Struct cv_pinhole::NormalizedKeyPoint

pub struct NormalizedKeyPoint(pub Point2<f64>);

A point in normalized image coordinates. This keypoint has been corrected for distortion and normalized based on the camrea intrinsic matrix. Please note that the intrinsic matrix accounts for the natural focal length and any magnification to the image. Ultimately, the key points must be represented by their position on the camera sensor and normalized to the focal length of the camera.

Implementations

impl NormalizedKeyPoint

pub fn with_depth(self, depth: f64) -> CameraPoint

Conceptually appends a 1.0 component to the normalized keypoint to create a CameraPoint on the virtual image plane and then multiplies the point by depth. This z/depth component must be the depth of the keypoint in the direction the camera is pointing from the camera's optical center.

The depth is computed as the dot product of the unit camera norm with the vector that represents the position delta of the point from the camera.

pub fn with_distance(self, distance: f64) -> CameraPoint

Projects the keypoint out to the CameraPoint that is distance away from the optical center of the camera. This distance is defined as the norm of the vector that represents the position delta of the point from the camera.

pub fn epipolar_point(self) -> CameraPoint

Get the epipolar point as a CameraPoint.

The epipolar point is the point that is formed on the virtual image at a depth 1.0 in front of the camera. For that reason, this is the exact same as calling nkp.with_depth(1.0).

Trait Implementations

impl AsMut<Point<f64, U2>> for NormalizedKeyPoint

fn as_mut(&mut self) -> &mut Point2<f64>

Performs the conversion.

impl AsRef<Point<f64, U2>> for NormalizedKeyPoint

fn as_ref(&self) -> &Point2<f64>

Performs the conversion.

impl Bearing for NormalizedKeyPoint

fn bearing_unnormalized(&self) -> Vector3<f64>

Returns the unnormalized bearing which has direction point towards the direction that the signal entered the camera's center. The magnitude of this vector is unknown. Use this if you are sure that you do not need a normalized bearing. This may be faster.

fn from_bearing_vector(bearing: Vector3<f64>) -> Self

Converts a bearing vector back into this bearing type.

fn bearing(
    &self
) -> Unit<Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>>

Returns a unit vector of the direction that the projection created by the feature projects out of the optical center of the camera. This is defined as the the position delta of the feature from the optical center of the camera.

fn from_bearing_unit_vector(
    bearing: Unit<Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>>
) -> Self

Converts a bearing unit vector back into this bearing type.

impl Clone for NormalizedKeyPoint

fn clone(&self) -> NormalizedKeyPoint

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for NormalizedKeyPoint

impl Debug for NormalizedKeyPoint

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

Formats the value using the given formatter.

impl Deref for NormalizedKeyPoint

type Target = Point2<f64>

The resulting type after dereferencing.

fn deref(&self) -> &Self::Target

Dereferences the value.

impl DerefMut for NormalizedKeyPoint

fn deref_mut(&mut self) -> &mut Self::Target

Mutably dereferences the value.

impl From<CameraPoint> for NormalizedKeyPoint

fn from(CameraPoint: CameraPoint) -> Self

Performs the conversion.

impl From<NormalizedKeyPoint> for Point2<f64>

fn from(original: NormalizedKeyPoint) -> Point2<f64>

Performs the conversion.

impl From<Point<f64, U2>> for NormalizedKeyPoint

fn from(original: Point2<f64>) -> NormalizedKeyPoint

Performs the conversion.

impl PartialEq<NormalizedKeyPoint> for NormalizedKeyPoint

fn eq(&self, other: &NormalizedKeyPoint) -> bool

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

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

This method tests for !=.

impl PartialOrd<NormalizedKeyPoint> for NormalizedKeyPoint

fn partial_cmp(&self, other: &NormalizedKeyPoint) -> Option<Ordering>

This method returns an ordering between self and other values if one exists.

fn lt(&self, other: &NormalizedKeyPoint) -> bool

This method tests less than (for self and other) and is used by the < operator.

fn le(&self, other: &NormalizedKeyPoint) -> bool

This method tests less than or equal to (for self and other) and is used by the <= operator.

fn gt(&self, other: &NormalizedKeyPoint) -> bool

This method tests greater than (for self and other) and is used by the > operator.

fn ge(&self, other: &NormalizedKeyPoint) -> bool

This method tests greater than or equal to (for self and other) and is used by the >= operator.

impl StructuralPartialEq for NormalizedKeyPoint