[−][src]Struct cam_geom::ExtrinsicParameters
Defines the pose of a camera in the world coordinate system.
Methods
impl<R: RealField> ExtrinsicParameters<R>
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pub fn from_rotation_and_camcenter(
rotation: UnitQuaternion<R>,
camcenter: Point3<R>
) -> Self
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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
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Create a new instance from an nalgebra::Isometry3
.
pub fn from_view(
camcenter: &Vector3<R>,
lookat: &Vector3<R>,
up: &Unit<Vector3<R>>
) -> Self
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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>
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Return the camera center
pub fn pose(&self) -> &Isometry3<R>
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Return the camera pose
pub fn matrix(&self) -> &MatrixMN<R, U3, U4>
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Return the pose as a 3x4 matrix
pub fn rotation(&self) -> &Rotation3<R>
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Return the rotation part of the pose
pub fn translation(&self) -> &Point3<R>
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Return the translation part of the pose
pub fn forward(&self) -> Unit<Vector3<R>>
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Return a unit vector aligned along our look (+Z) direction.
pub fn up(&self) -> Unit<Vector3<R>>
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Return a unit vector aligned along our up (-Y) direction.
pub fn right(&self) -> Unit<Vector3<R>>
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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>,
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&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>,
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&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>,
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&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>
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fn clone(&self) -> ExtrinsicParameters<R>
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fn clone_from(&mut self, source: &Self)
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impl<R: RealField> Debug for ExtrinsicParameters<R>
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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>,
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D: Deserializer<'de>,
impl<R: PartialEq + RealField> PartialEq<ExtrinsicParameters<R>> for ExtrinsicParameters<R>
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fn eq(&self, other: &ExtrinsicParameters<R>) -> bool
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fn ne(&self, other: &ExtrinsicParameters<R>) -> bool
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impl<R: RealField> Serialize for ExtrinsicParameters<R> where
R: Serialize,
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R: Serialize,
fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error> where
__S: Serializer,
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__S: Serializer,
impl<R: RealField> StructuralPartialEq for ExtrinsicParameters<R>
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Auto Trait Implementations
impl<R> RefUnwindSafe for ExtrinsicParameters<R> where
R: RefUnwindSafe + Scalar,
R: RefUnwindSafe + Scalar,
impl<R> Send for ExtrinsicParameters<R> where
R: Scalar,
R: Scalar,
impl<R> Sync for ExtrinsicParameters<R> where
R: Scalar,
R: Scalar,
impl<R> Unpin for ExtrinsicParameters<R> where
R: Scalar + Unpin,
R: Scalar + Unpin,
impl<R> UnwindSafe for ExtrinsicParameters<R> where
R: Scalar + UnwindSafe,
R: Scalar + UnwindSafe,
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
fn borrow_mut(&mut self) -> &mut T
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impl<T> DeserializeOwned for T where
T: Deserialize<'de>,
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T: Deserialize<'de>,
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
SS: SubsetOf<SP>,
fn to_subset(&self) -> Option<SS>
fn is_in_subset(&self) -> bool
unsafe fn to_subset_unchecked(&self) -> SS
fn from_subset(element: &SS) -> SP
impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
fn to_owned(&self) -> T
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fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,