Struct Sim3 

pub struct Sim3 {
    pub scale: f64,
    pub rotation: Quat,
    pub translation: Vec3,
}

Similarity transform new_from_old: X_new = s·R·X_old + t.

Fields

scale: f64

Scale s.

rotation: Quat

Rotation R.

translation: Vec3

Translation t.

Implementations

impl Sim3

pub fn identity() -> Self

Identity transform.

pub fn new(scale: f64, rotation: Quat, translation: Vec3) -> Self

Creates from (s, R, t).

pub fn matrix(&self) -> Mat3x4

[sR | t].

pub fn from_matrix(m: &Mat3x4) -> Self

[sR | t] -> Sim3. s = norm of the first column, R = upper-left 3×3 / s.

pub fn transform_point(&self, p: &Vec3) -> Vec3

X_new = s·R·X_old + t.

pub fn inverse(&self) -> Self

Inverse transform: s’ = 1/s, R’ = Rᵀ, t’ = −Rᵀ t / s.

pub fn compose(&self, rhs: &Sim3) -> Sim3

Composition self ∘ rhs.

pub fn transform_pose(&self, world_to_cam: &Rigid3) -> Rigid3

Applies to a pose (world_to_cam or world_to_rig): R’ = R Qᵀ, t’ = s t − R’ T.

Trait Implementations

impl Clone for Sim3

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Sim3

impl Debug for Sim3

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

Formats the value using the given formatter.

impl Default for Sim3

fn default() -> Self

Returns the “default value” for a type.

impl Mul for Sim3

type Output = Sim3

The resulting type after applying the * operator.

fn mul(self, rhs: Sim3) -> Sim3

Performs the * operation.

impl PartialEq for Sim3

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for Sim3