Struct cam_geom::ExtrinsicParameters

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

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

Implementations

impl<R: RealField> ExtrinsicParameters<R>

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

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

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

Create a new instance from an nalgebra::Isometry3.

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.

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

Return the camera center

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

Return the camera pose

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

Return the pose as a 3x4 matrix

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

Return the rotation part of the pose

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

Return the translation part of the pose

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

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

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

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

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

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

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.

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.

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

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

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

Returns a copy of the value.

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

Performs copy-assignment from source.

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

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

Formats the value using the given formatter.

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

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

Deserialize this value from the given Serde deserializer.

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

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

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

fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

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

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

Serialize this value into the given Serde serializer.

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