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Operating System"],"sub_categories":[],"readme":"# Crate `opencv_ros_camera` for the [Rust language](https://www.rust-lang.org/)\n\n[![Crates.io](https://img.shields.io/crates/v/opencv-ros-camera.svg)](https://crates.io/crates/opencv-ros-camera)\n[![Documentation](https://docs.rs/opencv-ros-camera/badge.svg)](https://docs.rs/opencv-ros-camera/)\n[![Crate License](https://img.shields.io/crates/l/opencv-ros-camera.svg)](https://crates.io/crates/opencv-ros-camera)\n[![Dependency status](https://deps.rs/repo/github/strawlab/opencv-ros-camera/status.svg)](https://deps.rs/repo/github/strawlab/opencv-ros-camera)\n[![build](https://github.com/strawlab/opencv-ros-camera/workflows/build/badge.svg?branch=master)](https://github.com/strawlab/opencv-ros-camera/actions?query=branch%3Amaster)\n\nGeometric models of OpenCV/ROS cameras for photogrammetry\n\n## About\n\nThis crate provides a geometric model of a camera compatible with OpenCV as\nused by ROS (the Robot Operating System). The crate is in pure Rust, can be\ncompiled in `no_std` mode, implements the\n[`IntrinsicParameters`](https://docs.rs/cam-geom/latest/cam_geom/trait.IntrinsicParameters.html)\ntrait from the [`cam-geom`](https://crates.io/crates/cam-geom) and provides\nsupport to read and write camera models in various formats.\n\nIn greater detail:\n\n- Compatible with camera calibrations made by the ROS\n  [`camera_calibration`](http://wiki.ros.org/camera_calibration) package,\n  including\n  [monocular](http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration)\n  and\n  [stereo](http://wiki.ros.org/camera_calibration/Tutorials/StereoCalibration)\n  calibrations. Despite this compatibility, does not depend on ROS or\n  OpenCV. (Furthermore, there is also no dependency on the excellent\n  [rosrust](https://crates.io/crates/rosrust) crate).\n- Can be compiled without the Rust standard library or allocator to support\n  embedded applications.\n- The [`RosOpenCvIntrinsics`](struct.RosOpenCvIntrinsics.html) type\n  implements [the `IntrinsicParameters` trait from the `cam-geom`\n  crate](https://docs.rs/cam-geom/latest/cam_geom/trait.IntrinsicParameters.html).\n  Thus, a\n  [`cam_geom::Camera`](https://docs.rs/cam-geom/latest/cam_geom/struct.Camera.html)\n  can be created to handle intrinsic parameters using `RosOpenCvIntrinsics`\n  and camera pose handled by [the `ExtrinsicParameters` struct from\n  `cam-geom`](https://docs.rs/cam-geom/latest/cam_geom/struct.ExtrinsicParameters.html).\n  (See the example below.)\n- When compiled with the `serde-serialize` feature, read camera calibrations\n  saved by the ROS `camera_calibration/cameracalibrator.py` node in\n  `~/.ros/camera_info/camera_name.yaml` with\n  [`from_ros_yaml`](fn.from_ros_yaml.html).\n- When compiled with the `serde-serialize` feature, read and write the\n  [`RosOpenCvIntrinsics`](struct.RosOpenCvIntrinsics.html) struct using\n  serde.\n\n## Example - read a ROS YAML file and create a `cam_geom::Camera` from it.\n\nLet's say we have YAML file saved by the ROS\n`camera_calibration/cameracalibrator.py` node. How can we create a\n[`cam_geom::Camera`](https://docs.rs/cam-geom/latest/cam_geom/struct.Camera.html)\nfrom this?\n\n```rust\nuse nalgebra::{Matrix2x3, Unit, Vector3};\n\n// Here we have the YAML file contents hardcoded in a string. Ordinarily, you\n// would read this from a file such as `~/.ros/camera_info/camera_name.yaml`, but\n// for this example, it is hardcoded here.\nlet yaml_buf = b\"image_width: 659\nimage_height: 494\ncamera_name: Basler_21029382\ncamera_matrix:\n  rows: 3\n  cols: 3\n  data: [516.385667640757, 0, 339.167079537312, 0, 516.125799367807, 227.37993524141, 0, 0, 1]\ndistortion_model: plumb_bob\ndistortion_coefficients:\n  rows: 1\n  cols: 5\n  data: [-0.331416226762003, 0.143584747015566, 0.00314558656668844, -0.00393597842852019, 0]\nrectification_matrix:\n  rows: 3\n  cols: 3\n  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]\nprojection_matrix:\n  rows: 3\n  cols: 4\n  data: [444.369750976562, 0, 337.107817516087, 0, 0, 474.186859130859, 225.062742824321, 0, 0, 0, 1, 0]\";\n\n// The ROS YAML file does not contain the pose (no extrinsic parameters). Here we\n// specify them directly. The camera is at (10,0,0), looing at (0,0,0), with up (0,0,1).\nlet camcenter = Vector3::new(10.0, 0.0, 0.0);\nlet lookat = Vector3::new(0.0, 0.0, 0.0);\nlet up = Unit::new_normalize(Vector3::new(0.0, 0.0, 1.0));\nlet pose = cam_geom::ExtrinsicParameters::from_view(\u0026camcenter, \u0026lookat, \u0026up);\n\n// We need the `serde-serialize` feature for the `from_ros_yaml` function.\n#[cfg(feature = \"serde-serialize\")]\n{\n    let from_ros = opencv_ros_camera::from_ros_yaml(\u0026yaml_buf[..]).unwrap();\n\n    // Finally, create camera from intrinsic and extrinsic parameters.\n    let camera = cam_geom::Camera::new(from_ros.intrinsics, pose);\n}\n```\n\n## testing\n\nTest `no_std` compilation with:\n\n```notest\n# install target with: \"rustup target add thumbv7em-none-eabihf\"\ncargo check --no-default-features --target thumbv7em-none-eabihf\n```\n\nRun unit tests with:\n\n```notest\ncargo test\ncargo test --features serde-serialize\n```\n\nserde support requires std.\n\n## Code of conduct\n\nAnyone who interacts with this software in any space, including but not limited\nto this GitHub repository, must follow our [code of\nconduct](code_of_conduct.md).\n\n## License\n\nLicensed under either of these:\n\n * Apache License, Version 2.0, ([LICENSE-APACHE](LICENSE-APACHE) or\n   \u003chttps://www.apache.org/licenses/LICENSE-2.0\u003e)\n * MIT license ([LICENSE-MIT](LICENSE-MIT) or\n   \u003chttps://opensource.org/licenses/MIT\u003e)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fstrawlab%2Fopencv-ros-camera","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fstrawlab%2Fopencv-ros-camera","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fstrawlab%2Fopencv-ros-camera/lists"}