Struct cv::CameraToCamera

pub struct CameraToCamera(pub Isometry<f64, U3, Rotation<f64, U3>>);

This contains a relative pose, which is a pose that transforms the CameraPoint of one image into the corresponding CameraPoint of another image. This transforms the point from the camera space of camera A to camera B.

Camera space for a given camera is defined as thus:

• Origin is the optical center
• Positive z axis is forwards
• Positive y axis is up
• Positive x axis is right

Note that this is a left-handed coordinate space.

Trait Implementations

impl AsMut<Isometry<f64, U3, Rotation<f64, U3>>> for CameraToCamera

fn as_mut(&mut self) -> &mut Isometry<f64, U3, Rotation<f64, U3>>

Performs the conversion.

impl AsRef<Isometry<f64, U3, Rotation<f64, U3>>> for CameraToCamera

fn as_ref(&self) -> &Isometry<f64, U3, Rotation<f64, U3>>

Performs the conversion.

impl Clone for CameraToCamera

fn clone(&self) -> CameraToCamera

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for CameraToCamera

impl Debug for CameraToCamera

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

Formats the value using the given formatter.

impl From<CameraToCamera> for Isometry<f64, U3, Rotation<f64, U3>>

fn from(original: CameraToCamera) -> Isometry<f64, U3, Rotation<f64, U3>>

Performs the conversion.

impl From<Isometry<f64, U3, Rotation<f64, U3>>> for CameraToCamera

fn from(original: Isometry<f64, U3, Rotation<f64, U3>>) -> CameraToCamera

Performs the conversion.

impl PartialEq<CameraToCamera> for CameraToCamera

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

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

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

This method tests for !=.

impl Pose for CameraToCamera

type InputPoint = CameraPoint

type OutputPoint = CameraPoint

type Inverse = CameraToCamera

fn isometry(self) -> Isometry<f64, U3, Rotation<f64, U3>>

Retrieve the isometry.

fn identity() -> Self

Creates a pose with no change in position or orientation.

fn inverse(self) -> Self::Inverse

Takes the inverse of the pose.

fn scale(self, scale: f64) -> Self

Applies a scale factor to the pose (scales the translation component)

fn from_parts(
    translation: Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>,
    rotation: Rotation<f64, U3>
) -> Self

Create the pose from rotation and translation.

fn homogeneous(
    self
) -> Matrix<f64, U4, U4, <DefaultAllocator as Allocator<f64, U4, U4>>::Buffer>

Retrieve the homogeneous matrix.

fn se3(
    self
) -> Matrix<f64, U6, U1, <DefaultAllocator as Allocator<f64, U6, U1>>::Buffer>

Retrieve the se(3) representation of the pose.

fn from_se3(
    se3: Matrix<f64, U6, U1, <DefaultAllocator as Allocator<f64, U6, U1>>::Buffer>
) -> Self

Set the se(3) representation of the pose.

fn transform_jacobians(
    self,
    input: Self::InputPoint
) -> (Self::OutputPoint, Matrix<f64, U4, U4, <DefaultAllocator as Allocator<f64, U4, U4>>::Buffer>, Matrix<f64, U4, U6, <DefaultAllocator as Allocator<f64, U4, U6>>::Buffer>)

Transform the given point to an output point, while also retrieving both Jacobians.

fn transform_jacobian_input(
    self,
    input: Self::InputPoint
) -> (Self::OutputPoint, Matrix<f64, U4, U4, <DefaultAllocator as Allocator<f64, U4, U4>>::Buffer>)

Transform the given point to an output point, while also retrieving the input Jacobian.

fn transform_jacobian_self(
    self,
    input: Self::InputPoint
) -> (Self::OutputPoint, Matrix<f64, U4, U6, <DefaultAllocator as Allocator<f64, U4, U6>>::Buffer>)

Transform the given point to an output point, while also retrieving the transform Jacobian.

fn transform(self, input: Self::InputPoint) -> Self::OutputPoint

Transform the given point to an output point, while also retrieving the transform Jacobian.

impl StructuralPartialEq for CameraToCamera