[−][src]Struct cv_pinhole::NormalizedKeyPoint
A point in normalized image coordinates. This keypoint has been corrected for distortion and normalized based on the camrea intrinsic matrix. Please note that the intrinsic matrix accounts for the natural focal length and any magnification to the image. Ultimately, the key points must be represented by their position on the camera sensor and normalized to the focal length of the camera.
Implementations
impl NormalizedKeyPoint
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pub fn from_camera_point(point: CameraPoint) -> Option<Self>
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Tries to convert the CameraPoint
into a NormalizedKeyPoint
, but it may fail
in extreme conditions, in which case None
is returned.
pub fn with_depth(self, depth: f64) -> CameraPoint
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Conceptually appends a 1.0
component to the normalized keypoint to create
a CameraPoint
on the virtual image plane and then multiplies
the point by depth
. This z
/depth
component must be the depth of
the keypoint in the direction the camera is pointing from the
camera's optical center.
The depth
is computed as the dot product of the unit camera norm
with the vector that represents the position delta of the point from
the camera.
pub fn with_distance(self, distance: f64) -> CameraPoint
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Projects the keypoint out to the CameraPoint
that is
distance
away from the optical center of the camera. This
distance
is defined as the norm of the vector that represents
the position delta of the point from the camera.
pub fn virtual_image_point(self) -> Point3<f64>
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Get the virtual image point as a Point3
.
The virtual image point is the point that is formed on the virtual image plane at a depth 1.0 in front of the camera.
Trait Implementations
impl AsMut<Point<f64, U2>> for NormalizedKeyPoint
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impl AsRef<Point<f64, U2>> for NormalizedKeyPoint
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impl Bearing for NormalizedKeyPoint
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fn bearing_unnormalized(&self) -> Vector3<f64>
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fn from_bearing_vector(bearing: Vector3<f64>) -> Self
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fn bearing(
&self
) -> Unit<Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>>
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&self
) -> Unit<Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>>
fn from_bearing_unit_vector(
bearing: Unit<Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>>
) -> Self
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bearing: Unit<Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>>
) -> Self
impl Clone for NormalizedKeyPoint
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fn clone(&self) -> NormalizedKeyPoint
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fn clone_from(&mut self, source: &Self)
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impl Copy for NormalizedKeyPoint
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impl Debug for NormalizedKeyPoint
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impl Deref for NormalizedKeyPoint
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type Target = Point2<f64>
The resulting type after dereferencing.
fn deref(&self) -> &Self::Target
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impl DerefMut for NormalizedKeyPoint
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impl From<NormalizedKeyPoint> for Point2<f64>
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fn from(original: NormalizedKeyPoint) -> Point2<f64>
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impl From<Point<f64, U2>> for NormalizedKeyPoint
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fn from(original: Point2<f64>) -> NormalizedKeyPoint
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impl PartialEq<NormalizedKeyPoint> for NormalizedKeyPoint
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fn eq(&self, other: &NormalizedKeyPoint) -> bool
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fn ne(&self, other: &NormalizedKeyPoint) -> bool
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impl PartialOrd<NormalizedKeyPoint> for NormalizedKeyPoint
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fn partial_cmp(&self, other: &NormalizedKeyPoint) -> Option<Ordering>
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fn lt(&self, other: &NormalizedKeyPoint) -> bool
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fn le(&self, other: &NormalizedKeyPoint) -> bool
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fn gt(&self, other: &NormalizedKeyPoint) -> bool
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fn ge(&self, other: &NormalizedKeyPoint) -> bool
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impl StructuralPartialEq for NormalizedKeyPoint
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Auto Trait Implementations
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
fn borrow_mut(&mut self) -> &mut T
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impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<T> Scalar for T where
T: PartialEq<T> + Copy + Any + Debug,
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T: PartialEq<T> + Copy + Any + Debug,
fn inlined_clone(&self) -> T
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fn is<T>() -> bool where
T: Scalar,
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T: Scalar,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
SS: SubsetOf<SP>,
fn to_subset(&self) -> Option<SS>
fn is_in_subset(&self) -> bool
fn to_subset_unchecked(&self) -> SS
fn from_subset(element: &SS) -> SP
impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
fn to_owned(&self) -> T
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fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,