Struct CameraInfo

#[repr(C)]
pub struct CameraInfo {
    pub header: Header,
    pub height: u32,
    pub width: u32,
    pub distortion_model: DistortionModel,
    pub d: Vec<f64>,
    pub k: [f64; 9],
    pub r: [f64; 9],
    pub p: [f64; 12],
    pub binning_x: u32,
    pub binning_y: u32,
    pub roi: RegionOfInterest,
}

Header timestamp should be acquisition time of image

Header frame_id should be optical frame of camera origin of frame should be optical center of camera +x should point to the right in the image +y should point down in the image +z should point into the plane of the image

Fields

header: Header

height: u32

Calibrated width

width: u32

Calibrated height

distortion_model: DistortionModel

d: Vec<f64>

distortion parameters

k: [f64; 9]

Intrinsic camera matrix for the raw images. [ fx 0 cx ] [ 0 fy cy ] [ 0 0 1 ] Projectd 3D points in the camera coordinate frame to 2D pixel coordinates using the focal lengths (fx,fy) and principal point (cx, cy)

r: [f64; 9]

Rectification matrix for stereo cameras A rotation matrix aligning the camera coordinate system to the ideal stereo image plane so that epipolar lines in both stereo images are parallel

p: [f64; 12]

Projection/camera matrix

binning_x: u32

binning_y: u32

roi: RegionOfInterest

Region of interest (subwindow of full camera resolution), given in full resolution (unbinned) image coordinates. A particular ROI always denotes the same window of pixels on the camera sensor, regardless of binning settings. The default setting of roi (all values 0) is considered the same as full resolution (roi.width = width, roi.height = height).

Implementations

impl CameraInfo

pub fn create_topic_with_name( participant: &DdsParticipant, name: &str, maybe_qos: Option<DdsQos>, maybe_listener: Option<DdsListener>, ) -> Result<DdsTopic<Self>, DDSError>

Create a topic using of this Type specifying the topic name

Arguments

• participant - The participant handle onto which this topic should be created
• name - The name of the topic
• maybe_qos - A QoS structure for this topic. The Qos is optional
• maybe_listener - A listener to use on this topic. The listener is optional

pub fn create_topic( participant: &DdsParticipant, maybe_topic_prefix: Option<&str>, maybe_qos: Option<DdsQos>, maybe_listener: Option<DdsListener>, ) -> Result<DdsTopic<Self>, DDSError>

Create a topic of this Type using the default topic name. The default topic name is provided by the Self::topic_name function.

Arguments

• participant - The participant handle onto which this topic should be created
• maybe_topic_prefix - An additional prefix to be added to the topic name. This can be None
• maybe_qos - A QoS structure for this topic. The Qos is optional
• maybe_listener - A listener to use on this topic. The listener is optional

pub fn create_sample_buffer(len: usize) -> SampleBuffer<CameraInfo>

Create a sample buffer for storing an array of samples You can pass the sample buffer into a read to read multiple samples. Multiple samples are useful when you have one or more keys in your topic structure. Each value of the key will result in the storage of another sample.

Trait Implementations

impl<'de> Deserialize<'de> for CameraInfo

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for CameraInfo

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

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl TopicType for CameraInfo

fn key_cdr(&self) -> Vec<u8>

return the cdr encoding for the key. The encoded string includes the four byte encapsulation string.

fn is_fixed_size() -> bool

fn has_key() -> bool

fn force_md5_keyhash() -> bool

fn hash(&self, basehash: u32) -> u32

fn typename() -> CString

The type name for this topic

fn topic_name(maybe_prefix: Option<&str>) -> String

The default topic_name to use when creating a topic of this type. The default implementation uses ‘/’ instead of ‘::’ to form a unix like path. A prefix can optionally be added