[−][src]Struct cv_core::CameraToCamera
This contains a relative pose, which is a pose that transforms the CameraPoint
of one image into the corresponding CameraPoint
of another image. This transforms
the point from the camera space of camera A
to camera B
.
Camera space for a given camera is defined as thus:
- Origin is the optical center
- Positive z axis is forwards
- Positive y axis is up
- Positive x axis is right
Note that this is a left-handed coordinate space.
Implementations
impl CameraToCamera
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pub fn essential_matrix(&self) -> EssentialMatrix
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Generates an essential matrix corresponding to this relative camera pose.
If a point a
is transformed using Pose::transform
into
a point b
, then the essential matrix returned by this method will
give a residual of approximately 0.0
when you call
essential.residual(&FeatureMatch(a, b))
.
See the documentation of EssentialMatrix
for more information.
Trait Implementations
impl AsMut<Isometry<f64, U3, Rotation<f64, U3>>> for CameraToCamera
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fn as_mut(&mut self) -> &mut IsometryMatrix3<f64>
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impl AsRef<Isometry<f64, U3, Rotation<f64, U3>>> for CameraToCamera
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fn as_ref(&self) -> &IsometryMatrix3<f64>
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impl Clone for CameraToCamera
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fn clone(&self) -> CameraToCamera
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fn clone_from(&mut self, source: &Self)
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impl Copy for CameraToCamera
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impl Debug for CameraToCamera
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impl From<CameraToCamera> for IsometryMatrix3<f64>
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fn from(original: CameraToCamera) -> IsometryMatrix3<f64>
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impl From<Isometry<f64, U3, Rotation<f64, U3>>> for CameraToCamera
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fn from(original: IsometryMatrix3<f64>) -> CameraToCamera
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impl PartialEq<CameraToCamera> for CameraToCamera
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fn eq(&self, other: &CameraToCamera) -> bool
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fn ne(&self, other: &CameraToCamera) -> bool
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impl Pose for CameraToCamera
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type InputPoint = CameraPoint
type OutputPoint = CameraPoint
type Inverse = CameraToCamera
fn isometry(self) -> IsometryMatrix3<f64>
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fn identity() -> Self
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fn inverse(self) -> Self::Inverse
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fn scale(self, scale: f64) -> Self
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fn from_parts(translation: Vector3<f64>, rotation: Rotation3<f64>) -> Self
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fn homogeneous(self) -> Matrix4<f64>
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fn se3(self) -> Vector6<f64>
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fn from_se3(se3: Vector6<f64>) -> Self
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fn transform_jacobians(
self,
input: Self::InputPoint
) -> (Self::OutputPoint, Matrix4<f64>, Matrix6x4<f64>)
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self,
input: Self::InputPoint
) -> (Self::OutputPoint, Matrix4<f64>, Matrix6x4<f64>)
fn transform_jacobian_input(
self,
input: Self::InputPoint
) -> (Self::OutputPoint, Matrix4<f64>)
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self,
input: Self::InputPoint
) -> (Self::OutputPoint, Matrix4<f64>)
fn transform_jacobian_self(
self,
input: Self::InputPoint
) -> (Self::OutputPoint, Matrix6x4<f64>)
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self,
input: Self::InputPoint
) -> (Self::OutputPoint, Matrix6x4<f64>)
fn transform(self, input: Self::InputPoint) -> Self::OutputPoint
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impl StructuralPartialEq for CameraToCamera
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Auto Trait Implementations
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
fn borrow_mut(&mut self) -> &mut T
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impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<T> Scalar for T where
T: PartialEq<T> + Copy + Any + Debug,
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T: PartialEq<T> + Copy + Any + Debug,
fn inlined_clone(&self) -> T
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fn is<T>() -> bool where
T: Scalar,
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T: Scalar,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
SS: SubsetOf<SP>,
fn to_subset(&self) -> Option<SS>
fn is_in_subset(&self) -> bool
fn to_subset_unchecked(&self) -> SS
fn from_subset(element: &SS) -> SP
impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
fn to_owned(&self) -> T
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fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,