Struct WorldCoordAndUndistorted2D

pub struct WorldCoordAndUndistorted2D<R: RealField + Copy> { /* private fields */ }

A combined data structure containing a 3D world point and its 2D camera observations.

This structure packages together a 3D point (possibly with reprojection errors) and the corresponding 2D undistorted pixel observations from each camera. This is useful for algorithms that need to work with both the 3D structure and the 2D observations simultaneously.

Use Cases

• Bundle adjustment optimization
• Outlier detection and filtering
• Tracking and correspondence validation
• Quality assessment of triangulation results

Example

use braid_mvg::{WorldCoordAndUndistorted2D, PointWorldFrame,
                PointWorldFrameMaybeWithSumReprojError, UndistortedPixel};
use nalgebra::{Point2, Point3};

let point = PointWorldFrame { coords: Point3::new(1.0, 2.0, 3.0) };
let maybe_point = PointWorldFrameMaybeWithSumReprojError::Point(point);

let observations = vec![
    ("cam1".to_string(), UndistortedPixel { coords: Point2::new(320.0, 240.0) }),
    ("cam2".to_string(), UndistortedPixel { coords: Point2::new(340.0, 250.0) }),
];

let combined = WorldCoordAndUndistorted2D::new(maybe_point, observations);

Implementations

impl<R: RealField + Copy> WorldCoordAndUndistorted2D<R>

pub fn new( wc: PointWorldFrameMaybeWithSumReprojError<R>, upoints: Vec<(String, UndistortedPixel<R>)>, ) -> Self

Create a new combined data structure.

Arguments

• wc - The 3D world coordinates (possibly with error information)
• upoints - Vector of (camera_name, undistorted_pixel) pairs

Returns

A new instance combining the 3D and 2D information

pub fn point(self) -> PointWorldFrame<R>

Extract just the 3D point coordinates.

Returns

The PointWorldFrame containing the 3D coordinates

pub fn wc_and_upoints( self, ) -> (PointWorldFrameMaybeWithSumReprojError<R>, Vec<(String, UndistortedPixel<R>)>)

Decompose into the constituent 3D and 2D components.

Returns

A tuple containing:

• The 3D world coordinates (possibly with error information)
• The vector of 2D observations from each camera

Trait Implementations

impl<R: Clone + RealField + Copy> Clone for WorldCoordAndUndistorted2D<R>

fn clone(&self) -> WorldCoordAndUndistorted2D<R>

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<R: Debug + RealField + Copy> Debug for WorldCoordAndUndistorted2D<R>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.