics<R>

Auto Trait Implementations

impl<R> RefUnwindSafe for RosOpenCvIntrinsics<R> where
R: RefUnwindSafe,

impl<R> Send for RosOpenCvIntrinsics<R>

impl<R> Sync for RosOpenCvIntrinsics<R>

impl<R> Unpin for RosOpenCvIntrinsics<R> where
R: Unpin,

impl<R> UnwindSafe for RosOpenCvIntrinsics<R> where
R: UnwindSafe,

Blanket Implementations

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impl<T> Any for T where
T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T where
T: ?Sized,

const: unstable · source

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

source

impl<T> BorrowMut<T> for T where
T: ?Sized,

const: unstable · source

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> From<T> for T

const: unstable · source

fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into for T where
U: From<T>,

const: unstable · source

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> Same<T> for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

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impl<T> ToOwned for T where
T: Clone,

type Owned = T

The resulting type after obtaining ownership.

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fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

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fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more

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impl<T, U> TryFrom for T where
U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

const: unstable · source

fn try_from(value: U) -> Result<T, <T as TryFrom>::Error>

Performs the conversion.

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impl<T, U> TryInto for T where
U: TryFrom<T>,

type Error = >::Error

The type returned in the event of a conversion error.

const: unstable · source

fn try_into(self) -> Result<U, >::Error>

Performs the conversion.

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impl<T> DeserializeOwned for T where
T: for<'de> Deserialize<'de>,

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Struct opencv_ros_camera::RosOpenCvIntrinsics

Fields

Implementations

impl<R: RealField> RosOpenCvIntrinsics<R>

pub fn from_components( p: SMatrix<R, 3, 4>, k: SMatrix<R, 3, 3>, distortion: Distortion<R>, rect: SMatrix<R, 3, 3>) -> Result<Self>

pub fn from_params(fx: R, skew: R, fy: R, cx: R, cy: R) -> Self

pub fn from_params_with_distortion( fx: R, skew: R, fy: R, cx: R, cy: R, distortion: Distortion<R>) -> Self

pub fn distort<NPTS, IN>( &self, undistorted: &UndistortedPixels<R, NPTS, IN>) -> Pixels<R, NPTS, Owned<R, NPTS, U2>> where NPTS: Dim, IN: Storage<R, NPTS, U2>, DefaultAllocator: Allocator<R, NPTS, U2>,

pub fn undistort<NPTS, IN>( &self, distorted: &Pixels<R, NPTS, IN>) -> UndistortedPixels<R, NPTS, Owned<R, NPTS, U2>> where NPTS: Dim, IN: Storage<R, NPTS, U2>, DefaultAllocator: Allocator<R, NPTS, U2>,

pub fn undistort_ext<NPTS, IN>( &self, distorted: &Pixels<R, NPTS, IN>, criteria: impl Into<Option<TermCriteria>>) -> UndistortedPixels<R, NPTS, Owned<R, NPTS, U2>> where NPTS: Dim, IN: Storage<R, NPTS, U2>, DefaultAllocator: Allocator<R, NPTS, U2>,

pub fn camera_to_undistorted_pixel<IN, NPTS>( &self, camera: &Points<CameraFrame, R, NPTS, IN>) -> UndistortedPixels<R, NPTS, Owned<R, NPTS, U2>> where IN: Storage<R, NPTS, U3>, NPTS: Dim, DefaultAllocator: Allocator<R, NPTS, U2>, DefaultAllocator: Allocator<R, U1, U2>,

Trait Implementations

impl<R: Clone + RealField> Clone for RosOpenCvIntrinsics<R>

fn clone(&self) -> RosOpenCvIntrinsics<R>

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

impl<R: Debug + RealField> Debug for RosOpenCvIntrinsics<R>

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

impl<'de, R: RealField + Deserialize<'de>> Deserialize<'de> for RosOpenCvIntrinsics<R>

fn deserialize<D>(deserializer: D) -> Result<Self, D::Error> where D: Deserializer<'de>,

impl<R: RealField> From<IntrinsicParametersPerspective<R>> for RosOpenCvIntrinsics<R>

fn from(orig: IntrinsicParametersPerspective<R>) -> Self

impl<R: RealField> IntrinsicParameters<R> for RosOpenCvIntrinsics<R>

type BundleType = SharedOriginRayBundle<R>

fn camera_to_pixel<IN, NPTS>( &self, camera: &Points<CameraFrame, R, NPTS, IN>) -> Pixels<R, NPTS, Owned<R, NPTS, U2>> where IN: Storage<R, NPTS, U3>, NPTS: Dim, DefaultAllocator: Allocator<R, NPTS, U2>,

impl<R: PartialEq + RealField> PartialEq<RosOpenCvIntrinsics<R>> for RosOpenCvIntrinsics<R>

fn eq(&self, other: &RosOpenCvIntrinsics<R>) -> bool

fn ne(&self, other: &RosOpenCvIntrinsics<R>) -> bool

impl<R: RealField + Serialize> Serialize for RosOpenCvIntrinsics<R>

fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error> where S: Serializer,

impl<R: RealField> StructuralPartialEq for RosOpenCvIntrinsics<R>

Auto Trait Implementations

impl<R> RefUnwindSafe for RosOpenCvIntrinsics<R> where R: RefUnwindSafe,

impl<R> Send for RosOpenCvIntrinsics<R>

impl<R> Sync for RosOpenCvIntrinsics<R>

impl<R> Unpin for RosOpenCvIntrinsics<R> where R: Unpin,

impl<R> UnwindSafe for RosOpenCvIntrinsics<R> where R: UnwindSafe,

Blanket Implementations

impl<T> Any for T where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

impl<T> Borrow<T> for T where T: ?Sized,

fn borrow(&self) -> &T

impl<T> BorrowMut<T> for T where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

impl<T> From<T> for T

fn from(t: T) -> T

impl<T, U> Into<U> for T where U: From<T>,

fn into(self) -> U

impl<T> Same<T> for T

type Output = T

impl<SS, SP> SupersetOf<SS> for SP where 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,

type Owned = T

fn to_owned(&self) -> T

fn clone_into(&self, target: &mut T)

impl<T, U> TryFrom<U> for T where U: Into<T>,

type Error = Infallible

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

impl<T, U> TryInto<U> for T where U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

impl<T> DeserializeOwned for T where T: for<'de> Deserialize<'de>,

impl<T> Scalar for T where T: 'static + Clone + PartialEq<T> + Debug,

pub fn from_components(
p: SMatrix<R, 3, 4>,
k: SMatrix<R, 3, 3>,
distortion: Distortion<R>,
rect: SMatrix<R, 3, 3>
) -> Result<Self>

pub fn from_params_with_distortion(
fx: R,
skew: R,
fy: R,
cx: R,
cy: R,
distortion: Distortion<R>
) -> Self

pub fn distort<NPTS, IN>(
&self,
undistorted: &UndistortedPixels<R, NPTS, IN>
) -> Pixels<R, NPTS, Owned<R, NPTS, U2>> where
NPTS: Dim,
IN: Storage<R, NPTS, U2>,
DefaultAllocator: Allocator<R, NPTS, U2>,

pub fn undistort<NPTS, IN>(
&self,
distorted: &Pixels<R, NPTS, IN>
) -> UndistortedPixels<R, NPTS, Owned<R, NPTS, U2>> where
NPTS: Dim,
IN: Storage<R, NPTS, U2>,
DefaultAllocator: Allocator<R, NPTS, U2>,

pub fn undistort_ext<NPTS, IN>(
&self,
distorted: &Pixels<R, NPTS, IN>,
criteria: impl Into<Option<TermCriteria>>
) -> UndistortedPixels<R, NPTS, Owned<R, NPTS, U2>> where
NPTS: Dim,
IN: Storage<R, NPTS, U2>,
DefaultAllocator: Allocator<R, NPTS, U2>,

pub fn camera_to_undistorted_pixel<IN, NPTS>(
&self,
camera: &Points<CameraFrame, R, NPTS, IN>
) -> UndistortedPixels<R, NPTS, Owned<R, NPTS, U2>> where
IN: Storage<R, NPTS, U3>,
NPTS: Dim,
DefaultAllocator: Allocator<R, NPTS, U2>,
DefaultAllocator: Allocator<R, U1, U2>,

fn deserialize<D>(deserializer: D) -> Result<Self, D::Error> where
D: Deserializer<'de>,

fn camera_to_pixel<IN, NPTS>(
&self,
camera: &Points<CameraFrame, R, NPTS, IN>
) -> Pixels<R, NPTS, Owned<R, NPTS, U2>> where
IN: Storage<R, NPTS, U3>,
NPTS: Dim,
DefaultAllocator: Allocator<R, NPTS, U2>,

fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error> where
S: Serializer,

impl<R> RefUnwindSafe for RosOpenCvIntrinsics<R> where
R: RefUnwindSafe,

impl<R> Unpin for RosOpenCvIntrinsics<R> where
R: Unpin,

impl<R> UnwindSafe for RosOpenCvIntrinsics<R> where
R: UnwindSafe,

impl<T> Any for T where
T: 'static + ?Sized,

impl<T> Borrow<T> for T where
T: ?Sized,

impl<T> BorrowMut<T> for T where
T: ?Sized,

impl<T, U> Into<U> for T where
U: From<T>,

impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,

impl<T> ToOwned for T where
T: Clone,

impl<T, U> TryFrom<U> for T where
U: Into<T>,

impl<T, U> TryInto<U> for T where
U: TryFrom<T>,

impl<T> DeserializeOwned for T where
T: for<'de> Deserialize<'de>,

impl<T> Scalar for T where
T: 'static + Clone + PartialEq<T> + Debug,