Struct cv_core::WorldPose

pub struct WorldPose(pub IsometryMatrix3<f64>);

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.

Implementations

impl WorldPose

pub fn from_parts(rotation: Rotation3<f64>, translation: Vector3<f64>) -> Self

Create the pose from rotation and translation.

pub fn identity() -> Self

Trait Implementations

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

fn as_mut(&mut self) -> &mut IsometryMatrix3<f64>

Performs the conversion.

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

fn as_ref(&self) -> &IsometryMatrix3<f64>

Performs the conversion.

impl Clone for WorldPose

fn clone(&self) -> WorldPose

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for WorldPose

impl Debug for WorldPose

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

Formats the value using the given formatter.

impl Deref for WorldPose

type Target = IsometryMatrix3<f64>

The resulting type after dereferencing.

fn deref(&self) -> &Self::Target

Dereferences the value.

impl DerefMut for WorldPose

fn deref_mut(&mut self) -> &mut Self::Target

Mutably dereferences the value.

impl From<CameraPose> for WorldPose

fn from(camera: CameraPose) -> Self

Performs the conversion.

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

fn from(original: IsometryMatrix3<f64>) -> WorldPose

Performs the conversion.

impl From<WorldPose> for IsometryMatrix3<f64>

fn from(original: WorldPose) -> IsometryMatrix3<f64>

Performs the conversion.

impl From<WorldPose> for CameraPose

fn from(world: WorldPose) -> Self

Performs the conversion.

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

fn residual(&self, data: &FeatureWorldMatch<P>) -> f32

Note that the residual error is returned as a 32-bit float. This might be harder to preserve precision with than a 64-bit float, but it will be faster to perform RANSAC if care is taken to avoid round-off error using Kahan's algorithm or using Pairwise summation. If the number of datapoints is small, then there should be little issue with the accumulation of round-off error and 32-bit floats should work without any concern.

impl PartialEq<WorldPose> for WorldPose

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

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

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

This method tests for !=.

impl Pose for WorldPose

type InputPoint = WorldPoint

type OutputPoint = CameraPoint

fn transform_jacobians(
    &self,
    input: Self::InputPoint
) -> (Self::OutputPoint, Matrix3<f64>, Matrix6x3<f64>)

Transform the given point to an output point, while also retrieving both Jacobians.

fn update(&mut self, delta: Vector6<f64>)

Updates the pose by applying a delta to its se(3) representation.

fn transform_jacobian_input(
    &self,
    input: Self::InputPoint
) -> (Self::OutputPoint, Matrix3<f64>)

Transform the given point to an output point, while also retrieving the input Jacobian.

fn transform_jacobian_pose(
    &self,
    input: Self::InputPoint
) -> (Self::OutputPoint, Matrix6x3<f64>)

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 WorldPose