Struct cv::WorldToCamera

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

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.

Trait Implementations

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

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

Performs the conversion.

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

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

Performs the conversion.

impl Clone for WorldToCamera

fn clone(&self) -> WorldToCamera

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for WorldToCamera

impl Debug for WorldToCamera

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

Formats the value using the given formatter.

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

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

Performs the conversion.

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

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

Performs the conversion.

impl<P> Model<FeatureWorldMatch<P>> for WorldToCamera where
    P: Bearing, 

fn residual(&self, data: &FeatureWorldMatch<P>) -> f64

Note that the residual error is returned as a 64-bit float. This allows the residual to be used for things other than sample consensus, such as optimization problems. For sample consensus, the residual should only be used to ensure it is within a threshold that roughly distinguishes inliers from outliers.

impl PartialEq<WorldToCamera> for WorldToCamera

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

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

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

This method tests for !=.

impl Pose for WorldToCamera

type InputPoint = WorldPoint

type OutputPoint = CameraPoint

type Inverse = CameraToWorld

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 WorldToCamera