[−][src]Struct cv_core::WorldPoint
A point in "world" coordinates. This means that the real-world units of the pose are unknown, but the unit of distance and orientation are the same as the current reconstruction.
The reason that the unit of measurement is typically unknown is because if
the whole world is scaled by any factor n
(excluding the camera itself), then
the normalized image coordinates will be exactly same on every frame. Due to this,
the scaling of the world is chosen arbitrarily.
To extract the real scale of the world, a known distance between two WorldPoint
s
must be used to scale the whole world (and all translations between cameras). At
that point, the world will be appropriately scaled. It is recommended not to make
the WorldPoint
in the reconstruction scale to the "correct" scale. This is for
two reasons:
Firstly, because it is possible for scale drift to occur due to the above situation, the further in the view graph you go from the reference measurement, the more the scale will drift from the reference. It would give a false impression that the scale is known globally when it is only known locally if the whole reconstruction was scaled.
Secondly, as the reconstruction progresses, the reference points might get rescaled as optimization of the reconstruction brings everything into global consistency. This means that, while the reference points would be initially scaled correctly, any graph optimization might cause them to drift in scale as well.
Please scale your points on-demand. When you need to know a real distance in the reconstruction, please use the closest known refenence in the view graph to scale it appropriately. In the future we will add APIs to utilize references as optimization constraints when a known reference reconstruction is present.
If you must join two reconstructions, please solve for the similarity (rotation, translation and scale) between the two reconstructions using an optimizer. APIs will eventually be added to perform this operation as well.
Trait Implementations
impl AsMut<Matrix<f64, U4, U1, <DefaultAllocator as Allocator<f64, U4, U1>>::Buffer>> for WorldPoint
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impl AsRef<Matrix<f64, U4, U1, <DefaultAllocator as Allocator<f64, U4, U1>>::Buffer>> for WorldPoint
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impl Clone for WorldPoint
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fn clone(&self) -> WorldPoint
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fn clone_from(&mut self, source: &Self)
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impl Copy for WorldPoint
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impl Debug for WorldPoint
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impl Deref for WorldPoint
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type Target = Vector4<f64>
The resulting type after dereferencing.
fn deref(&self) -> &Self::Target
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impl DerefMut for WorldPoint
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impl From<Matrix<f64, U4, U1, <DefaultAllocator as Allocator<f64, U4, U1>>::Buffer>> for WorldPoint
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fn from(original: Vector4<f64>) -> WorldPoint
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impl From<WorldPoint> for Vector4<f64>
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fn from(original: WorldPoint) -> Vector4<f64>
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impl PartialEq<WorldPoint> for WorldPoint
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fn eq(&self, other: &WorldPoint) -> bool
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fn ne(&self, other: &WorldPoint) -> bool
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impl PartialOrd<WorldPoint> for WorldPoint
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fn partial_cmp(&self, other: &WorldPoint) -> Option<Ordering>
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fn lt(&self, other: &WorldPoint) -> bool
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fn le(&self, other: &WorldPoint) -> bool
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fn gt(&self, other: &WorldPoint) -> bool
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fn ge(&self, other: &WorldPoint) -> bool
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impl Projective for WorldPoint
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fn homogeneous(self) -> Vector4<f64>
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fn point(self) -> Option<Point3<f64>>
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fn from_point(point: Point3<f64>) -> Self
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fn bearing(self) -> Unit<Vector3<f64>>
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fn bearing_unnormalized(self) -> Vector3<f64>
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impl StructuralPartialEq for WorldPoint
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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>,