Struct RosCameraInfo

pub struct RosCameraInfo<R: RealField> {
    pub image_width: usize,
    pub image_height: usize,
    pub camera_name: String,
    pub camera_matrix: RosMatrix<R>,
    pub distortion_model: String,
    pub distortion_coefficients: RosMatrix<R>,
    pub rectification_matrix: RosMatrix<R>,
    pub projection_matrix: RosMatrix<R>,
}

Camera calibration info as saved by ROS.

This is a low-level structure only intended for interoperation with ROS. To convert to a more Rust-friedly type, use NamedIntrinsicParameters::try_from(). To create an instance of this structure from a NamedIntrinsicParameters struct, use RosCameraInfo::from().

This structure implements the format written by writeCalibrationYml in ROS code camera_calibration_parsers/src/parse_yml.cpp. It can be serialized or deserialized with serde. (It is strange that writeCalibrationYml has its own serializer rather than using the ROS message type sensor_msgs/CameraInfo.)

Fields

image_width: usize

The width of the image sensor (in pixels).

image_height: usize

The height of the image sensor (in pixels).

camera_name: String

The name of the camera

camera_matrix: RosMatrix<R>

The camera matrix k.

distortion_model: String

The name of the distortion model. Only “plumb_bob” is supported.

distortion_coefficients: RosMatrix<R>

The coefficients of the distortion parameters.

rectification_matrix: RosMatrix<R>

The stereo rectification matrix.

projection_matrix: RosMatrix<R>

The projection matrix p.

Trait Implementations

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

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

Returns a duplicate of the value.

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

Performs copy-assignment from source.

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

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

Formats the value using the given formatter.

impl<'de, R> Deserialize<'de> for RosCameraInfo<R>

where R: Deserialize<'de> + RealField,

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl<R: RealField> From<NamedIntrinsicParameters<R>> for RosCameraInfo<R>

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

Converts to this type from the input type.

impl<R> Serialize for RosCameraInfo<R>

where R: Serialize + RealField,

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl<R: RealField> TryFrom<RosCameraInfo<R>> for NamedIntrinsicParameters<R>

type Error = Error

The type returned in the event of a conversion error.

fn try_from(ros_camera: RosCameraInfo<R>) -> Result<NamedIntrinsicParameters<R>>

Performs the conversion.