Struct p3p::nordberg::Pose

pub struct Pose {
    pub rotation: [f32; 4],
    pub translation: [f32; 3],
}

Pose of a camera (almost) returned by the solve function. Beware that the result of the solve function isn't exactly the rotation and translation of the camera itself in world coordinates. It is the rotation and translation pair satisfying the equation: $$ \lambda_i \ \bm{y_i} = \bm{R \ x_i} + \bm{t},\quad i \in \{1, 2, 3\} $$

• $\bm{x_i}$ are the 3D point world coordinates.
• $\bm{y_i}$ are the image coordinates $\bm{y_i} \ \text{\textasciitilde} \ (u_i, v_i, 1)$ also sometimes called "bearing vectors".
• $\lambda_i$ are the signed distances from the camera.

The rotation and pose of the camera itself can easily be retrieved knowing that:

$$ \begin{cases} \bm{R_{cam}} = \bm{R^T} \\ \bm{t_{cam}} = \bm{-R_{cam} \ t} \end{cases} $$

Fields

rotation: [f32; 4]

Rotation given as a unit quaternion of the form [x, y, z, w] where the real coefficient is the last one.

translation: [f32; 3]

Translation.

Trait Implementations

impl Clone for Pose

fn clone(&self) -> Pose

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for Pose

impl Debug for Pose

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

Formats the value using the given formatter.