Struct WorldToCamera

pub struct WorldToCamera(pub IsometryMatrix3<f64>);

This contains a world pose, which is a pose of the world relative to the camera. This maps WorldPoint into CameraPoint, changing an absolute position into a vector relative to the camera.

Tuple Fields

0: IsometryMatrix3<f64>

Trait Implementations

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

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 WorldToCamera

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

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

impl Clone for WorldToCamera

fn clone(&self) -> WorldToCamera

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for WorldToCamera

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

Formats the value using the given formatter.

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

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

Converts to this type from the input type.

impl From<WorldToCamera> for IsometryMatrix3<f64>

fn from(original: WorldToCamera) -> Self

Converts to this type from the input type.

impl<P> Model<FeatureWorldMatch<P>> for WorldToCamera

where P: Bearing,

fn residual(&self, data: &FeatureWorldMatch<P>) -> f64

Note that the residual error is returned as a 64-bit float. This allows the residual to be used for things other than sample consensus, such as optimization problems. For sample consensus, the residual should only be used to ensure it is within a threshold that roughly distinguishes inliers from outliers.

impl PartialEq for WorldToCamera

fn eq(&self, other: &WorldToCamera) -> 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 WorldToCamera

type InputPoint = WorldPoint

type OutputPoint = CameraPoint

type Inverse = CameraToWorld

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 WorldToCamera

impl StructuralPartialEq for WorldToCamera