Struct TwoViewGeometry 

pub struct TwoViewGeometry {
    pub config: TwoViewGeometryConfig,
    pub e: Option<Mat3>,
    pub f: Option<Mat3>,
    pub h: Option<Mat3>,
    pub cam1_to_cam2: Option<Rigid3>,
    pub inlier_matches: Vec<FeatureMatch>,
    pub tri_angle: Option<f64>,
}

Two-view geometry of one pair. Matrices are in the “image1 -> image2” direction (x2ᵀ F x1 = 0, x2 ~ H x1).

Fields

config: TwoViewGeometryConfig

Configuration kind.

e: Option<Mat3>

Essential matrix E.

f: Option<Mat3>

Fundamental matrix F.

h: Option<Mat3>

Homography H.

cam1_to_cam2: Option<Rigid3>

Relative pose (image1 camera -> image2 camera).

inlier_matches: Vec<FeatureMatch>

Inlier matches.

tri_angle: Option<f64>

Median triangulation angle (radians). Auxiliary information that is not stored.

Implementations

impl TwoViewGeometry

pub fn inverted(&self) -> Self

Direction reversal: F -> Fᵀ, E -> Eᵀ, H -> H⁻¹, pose -> inverse, inlier columns swapped.

pub fn invert(&mut self)

In-place direction reversal (see inverted).

Trait Implementations

impl Clone for TwoViewGeometry

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for TwoViewGeometry

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

Formats the value using the given formatter.

impl Default for TwoViewGeometry

fn default() -> Self

Returns the “default value” for a type.

impl PartialEq for TwoViewGeometry

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for TwoViewGeometry