[−][src]Trait cv_core::Pose

pub trait Pose {
    type InputPoint;
    type OutputPoint;
    fn transform_jacobians(
        &self, 
        input: Self::InputPoint
    ) -> (Self::OutputPoint, Matrix3<f64>, Matrix6x3<f64>);

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

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

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

    fn transform(&self, input: Self::InputPoint) -> Self::OutputPoint { ... }
}

Associated Types

type InputPoint

type OutputPoint

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Required methods

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.

The following things are returned in this order:

  • The output point of the transformation
  • The Jacobian of the output in respect to the input point
  • The Jacobian of the output in respect to the pose in se(3) (with translation components before so(3) components)

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

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

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Provided methods

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.

The following things are returned in this order:

  • The output point of the transformation
  • The Jacobian of the output in respect to the input point

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.

The following things are returned in this order:

  • The output point of the transformation
  • The Jacobian of the output in respect to the pose in se(3) (with translation components before so(3) components)

fn transform(&self, input: Self::InputPoint) -> Self::OutputPoint

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

The following things are returned in this order:

  • The output point of the transformation
  • The Jacobian of the output in respect to the pose in se(3) (with translation components before so(3) components)
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Implementors

impl Pose for CameraPose[src]

type InputPoint = CameraPoint

type OutputPoint = WorldPoint

impl Pose for RelativeCameraPose[src]

type InputPoint = CameraPoint

type OutputPoint = CameraPoint

impl Pose for WorldPose[src]

type InputPoint = WorldPoint

type OutputPoint = CameraPoint

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