Struct CameraModel 

pub struct CameraModel {
    pub intrinsics: CameraIntrinsics,
    pub distortion: RadialTangentialDistortion,
}

Complete camera model (intrinsics + radial-tangential distortion).

Implements PixelMapper, making it usable directly with Detector::detect_with_mapper for distortion-aware detection.

Example

use ringgrid::{BoardLayout, CameraIntrinsics, CameraModel,
               Detector, RadialTangentialDistortion};
use std::path::Path;

let camera = CameraModel {
    intrinsics: CameraIntrinsics {
        fx: 900.0, fy: 900.0, cx: 640.0, cy: 480.0,
    },
    distortion: RadialTangentialDistortion {
        k1: -0.15, k2: 0.05, p1: 0.0, p2: 0.0, k3: 0.0,
    },
};

let board = BoardLayout::from_json_file(Path::new("target.json")).unwrap();
let detector = Detector::new(board);
let image = image::open("photo.png").unwrap().to_luma8();
let result = detector.detect_with_mapper(&image, &camera);

Fields

intrinsics: CameraIntrinsics

Camera intrinsics.

distortion: RadialTangentialDistortion

Distortion coefficients.

Implementations

impl CameraModel

pub fn distort_pixel(self, undistorted_pixel_xy: [f64; 2]) -> Option<[f64; 2]>

Distort an undistorted pixel point into image pixel coordinates.

pub fn undistort_pixel(self, distorted_pixel_xy: [f64; 2]) -> Option<[f64; 2]>

Undistort a pixel point with default iterative settings.

pub fn undistort_pixel_with( self, distorted_pixel_xy: [f64; 2], cfg: UndistortConfig, ) -> Option<[f64; 2]>

Undistort a pixel point with custom iterative settings.

Trait Implementations

impl Clone for CameraModel

fn clone(&self) -> CameraModel

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for CameraModel

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for CameraModel

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl PartialEq for CameraModel

fn eq(&self, other: &CameraModel) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl PixelMapper for CameraModel

fn image_to_working_pixel(&self, image_xy: [f64; 2]) -> Option<[f64; 2]>

Map from image (distorted) pixel coordinates to working coordinates.

fn working_to_image_pixel(&self, working_xy: [f64; 2]) -> Option<[f64; 2]>

Map from working coordinates back to image (distorted) pixel coordinates.

impl Serialize for CameraModel

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

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl Copy for CameraModel

impl StructuralPartialEq for CameraModel