Struct cam_geom::ExtrinsicParameters

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pub struct ExtrinsicParameters<R: RealField> { /* private fields */ }

Expand description

Defines the pose of a camera in the world coordinate system.

Implementations

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impl<R: RealField> ExtrinsicParameters<R>

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pub fn from_rotation_and_camcenter(
rotation: UnitQuaternion<R>,
camcenter: Point3<R>
) -> Self

Create a new instance from a rotation and a camera center.

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pub fn from_pose(pose: &Isometry3<R>) -> Self

Create a new instance from an nalgebra::Isometry3.

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pub fn from_view(
 camcenter: &Vector3<R>,
 lookat: &Vector3<R>,
 up: &Unit<Vector3<R>>
) -> Self

Create a new instance from a camera center, a lookat vector, and an up vector.

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pub fn camcenter(&self) -> &Point3<R>

Return the camera center

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pub fn pose(&self) -> &Isometry3<R>

Return the camera pose

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pub fn matrix(&self) -> &SMatrix<R, 3, 4>

Return the pose as a 3x4 matrix

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pub fn rotation(&self) -> &Rotation3<R>

Return the rotation part of the pose

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pub fn translation(&self) -> &Point3<R>

Return the translation part of the pose

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pub fn forward(&self) -> Unit<Vector3<R>>

Return a unit vector aligned along our look (+Z) direction.

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pub fn up(&self) -> Unit<Vector3<R>>

Return a unit vector aligned along our up (-Y) direction.

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pub fn right(&self) -> Unit<Vector3<R>>

Return a unit vector aligned along our right (+X) direction.

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pub fn camera_to_world<NPTS, InStorage>(
 &self,
 cam_coords: &Points<CameraFrame, R, NPTS, InStorage>
) -> Points<WorldFrame, R, NPTS, Owned<R, NPTS, U3>> where
 NPTS: Dim,
 InStorage: Storage<R, NPTS, U3>,
 DefaultAllocator: Allocator<R, NPTS, U3>,

Convert points in camera coordinates to world coordinates.

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pub fn ray_camera_to_world<BType, NPTS, StorageCamera>(
 &self,
 camera: &RayBundle<CameraFrame, BType, R, NPTS, StorageCamera>
) -> RayBundle<WorldFrame, BType, R, NPTS, Owned<R, NPTS, U3>> where
 BType: Bundle<R>,
 NPTS: Dim,
 StorageCamera: Storage<R, NPTS, U3>,
 DefaultAllocator: Allocator<R, NPTS, U3>,

Convert rays in camera coordinates to world coordinates.

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pub fn world_to_camera<NPTS, InStorage>(
 &self,
 world: &Points<WorldFrame, R, NPTS, InStorage>
) -> Points<CameraFrame, R, NPTS, Owned<R, NPTS, U3>> where
 NPTS: Dim,
 InStorage: Storage<R, NPTS, U3>,
 DefaultAllocator: Allocator<R, NPTS, U3>,

Convert points in world coordinates to camera coordinates.

Trait Implementations

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impl<R: Clone + RealField> Clone for ExtrinsicParameters<R>

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

Returns a copy of the value. Read more

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

Performs copy-assignment from source. Read more

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impl<R: RealField> Debug for ExtrinsicParameters<R>

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

Formats the value using the given formatter. Read more

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impl<'de, R: RealField + Deserialize<'de>> Deserialize<'de> for ExtrinsicParameters<R>

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fn deserialize<D>(deserializer: D) -> Result<Self, D::Error> where
D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer. Read more

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impl<R: PartialEq + RealField> PartialEq<ExtrinsicParameters<R>> for ExtrinsicParameters<R>

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fn eq(&self, other: &ExtrinsicParameters<R>) -> bool

This method tests for self and other values to be equal, and is used by ==. Read more

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fn ne(&self, other: &ExtrinsicParameters<R>) -> bool

This method tests for !=.

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impl<R: RealField> Serialize for ExtrinsicParameters<R> where
R: Serialize,

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fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error> where
S: Serializer,

Serialize this value into the given Serde serializer. Read more

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impl<R: RealField> StructuralPartialEq for ExtrinsicParameters<R>

Auto Trait Implementations

impl<R> RefUnwindSafe for ExtrinsicParameters<R> where
R: RefUnwindSafe,

impl<R> Send for ExtrinsicParameters<R>

impl<R> Sync for ExtrinsicParameters<R>

impl<R> Unpin for ExtrinsicParameters<R> where
R: Unpin,

impl<R> UnwindSafe for ExtrinsicParameters<R> where
R: UnwindSafe,

Blanket Implementations

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impl<T> Any for T where
T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T where
T: ?Sized,

const: unstable · source

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T where
T: ?Sized,

const: unstable · source

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> From<T> for T

const: unstable · source

fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into for T where
U: From<T>,

const: unstable · source

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

impl<T> Same<T> for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

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impl<T> ToOwned for T where
T: Clone,

type Owned = T

The resulting type after obtaining ownership.

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fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

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fn clone_into(&self, target: &mut T)

🔬 This is a nightly-only experimental API. (toowned_clone_into)

Uses borrowed data to replace owned data, usually by cloning. Read more

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impl<T, U> TryFrom for T where
U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

const: unstable · source

fn try_from(value: U) -> Result<T, <T as TryFrom>::Error>

Performs the conversion.

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impl<T, U> TryInto for T where
U: TryFrom<T>,

type Error = >::Error

The type returned in the event of a conversion error.

const: unstable · source

fn try_into(self) -> Result<U, >::Error>

Performs the conversion.

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impl<T> DeserializeOwned for T where
T: for<'de> Deserialize<'de>,

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Struct cam_geom::ExtrinsicParameters

Implementations

impl<R: RealField> ExtrinsicParameters<R>

pub fn from_rotation_and_camcenter( rotation: UnitQuaternion<R>, camcenter: Point3<R>) -> Self

pub fn from_pose(pose: &Isometry3<R>) -> Self

pub fn from_view( camcenter: &Vector3<R>, lookat: &Vector3<R>, up: &Unit<Vector3<R>>) -> Self

pub fn camcenter(&self) -> &Point3<R>

pub fn pose(&self) -> &Isometry3<R>

pub fn matrix(&self) -> &SMatrix<R, 3, 4>

pub fn rotation(&self) -> &Rotation3<R>

pub fn translation(&self) -> &Point3<R>

pub fn forward(&self) -> Unit<Vector3<R>>

pub fn up(&self) -> Unit<Vector3<R>>

pub fn right(&self) -> Unit<Vector3<R>>

pub fn camera_to_world<NPTS, InStorage>( &self, cam_coords: &Points<CameraFrame, R, NPTS, InStorage>) -> Points<WorldFrame, R, NPTS, Owned<R, NPTS, U3>> where NPTS: Dim, InStorage: Storage<R, NPTS, U3>, DefaultAllocator: Allocator<R, NPTS, U3>,

pub fn world_to_camera<NPTS, InStorage>( &self, world: &Points<WorldFrame, R, NPTS, InStorage>) -> Points<CameraFrame, R, NPTS, Owned<R, NPTS, U3>> where NPTS: Dim, InStorage: Storage<R, NPTS, U3>, DefaultAllocator: Allocator<R, NPTS, U3>,

Trait Implementations

impl<R: Clone + RealField> Clone for ExtrinsicParameters<R>

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

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

impl<R: RealField> Debug for ExtrinsicParameters<R>

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

impl<'de, R: RealField + Deserialize<'de>> Deserialize<'de> for ExtrinsicParameters<R>

fn deserialize<D>(deserializer: D) -> Result<Self, D::Error> where D: Deserializer<'de>,

impl<R: PartialEq + RealField> PartialEq<ExtrinsicParameters<R>> for ExtrinsicParameters<R>

fn eq(&self, other: &ExtrinsicParameters<R>) -> bool

fn ne(&self, other: &ExtrinsicParameters<R>) -> bool

impl<R: RealField> Serialize for ExtrinsicParameters<R> where R: Serialize,

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error> where __S: Serializer,

impl<R: RealField> StructuralPartialEq for ExtrinsicParameters<R>

Auto Trait Implementations

impl<R> RefUnwindSafe for ExtrinsicParameters<R> where R: RefUnwindSafe,

impl<R> Send for ExtrinsicParameters<R>

impl<R> Sync for ExtrinsicParameters<R>

impl<R> Unpin for ExtrinsicParameters<R> where R: Unpin,

impl<R> UnwindSafe for ExtrinsicParameters<R> where R: UnwindSafe,

Blanket Implementations

impl<T> Any for T where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

impl<T> Borrow<T> for T where T: ?Sized,

fn borrow(&self) -> &T

impl<T> BorrowMut<T> for T where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

impl<T> From<T> for T

fn from(t: T) -> T

impl<T, U> Into<U> for T where U: From<T>,

fn into(self) -> U

impl<T> Same<T> for T

type Output = T

impl<SS, SP> SupersetOf<SS> for SP where SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

fn is_in_subset(&self) -> bool

fn to_subset_unchecked(&self) -> SS

fn from_subset(element: &SS) -> SP

impl<T> ToOwned for T where T: Clone,

type Owned = T

fn to_owned(&self) -> T

fn clone_into(&self, target: &mut T)

impl<T, U> TryFrom<U> for T where U: Into<T>,

type Error = Infallible

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

impl<T, U> TryInto<U> for T where U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

impl<T> DeserializeOwned for T where T: for<'de> Deserialize<'de>,

impl<T> Scalar for T where T: 'static + Clone + PartialEq<T> + Debug,

pub fn from_rotation_and_camcenter(
rotation: UnitQuaternion<R>,
camcenter: Point3<R>
) -> Self

pub fn from_view(
camcenter: &Vector3<R>,
lookat: &Vector3<R>,
up: &Unit<Vector3<R>>
) -> Self

pub fn camera_to_world<NPTS, InStorage>(
&self,
cam_coords: &Points<CameraFrame, R, NPTS, InStorage>
) -> Points<WorldFrame, R, NPTS, Owned<R, NPTS, U3>> where
NPTS: Dim,
InStorage: Storage<R, NPTS, U3>,
DefaultAllocator: Allocator<R, NPTS, U3>,

pub fn world_to_camera<NPTS, InStorage>(
&self,
world: &Points<WorldFrame, R, NPTS, InStorage>
) -> Points<CameraFrame, R, NPTS, Owned<R, NPTS, U3>> where
NPTS: Dim,
InStorage: Storage<R, NPTS, U3>,
DefaultAllocator: Allocator<R, NPTS, U3>,

fn deserialize<D>(deserializer: D) -> Result<Self, D::Error> where
D: Deserializer<'de>,

impl<R: RealField> Serialize for ExtrinsicParameters<R> where
R: Serialize,

fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error> where
S: Serializer,

impl<R> RefUnwindSafe for ExtrinsicParameters<R> where
R: RefUnwindSafe,

impl<R> Unpin for ExtrinsicParameters<R> where
R: Unpin,

impl<R> UnwindSafe for ExtrinsicParameters<R> where
R: UnwindSafe,

impl<T> Any for T where
T: 'static + ?Sized,

impl<T> Borrow<T> for T where
T: ?Sized,

impl<T> BorrowMut<T> for T where
T: ?Sized,

impl<T, U> Into<U> for T where
U: From<T>,

impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,

impl<T> ToOwned for T where
T: Clone,

impl<T, U> TryFrom<U> for T where
U: Into<T>,

impl<T, U> TryInto<U> for T where
U: TryFrom<T>,

impl<T> DeserializeOwned for T where
T: for<'de> Deserialize<'de>,

impl<T> Scalar for T where
T: 'static + Clone + PartialEq<T> + Debug,