Crate `dlt` for the Rust language

DLT (direct linear transform) algorithm for camera calibration

This is typically used for calibrating cameras and requires a minimum of 6 corresponding pairs of 2D and 3D locations.

Testing

Unit tests

To run the unit tests:

cargo test

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:

```

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

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

Currently, this crate does not build without std, but this is a bug that will be fixed.

Example

```rust use dlt::{dltcorresponding, CorrespondingPoint}; use camgeom::{Camera, Points};

let points: Vec> = vec![ CorrespondingPoint { objectpoint: [-1., -2., -3.], imagepoint: [219.700, 39.400], }, CorrespondingPoint { objectpoint: [0., 0., 0.], imagepoint: [320.000, 240.000], }, CorrespondingPoint { objectpoint: [1., 2., 3.], imagepoint: [420.300, 440.600], }, CorrespondingPoint { objectpoint: [1.1, 2.2, 3.3], imagepoint: [430.330, 460.660], }, CorrespondingPoint { objectpoint: [4., 5., 6.], imagepoint: [720.600, 741.200], }, CorrespondingPoint { objectpoint: [4.4, 5.5, 6.6], imagepoint: [760.660, 791.320], }, CorrespondingPoint { objectpoint: [7., 8., 9.], imagepoint: [1020.900, 1041.800], }, CorrespondingPoint { objectpoint: [7.7, 8.8, 9.9], imagepoint: [1090.990, 1121.980], }, ];

let pmat = dltcorresponding(&points, 1e-10).unwrap(); let cam = Camera::fromperspectivematrix(&pmat).unwrap(); for orig in points.iter() { let world = Points::new(nalgebra::RowVector3::fromrowslice(&orig.objectpoint)); let px = cam.worldtopixel(&world); approx::assertrelativeeq!(px.data.asslice(), &orig.imagepoint[..], epsilon = 1e-4); } ```

Regenerate `README.md`

The README.md file can be regenerated with:

text cargo readme > README.md

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.

License

Licensed under either of these:

Apache License, Version 2.0, (LICENSE-APACHE or https://www.apache.org/licenses/LICENSE-2.0)
MIT license (LICENSE-MIT or https://opensource.org/licenses/MIT)

Crate dlt for the Rust language