Camera & Calibration

Interfacing with video sources and estimating camera matrices is essential for spatial mapping, stereo mapping, and 3D projection.

Camera Interfacing

Camera Capture

Queries frames from direct indices (integrated cameras) or file streams.

let device = Default::default();
let mut camera = Camera::<Backend>::open(CameraSource::Index(0), &device)?;

if camera.is_opened() {
    let frame = camera.capture()?;
    println!("Captured frame: {:?}", frame.shape());
}

Video Capture & File Writing

// Load video file
let mut capture = VideoCapture::<Backend>::open("video.mp4", &device)?;
while let Some(frame) = capture.read()? {
    // Process frame
}

// Write video file
let mut writer = VideoWriter::<Backend>::create("output.mp4", 640, 480, 30.0)?;
writer.write(&processed_frame)?;

Camera Calibration

Calibrates intrinsic matrices, distortion vectors, and projects coordinates.

Camera Matrix Estimation

let object_points = vec![vec![Point::new(0.0, 0.0), Point::new(1.0, 0.0)]];
let image_points = vec![vec![Point::new(12.0, 10.0), Point::new(24.0, 10.0)]];
let size = Size::new(640, 480);

let (k, dist) = CameraCalibration::calibrate_camera(&object_points, &image_points, size)?;

Projection of 3D Points

let pts_3d = vec![Point::new(0.5, 0.5)];
let rvec = [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]];
let tvec = [[0.0, 0.0, 0.0]];

let projected_pts = CameraCalibration::project_points(&pts_3d, &rvec, &tvec, &k, &dist)?;

Homography & PnP

// Estimate homography mapping
let h = CameraCalibration::find_homography(&src_pts, &dst_pts)?;

// Solve Perspective-n-Point pose estimation
let (rvec, tvec) = CameraCalibration::solve_pnp(&obj_pts, &img_pts, &k, &dist)?;