Struct CameraToWorld

pub struct CameraToWorld(pub IsometryMatrix3<f64>);

This contains a camera pose, which is a pose of the camera relative to the world. This transforms camera points (with depth as z) into world coordinates. This also tells you where the camera is located and oriented in the world.

Tuple Fields

0: IsometryMatrix3<f64>

Trait Implementations

impl AsMut<Isometry<f64, U3, Rotation<f64, U3>>> for CameraToWorld

fn as_mut(&mut self) -> &mut IsometryMatrix3<f64>

Converts this type into a mutable reference of the (usually inferred) input type.

impl AsRef<Isometry<f64, U3, Rotation<f64, U3>>> for CameraToWorld

fn as_ref(&self) -> &IsometryMatrix3<f64>

Converts this type into a shared reference of the (usually inferred) input type.

impl Clone for CameraToWorld

fn clone(&self) -> CameraToWorld

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for CameraToWorld

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

Formats the value using the given formatter.

impl From<CameraToWorld> for IsometryMatrix3<f64>

fn from(original: CameraToWorld) -> Self

Converts to this type from the input type.

impl From<Isometry<f64, U3, Rotation<f64, U3>>> for CameraToWorld

fn from(original: IsometryMatrix3<f64>) -> CameraToWorld

Converts to this type from the input type.

impl PartialEq for CameraToWorld

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

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Pose for CameraToWorld

type InputPoint = CameraPoint

type OutputPoint = WorldPoint

type Inverse = WorldToCamera

fn isometry(self) -> IsometryMatrix3<f64>

Retrieve the isometry.

fn identity() -> Self

Creates a pose with no change in position or orientation.

fn inverse(self) -> Self::Inverse

Takes the inverse of the pose.

fn scale(self, scale: f64) -> Self

Applies a scale factor to the pose (scales the translation component)

fn from_parts(translation: Vector3<f64>, rotation: Rotation3<f64>) -> Self

Create the pose from rotation and translation.

fn homogeneous(self) -> Matrix4<f64>

Retrieve the homogeneous matrix.

fn se3(self) -> Vector6<f64>

Retrieve the se(3) representation of the pose.

fn from_se3(se3: Vector6<f64>) -> Self

Set the se(3) representation of the pose.

fn transform_jacobians( self, input: Self::InputPoint, ) -> (Self::OutputPoint, Matrix4<f64>, Matrix4x6<f64>)

Transform the given point to an output point, while also retrieving both Jacobians.

fn transform_jacobian_input( self, input: Self::InputPoint, ) -> (Self::OutputPoint, Matrix4<f64>)

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

fn transform_jacobian_self( self, input: Self::InputPoint, ) -> (Self::OutputPoint, Matrix4x6<f64>)

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

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

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

impl Copy for CameraToWorld

impl StructuralPartialEq for CameraToWorld