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release 0.15.2
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‎README.md‎

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@@ -102,29 +102,20 @@ let pose = cam_geom::ExtrinsicParameters::from_view(&camcenter, &lookat, &up);
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Test `no_std` compilation with:
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```
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```notest
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# install target with: "rustup target add thumbv7em-none-eabihf"
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cargo check --no-default-features --target thumbv7em-none-eabihf
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```
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Run unit tests with:
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```
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```notest
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cargo test
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cargo test --features serde-serialize
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```
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serde support requires std.
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## re-render README.md
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```
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cargo install cargo-readme
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cargo readme > README.md
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```
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==========================================================
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## Code of conduct
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Anyone who interacts with this software in any space, including but not limited
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Licensed under either of these:
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* Apache License, Version 2.0, ([LICENSE-APACHE](LICENSE-APACHE) or
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https://www.apache.org/licenses/LICENSE-2.0)
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<https://www.apache.org/licenses/LICENSE-2.0>)
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* MIT license ([LICENSE-MIT](LICENSE-MIT) or
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https://opensource.org/licenses/MIT)
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<https://opensource.org/licenses/MIT>)

‎README.tpl‎

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‎src/lib.rs‎

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//! Geometric models of OpenCV/ROS cameras for photogrammetry
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//!
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//! # About
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//!
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//! This crate provides a geometric model of a camera compatible with OpenCV as
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//! used by ROS (the Robot Operating System). The crate is in pure Rust, can be
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//! compiled in `no_std` mode, implements the
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//! [`IntrinsicParameters`](https://docs.rs/cam-geom/latest/cam_geom/trait.IntrinsicParameters.html)
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//! trait from the [`cam-geom`](https://crates.io/crates/cam-geom) and provides
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//! support to read and write camera models in various formats.
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//!
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//! In greater detail:
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//!
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//! - Compatible with camera calibrations made by the ROS
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//! [`camera_calibration`](http://wiki.ros.org/camera_calibration) package,
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//! including
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//! [monocular](http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration)
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//! and
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//! [stereo](http://wiki.ros.org/camera_calibration/Tutorials/StereoCalibration)
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//! calibrations. Despite this compatibility, does not depend on ROS or
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//! OpenCV. (Furthermore, there is also no dependency on the excellent
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//! [rosrust](https://crates.io/crates/rosrust) crate).
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//! - Can be compiled without the Rust standard library or allocator to support
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//! embedded applications.
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//! - The [`RosOpenCvIntrinsics`](struct.RosOpenCvIntrinsics.html) type
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//! implements [the `IntrinsicParameters` trait from the `cam-geom`
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//! crate](https://docs.rs/cam-geom/latest/cam_geom/trait.IntrinsicParameters.html).
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//! Thus, a
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//! [`cam_geom::Camera`](https://docs.rs/cam-geom/latest/cam_geom/struct.Camera.html)
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//! can be created to handle intrinsic parameters using `RosOpenCvIntrinsics`
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//! and camera pose handled by [the `ExtrinsicParameters` struct from
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//! `cam-geom`](https://docs.rs/cam-geom/latest/cam_geom/struct.ExtrinsicParameters.html).
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//! (See the example below.)
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//! - When compiled with the `serde-serialize` feature, read camera calibrations
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//! saved by the ROS `camera_calibration/cameracalibrator.py` node in
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//! `~/.ros/camera_info/camera_name.yaml` with
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//! [`from_ros_yaml`](fn.from_ros_yaml.html).
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//! - When compiled with the `serde-serialize` feature, read and write the
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//! [`RosOpenCvIntrinsics`](struct.RosOpenCvIntrinsics.html) struct using
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//! serde.
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//!
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//! # Example - read a ROS YAML file and create a `cam_geom::Camera` from it.
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//!
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//! Let's say we have YAML file saved by the ROS
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//! `camera_calibration/cameracalibrator.py` node. How can we create a
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//! [`cam_geom::Camera`](https://docs.rs/cam-geom/latest/cam_geom/struct.Camera.html)
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//! from this?
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//!
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//! ```
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//! use nalgebra::{Matrix2x3, Unit, Vector3};
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//!
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//! // Here we have the YAML file contents hardcoded in a string. Ordinarily, you
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//! // would read this from a file such as `~/.ros/camera_info/camera_name.yaml`, but
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//! // for this example, it is hardcoded here.
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//! let yaml_buf = b"image_width: 659
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//! image_height: 494
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//! camera_name: Basler_21029382
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//! camera_matrix:
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//! rows: 3
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//! cols: 3
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//! data: [516.385667640757, 0, 339.167079537312, 0, 516.125799367807, 227.37993524141, 0, 0, 1]
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//! distortion_model: plumb_bob
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//! distortion_coefficients:
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//! rows: 1
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//! cols: 5
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//! data: [-0.331416226762003, 0.143584747015566, 0.00314558656668844, -0.00393597842852019, 0]
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//! rectification_matrix:
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//! rows: 3
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//! cols: 3
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//! data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
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//! projection_matrix:
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//! rows: 3
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//! cols: 4
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//! data: [444.369750976562, 0, 337.107817516087, 0, 0, 474.186859130859, 225.062742824321, 0, 0, 0, 1, 0]";
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//!
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//! // The ROS YAML file does not contain the pose (no extrinsic parameters). Here we
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//! // specify them directly. The camera is at (10,0,0), looking at (0,0,0), with up (0,0,1).
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//! let camcenter = Vector3::new(10.0, 0.0, 0.0);
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//! let lookat = Vector3::new(0.0, 0.0, 0.0);
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//! let up = Unit::new_normalize(Vector3::new(0.0, 0.0, 1.0));
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//! let pose = cam_geom::ExtrinsicParameters::from_view(&camcenter, &lookat, &up);
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//!
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//! // We need the `serde-serialize` feature for the `from_ros_yaml` function.
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//! #[cfg(feature = "serde-serialize")]
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//! {
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//! let from_ros = opencv_ros_camera::from_ros_yaml(&yaml_buf[..]).unwrap();
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//!
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//! // Finally, create camera from intrinsic and extrinsic parameters.
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//! let camera = cam_geom::Camera::new(from_ros.intrinsics, pose);
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//! }
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//! ```
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//!
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//! # testing
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//!
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//! Test `no_std` compilation with:
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//!
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//! ```text
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//! # install target with: "rustup target add thumbv7em-none-eabihf"
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//! cargo check --no-default-features --target thumbv7em-none-eabihf
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//! ```
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//!
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//! Run unit tests with:
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//!
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//! ```text
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//! cargo test
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//! cargo test --features serde-serialize
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//! ```
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//!
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//! serde support requires std.
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//!
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//! # re-render README.md
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//!
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//! ```text
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//! cargo install cargo-readme
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//! cargo readme > README.md
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//! ```
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#![doc = include_str!("../README.md")]
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#![deny(rust_2018_idioms, unsafe_code, missing_docs)]
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#![cfg_attr(not(feature = "std"), no_std)]
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