Struct riscan_pro::CameraCalibration

pub struct CameraCalibration {
    pub name: String,
    pub cx: f64,
    pub cy: f64,
    pub fx: f64,
    pub fy: f64,
    pub k1: f64,
    pub k2: f64,
    pub k3: f64,
    pub k4: f64,
    pub p1: f64,
    pub p2: f64,
    pub tan_max_horz: f64,
    pub tan_max_vert: f64,
    pub tan_min_horz: f64,
    pub tan_min_vert: f64,
    pub width: usize,
    pub height: usize,
}

A camera calibration.

Only opencv camera calibrations are supported at this time.

Fields

name: String

The name of the calibration.

cx: f64

cy: f64

fx: f64

fy: f64

k1: f64

k2: f64

k3: f64

k4: f64

p1: f64

p2: f64

tan_max_horz: f64

tan_max_vert: f64

tan_min_horz: f64

tan_min_vert: f64

width: usize

height: usize

Methods

impl CameraCalibration

fn from_project_path<P: AsRef<Path>>(path: P) -> Result<Vec<CameraCalibration>>

Retrieves all camera calibrations from a project.

Examples

use riscan_pro::CameraCalibration;
let camera_calibrations = CameraCalibration::from_project_path("data/project.RiSCAN")
    .unwrap();
assert_eq!(1, camera_calibrations.len());

fn cmcs_to_ics(&self, point: &Point<Cmcs>) -> Option<(f64, f64)>

Converts a point in the camera's coordinate system to pixel values.

The pixel values are floats, in case someone later wants to do more than a direct lookup.

Returns None if:

• The point is behind the camera (negative z).
• The point is ouside the angle extents, as defined by tan_{min|max}_{vert|horz}.
• The calculated pixel values are outside of the width/height of the image.

These maths are taken from the project.dtd file in every RiSCAN Pro project.

Examples

use riscan_pro::{CameraCalibration, Point};
let camera_calibration = CameraCalibration::from_project_path("data/southpole.rsp")
    .unwrap()
    .pop()
    .unwrap();
let cmcs = Point::cmcs(1.312, -0.641, 3.019);
let (u, v) = camera_calibration.cmcs_to_ics(&cmcs).unwrap();

fn is_valid_pixel<T: Into<f64>>(&self, u: T, v: T) -> bool

Returns true if this is a valid pixel value.

Examples

use riscan_pro::CameraCalibration;
let camera_calibration = CameraCalibration::from_project_path("data/project.RiSCAN")
    .unwrap()
    .pop()
    .unwrap();
// The camera calibration is 1024x768
assert!(camera_calibration.is_valid_pixel(0., 0.));
assert!(!camera_calibration.is_valid_pixel(1024., 0.));
assert!(!camera_calibration.is_valid_pixel(0., 768.));

Trait Implementations

impl Clone for CameraCalibration

fn clone(&self) -> CameraCalibration

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for CameraCalibration

fn fmt(&self, __arg_0: &mut Formatter) -> Result

Formats the value using the given formatter.

impl PartialEq for CameraCalibration

fn eq(&self, __arg_0: &CameraCalibration) -> bool

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

fn ne(&self, __arg_0: &CameraCalibration) -> bool

This method tests for !=.