[−][src]Struct cv_core::WorldPose
This contains a world pose, which is a pose of the world relative to the camera.
This maps WorldPoint
into CameraPoint
, changing an absolute position into
a vector relative to the camera.
Methods
impl WorldPose
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pub fn projection_error(
&self,
correspondence: KeyPointWorldMatch
) -> Vector2<f64>
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&self,
correspondence: KeyPointWorldMatch
) -> Vector2<f64>
Computes difference between the image keypoint and the projected keypoint.
pub fn project(&self, point: WorldPoint) -> NormalizedKeyPoint
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Projects the WorldPoint
onto the camera as a NormalizedKeyPoint
.
pub fn transform(&self, WorldPoint: WorldPoint) -> CameraPoint
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Projects the WorldPoint
into camera space as a CameraPoint
.
pub fn projection_pose_jacobian(
&self,
point: WorldPoint
) -> MatrixMN<f64, U7, U2>
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&self,
point: WorldPoint
) -> MatrixMN<f64, U7, U2>
Computes the Jacobian of the projection in respect to the WorldPose
.
The Jacobian is in the format:
| dx/dtx dy/dPx |
| dx/dty dy/dPy |
| dx/dtz dy/dPz |
| dx/dqr dy/dqr |
| dx/dqx dy/dqx |
| dx/dqy dy/dqy |
| dx/dqz dy/dqz |
Where t
refers to the translation vector and q
refers to the unit quaternion.
pub fn to_vec(&self) -> VectorN<f64, U7>
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pub fn from_vec(v: VectorN<f64, U7>) -> Self
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Trait Implementations
impl AsMut<Isometry<f64, U3, Unit<Quaternion<f64>>>> for WorldPose
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impl AsRef<Isometry<f64, U3, Unit<Quaternion<f64>>>> for WorldPose
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impl Clone for WorldPose
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fn clone(&self) -> WorldPose
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fn clone_from(&mut self, source: &Self)
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impl Copy for WorldPose
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impl Debug for WorldPose
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impl Deref for WorldPose
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type Target = Isometry3<f64>
The resulting type after dereferencing.
fn deref(&self) -> &Self::Target
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impl DerefMut for WorldPose
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impl From<CameraPose> for WorldPose
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fn from(camera: CameraPose) -> Self
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impl From<Isometry<f64, U3, Unit<Quaternion<f64>>>> for WorldPose
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impl From<WorldPose> for Isometry3<f64>
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impl From<WorldPose> for CameraPose
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impl Model<KeyPointWorldMatch> for WorldPose
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fn residual(&self, data: &KeyPointWorldMatch) -> f32
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impl PartialEq<WorldPose> for WorldPose
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impl StructuralPartialEq for WorldPose
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Auto Trait Implementations
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> 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<T> Scalar for T where
T: PartialEq<T> + Copy + Any + Debug,
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T: PartialEq<T> + Copy + Any + Debug,
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, 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>,