Struct cv_core::RelativeCameraPose

pub struct RelativeCameraPose(pub Isometry3<f64>);

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.

Methods

impl RelativeCameraPose

pub fn transform(&self, CameraPoint: CameraPoint) -> CameraPoint

The relative pose transforms the point in camera space from camera A to camera B.

pub fn essential_matrix(&self) -> EssentialMatrix

Generates an essential matrix corresponding to this relative camera pose.

If a point a is transformed using RelativeCameraPose::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(&KeyPointsMatch(a.into(), b.into())).

See the documentation of EssentialMatrix for more information.

let pose = RelativeCameraPose(Isometry3::from_parts(
    Vector3::new(0.3, 0.4, 0.5).into(),
    UnitQuaternion::from_euler_angles(0.2, 0.3, 0.4),
));
let a = CameraPoint(Point3::new(0.5, 0.5, 3.0));
let b = pose.transform(a);
assert!(pose.essential_matrix().residual(&KeyPointsMatch(a.into(), b.into())) < 1e-6);

Trait Implementations

impl AsMut<Isometry<f64, U3, Unit<Quaternion<f64>>>> for RelativeCameraPose

fn as_mut(&mut self) -> &mut Isometry3<f64>

Performs the conversion.

impl AsRef<Isometry<f64, U3, Unit<Quaternion<f64>>>> for RelativeCameraPose

fn as_ref(&self) -> &Isometry3<f64>

Performs the conversion.

impl Clone for RelativeCameraPose

fn clone(&self) -> RelativeCameraPose

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for RelativeCameraPose

impl Debug for RelativeCameraPose

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

Formats the value using the given formatter.

impl Deref for RelativeCameraPose

type Target = Isometry3<f64>

The resulting type after dereferencing.

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

Dereferences the value.

impl DerefMut for RelativeCameraPose

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

Mutably dereferences the value.

impl From<Isometry<f64, U3, Unit<Quaternion<f64>>>> for RelativeCameraPose

fn from(original: Isometry3<f64>) -> RelativeCameraPose

Performs the conversion.

impl From<RelativeCameraPose> for Isometry3<f64>

fn from(original: RelativeCameraPose) -> Isometry3<f64>

Performs the conversion.

impl PartialEq<RelativeCameraPose> for RelativeCameraPose

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

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

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

This method tests for !=.

impl StructuralPartialEq for RelativeCameraPose