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release 0.15.2
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@astraw
astraw committed Feb 9, 2025
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17 changes: 4 additions & 13 deletions README.md
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Expand Up @@ -102,29 +102,20 @@ let pose = cam_geom::ExtrinsicParameters::from_view(&camcenter, &lookat, &up);

Test `no_std` compilation with:

```
```notest
# install target with: "rustup target add thumbv7em-none-eabihf"
cargo check --no-default-features --target thumbv7em-none-eabihf
```

Run unit tests with:

```
```notest
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
Expand All @@ -136,6 +127,6 @@ conduct](code_of_conduct.md).
Licensed under either of these:

* Apache License, Version 2.0, ([LICENSE-APACHE](LICENSE-APACHE) or
https://www.apache.org/licenses/LICENSE-2.0)
<https://www.apache.org/licenses/LICENSE-2.0>)
* MIT license ([LICENSE-MIT](LICENSE-MIT) or
https://opensource.org/licenses/MIT)
<https://opensource.org/licenses/MIT>)
26 changes: 0 additions & 26 deletions README.tpl
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118 changes: 1 addition & 117 deletions src/lib.rs
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@@ -1,120 +1,4 @@
//! 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`](https://docs.rs/cam-geom/latest/cam_geom/trait.IntrinsicParameters.html)
//! trait from the [`cam-geom`](https://crates.io/crates/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`](http://wiki.ros.org/camera_calibration) package,
//! including
//! [monocular](http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration)
//! and
//! [stereo](http://wiki.ros.org/camera_calibration/Tutorials/StereoCalibration)
//! calibrations. Despite this compatibility, does not depend on ROS or
//! OpenCV. (Furthermore, there is also no dependency on the excellent
//! [rosrust](https://crates.io/crates/rosrust) crate).
//! - Can be compiled without the Rust standard library or allocator to support
//! embedded applications.
//! - The [`RosOpenCvIntrinsics`](struct.RosOpenCvIntrinsics.html) type
//! implements [the `IntrinsicParameters` trait from the `cam-geom`
//! crate](https://docs.rs/cam-geom/latest/cam_geom/trait.IntrinsicParameters.html).
//! Thus, a
//! [`cam_geom::Camera`](https://docs.rs/cam-geom/latest/cam_geom/struct.Camera.html)
//! can be created to handle intrinsic parameters using `RosOpenCvIntrinsics`
//! and camera pose handled by [the `ExtrinsicParameters` struct from
//! `cam-geom`](https://docs.rs/cam-geom/latest/cam_geom/struct.ExtrinsicParameters.html).
//! (See the example below.)
//! - When compiled with the `serde-serialize` feature, read camera calibrations
//! saved by the ROS `camera_calibration/cameracalibrator.py` node in
//! `~/.ros/camera_info/camera_name.yaml` with
//! [`from_ros_yaml`](fn.from_ros_yaml.html).
//! - When compiled with the `serde-serialize` feature, read and write the
//! [`RosOpenCvIntrinsics`](struct.RosOpenCvIntrinsics.html) 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`](https://docs.rs/cam-geom/latest/cam_geom/struct.Camera.html)
//! 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), looking 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:
//!
//! ```text
//! # install target with: "rustup target add thumbv7em-none-eabihf"
//! cargo check --no-default-features --target thumbv7em-none-eabihf
//! ```
//!
//! Run unit tests with:
//!
//! ```text
//! cargo test
//! cargo test --features serde-serialize
//! ```
//!
//! serde support requires std.
//!
//! # re-render README.md
//!
//! ```text
//! cargo install cargo-readme
//! cargo readme > README.md
//! ```
#![doc = include_str!("../README.md")]
#![deny(rust_2018_idioms, unsafe_code, missing_docs)]
#![cfg_attr(not(feature = "std"), no_std)]

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