Struct cv_core::WorldPose

pub struct WorldPose(pub Isometry3<f32>);

This contains a world pose, which is a pose of the world relative to the camera. This transforms world points into camera points. These camera points are 3d and the z axis represents the depth. Projecting these points onto the plane at z = 1 will tell you where the points are in normalized image coordinates on the image.

Methods

impl WorldPose

pub fn new(__0: Isometry3<f32>) -> WorldPose

Trait Implementations

impl AsMut<Isometry<f32, U3, Unit<Quaternion<f32>>>> for WorldPose

fn as_mut(&mut self) -> &mut Isometry3<f32>

Performs the conversion.

impl AsRef<Isometry<f32, U3, Unit<Quaternion<f32>>>> for WorldPose

fn as_ref(&self) -> &Isometry3<f32>

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 = Isometry3<f32>

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<f32, U3, Unit<Quaternion<f32>>>> for WorldPose

fn from(original: Isometry3<f32>) -> WorldPose

Performs the conversion.

impl From<WorldPose> for Isometry3<f32>

fn from(original: WorldPose) -> Isometry3<f32>

Performs the conversion.

impl From<WorldPose> for CameraPose

fn from(world: WorldPose) -> Self

Performs the conversion.

impl Model<KeyPointWorldMatch> for WorldPose

fn residual(&self, data: &KeyPointWorldMatch) -> 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 StructuralPartialEq for WorldPose