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https://github.com/strawlab/cam-geom

📷 📐 Geometric models of cameras for photogrammetry
https://github.com/strawlab/cam-geom

camera-models computer-vision geometry photogrammetry rust

Last synced: 3 days ago
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📷 📐 Geometric models of cameras for photogrammetry

Host: GitHub
URL: https://github.com/strawlab/cam-geom
Owner: strawlab
License: apache-2.0
Created: 2020-02-27T22:32:46.000Z (almost 5 years ago)
Default Branch: main
Last Pushed: 2025-01-01T12:20:57.000Z (about 1 month ago)
Last Synced: 2025-01-29T04:13:09.507Z (10 days ago)
Topics: camera-models, computer-vision, geometry, photogrammetry, rust
Language: Rust
Homepage: https://crates.io/crates/cam-geom
Size: 146 KB
Stars: 46
Watchers: 3
Forks: 1
Open Issues: 0
Metadata Files:
- Readme: README.md
- License: LICENSE-APACHE
- Code of conduct: code_of_conduct.md

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README

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📷 📐 Geometric models of cameras for photogrammetry

![pinhole model

image](https://strawlab.org/assets/images/pinhole-model-ladybug.png)

(3D model by

[Adan](https://sketchfab.com/3d-models/lowpoly-lady-bug-90b59b5185b14c52944573f236eb7175),

[CC by 4.0](https://creativecommons.org/licenses/by/4.0/))

## About

The crate implements geometric models of cameras which may be useful for

[photogrammetry](https://en.wikipedia.org/wiki/Photogrammetry).

The crate provides a couple camera models, [the pinhole perspective

camera](https://en.wikipedia.org/wiki/Pinhole_camera_model) and the

[orthographic

camera](https://en.wikipedia.org/wiki/Orthographic_projection). Adding

another camera model entails implementing the

[`IntrinsicParameters`](trait.IntrinsicParameters.html) trait. See the

[`opencv_ros_camera`](https://crates.io/crates/opencv-ros-camera) crate

for one example.

Also provided is the function

[`best_intersection_of_rays()`](fn.best_intersection_of_rays.html) which

determines the best 3D point corresponding to the intersection of multiple

rays. Thus, this crate is also useful for multiple view geometry.

Characteristics:

* Extensive use of static typing to ensure no unpleasant runtime surprises

  with coordinate system, matrix dimensions, and so on.

* Serialization and deserialization using [`serde`](https://docs.rs/serde).

  Enable with the `serde-serialize` cargo feature.

* Linear algebra and types from the [`nalgebra`](https://docs.rs/nalgebra)

  crate.

* Possible to create new camera models by implementing the

  [`IntrinsicParameters`](trait.IntrinsicParameters.html) trait. While the

  camera models implemented in this crate are linear, there is no

  requirement that implementations are linear. For example, the

  [`opencv_ros_camera`](https://crates.io/crates/opencv-ros-camera) crate

  exhibits [distortion](https://en.wikipedia.org/wiki/Distortion_(optics)).

* [`ExtrinsicParameters`](struct.ExtrinsicParameters.html) based on the

  [`nalgebra::Isometry3`](https://docs.rs/nalgebra/latest/nalgebra/geometry/type.Isometry3.html)

  type to handle the camera pose.

* No standard library is required (disable the default features to disable

  use of `std`) and no heap allocations. In other words, this can run on a

  bare-metal microcontroller with no OS.

* Extensive documentation and tests.

* Requires rust version 1.40 or greater.

## Testing

### Unit tests

To run the basic unit tests:

```text

cargo test

```

To run all unit tests:

```text

cargo test --features serde-serialize

```

### Test for `no_std`

Since the `thumbv7em-none-eabihf` target does not have `std` available, we

can build for it to check that our crate does not inadvertently pull in

std. The unit tests require std, so cannot be run on a `no_std` platform.

The following will fail if a std dependency is present:

```text

# install target with: "rustup target add thumbv7em-none-eabihf"

cargo build --no-default-features --target thumbv7em-none-eabihf

```

## 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](code_of_conduct.md).

## License

Licensed under either of these:

 * Apache License, Version 2.0, ([LICENSE-APACHE](LICENSE-APACHE) or

   https://www.apache.org/licenses/LICENSE-2.0)

 * MIT license ([LICENSE-MIT](LICENSE-MIT) or

   https://opensource.org/licenses/MIT)