22 releases (14 breaking)
0.15.0 | Aug 4, 2024 |
---|---|
0.14.1 | Jun 19, 2023 |
0.14.0 | Jan 16, 2023 |
0.13.2 | Jun 19, 2023 |
0.2.1 | Mar 18, 2020 |
#6 in Robotics
1,749 downloads per month
52KB
764 lines
Crate opencv_ros_camera
for the Rust language
Geometric models of OpenCV/ROS cameras for photogrammetry
About
This crate provides a geometric model of a camera compatible with OpenCV as
used by ROS (the Robot Operating System). The crate is in pure Rust, can be
compiled in no_std
mode, implements the
IntrinsicParameters
trait from the cam-geom
and provides
support to read and write camera models in various formats.
In greater detail:
- Compatible with camera calibrations made by the ROS
camera_calibration
package, including monocular and stereo calibrations. Despite this compatibility, does not depend on ROS or OpenCV. (Furthermore, there is also no dependency on the excellent rosrust crate). - Can be compiled without the Rust standard library or allocator to support embedded applications.
- The
RosOpenCvIntrinsics
type implements theIntrinsicParameters
trait from thecam-geom
crate. Thus, acam_geom::Camera
can be created to handle intrinsic parameters usingRosOpenCvIntrinsics
and camera pose handled by theExtrinsicParameters
struct fromcam-geom
. (See the example below.) - When compiled with the
serde-serialize
feature, read camera calibrations saved by the ROScamera_calibration/cameracalibrator.py
node in~/.ros/camera_info/camera_name.yaml
withfrom_ros_yaml
. - When compiled with the
serde-serialize
feature, read and write theRosOpenCvIntrinsics
struct using serde.
Example - read a ROS YAML file and create a cam_geom::Camera
from it.
Let's say we have YAML file saved by the ROS
camera_calibration/cameracalibrator.py
node. How can we create a
cam_geom::Camera
from this?
use nalgebra::{Matrix2x3, Unit, Vector3};
// Here we have the YAML file contents hardcoded in a string. Ordinarily, you
// would read this from a file such as `~/.ros/camera_info/camera_name.yaml`, but
// for this example, it is hardcoded here.
let yaml_buf = b"image_width: 659
image_height: 494
camera_name: Basler_21029382
camera_matrix:
rows: 3
cols: 3
data: [516.385667640757, 0, 339.167079537312, 0, 516.125799367807, 227.37993524141, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.331416226762003, 0.143584747015566, 0.00314558656668844, -0.00393597842852019, 0]
rectification_matrix:
rows: 3
cols: 3
data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix:
rows: 3
cols: 4
data: [444.369750976562, 0, 337.107817516087, 0, 0, 474.186859130859, 225.062742824321, 0, 0, 0, 1, 0]";
// The ROS YAML file does not contain the pose (no extrinsic parameters). Here we
// specify them directly. The camera is at (10,0,0), looing at (0,0,0), with up (0,0,1).
let camcenter = Vector3::new(10.0, 0.0, 0.0);
let lookat = Vector3::new(0.0, 0.0, 0.0);
let up = Unit::new_normalize(Vector3::new(0.0, 0.0, 1.0));
let pose = cam_geom::ExtrinsicParameters::from_view(&camcenter, &lookat, &up);
// We need the `serde-serialize` feature for the `from_ros_yaml` function.
#[cfg(feature = "serde-serialize")]
{
let from_ros = opencv_ros_camera::from_ros_yaml(&yaml_buf[..]).unwrap();
// Finally, create camera from intrinsic and extrinsic parameters.
let camera = cam_geom::Camera::new(from_ros.intrinsics, pose);
}
testing
Test no_std
compilation with:
# install target with: "rustup target add thumbv7em-none-eabihf"
cargo check --no-default-features --target thumbv7em-none-eabihf
Run unit tests with:
cargo test
cargo test --features serde-serialize
serde support requires std.
re-render README.md
cargo install cargo-readme
cargo readme > README.md
==========================================================
Code of conduct
Anyone who interacts with this software in any space, including but not limited to this GitHub repository, must follow our code of conduct.
License
Licensed under either of these:
- Apache License, Version 2.0, (LICENSE-APACHE or https://www.apache.org/licenses/LICENSE-2.0)
- MIT license (LICENSE-MIT or https://opensource.org/licenses/MIT)
Dependencies
~4.5MB
~90K SLoC