Struct cv::CameraToWorld

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

This contains a camera pose, which is a pose of the camera relative to the world. This transforms camera points (with depth as z) into world coordinates. This also tells you where the camera is located and oriented in the world.

Trait Implementations

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

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

Performs the conversion.

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

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

Performs the conversion.

impl Clone for CameraToWorld

fn clone(&self) -> CameraToWorld

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for CameraToWorld

impl Debug for CameraToWorld

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

Formats the value using the given formatter.

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

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

Performs the conversion.

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

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

Performs the conversion.

impl PartialEq<CameraToWorld> for CameraToWorld

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

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

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

This method tests for !=.

impl Pose for CameraToWorld

type InputPoint = CameraPoint

type OutputPoint = WorldPoint

type Inverse = WorldToCamera

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 CameraToWorld