Struct CameraToCamera

pub struct CameraToCamera(pub IsometryMatrix3<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.

Tuple Fields

0: IsometryMatrix3<f64>

Trait Implementations

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

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 CameraToCamera

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

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

impl Clone for CameraToCamera

fn clone(&self) -> CameraToCamera

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for CameraToCamera

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

Formats the value using the given formatter.

impl From<CameraToCamera> for IsometryMatrix3<f64>

fn from(original: CameraToCamera) -> Self

Converts to this type from the input type.

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

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

Converts to this type from the input type.

impl PartialEq for CameraToCamera

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

type InputPoint = CameraPoint

type OutputPoint = CameraPoint

type Inverse = CameraToCamera

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 CameraToCamera

impl StructuralPartialEq for CameraToCamera