[−][src]Trait cv::Pose
Associated Types
type InputPoint
type OutputPoint
Required methods
fn transform_jacobians(
&self,
input: Self::InputPoint
) -> (Self::OutputPoint, Matrix<f64, U3, U3, <DefaultAllocator as Allocator<f64, U3, U3>>::Buffer>, Matrix<f64, U6, U3, <DefaultAllocator as Allocator<f64, U6, U3>>::Buffer>)
&self,
input: Self::InputPoint
) -> (Self::OutputPoint, Matrix<f64, U3, U3, <DefaultAllocator as Allocator<f64, U3, U3>>::Buffer>, Matrix<f64, U6, U3, <DefaultAllocator as Allocator<f64, U6, U3>>::Buffer>)
Transform the given point to an output point, while also retrieving both Jacobians.
The following things are returned in this order:
- The output point of the transformation
- The Jacobian of the output in respect to the input point
- The Jacobian of the output in respect to the pose in se(3) (with translation components before so(3) components)
fn update(
&mut self,
delta: Matrix<f64, U6, U1, <DefaultAllocator as Allocator<f64, U6, U1>>::Buffer>
)
&mut self,
delta: Matrix<f64, U6, U1, <DefaultAllocator as Allocator<f64, U6, U1>>::Buffer>
)
Updates the pose by applying a delta to its se(3) representation.
Provided methods
fn transform_jacobian_input(
&self,
input: Self::InputPoint
) -> (Self::OutputPoint, Matrix<f64, U3, U3, <DefaultAllocator as Allocator<f64, U3, U3>>::Buffer>)
&self,
input: Self::InputPoint
) -> (Self::OutputPoint, Matrix<f64, U3, U3, <DefaultAllocator as Allocator<f64, U3, U3>>::Buffer>)
Transform the given point to an output point, while also retrieving the input Jacobian.
The following things are returned in this order:
- The output point of the transformation
- The Jacobian of the output in respect to the input point
fn transform_jacobian_pose(
&self,
input: Self::InputPoint
) -> (Self::OutputPoint, Matrix<f64, U6, U3, <DefaultAllocator as Allocator<f64, U6, U3>>::Buffer>)
&self,
input: Self::InputPoint
) -> (Self::OutputPoint, Matrix<f64, U6, U3, <DefaultAllocator as Allocator<f64, U6, U3>>::Buffer>)
Transform the given point to an output point, while also retrieving the transform Jacobian.
The following things are returned in this order:
- The output point of the transformation
- The Jacobian of the output in respect to the pose in se(3) (with translation components before so(3) components)
fn transform(&self, input: Self::InputPoint) -> Self::OutputPoint
Transform the given point to an output point, while also retrieving the transform Jacobian.
The following things are returned in this order:
- The output point of the transformation
- The Jacobian of the output in respect to the pose in se(3) (with translation components before so(3) components)
Implementors
impl Pose for CameraPose
[src]
type InputPoint = CameraPoint
type OutputPoint = WorldPoint
fn transform_jacobians(
&self,
input: <CameraPose as Pose>::InputPoint
) -> (<CameraPose as Pose>::OutputPoint, Matrix<f64, U3, U3, <DefaultAllocator as Allocator<f64, U3, U3>>::Buffer>, Matrix<f64, U6, U3, <DefaultAllocator as Allocator<f64, U6, U3>>::Buffer>)
[src]
&self,
input: <CameraPose as Pose>::InputPoint
) -> (<CameraPose as Pose>::OutputPoint, Matrix<f64, U3, U3, <DefaultAllocator as Allocator<f64, U3, U3>>::Buffer>, Matrix<f64, U6, U3, <DefaultAllocator as Allocator<f64, U6, U3>>::Buffer>)
fn update(
&mut self,
delta: Matrix<f64, U6, U1, <DefaultAllocator as Allocator<f64, U6, U1>>::Buffer>
)
[src]
&mut self,
delta: Matrix<f64, U6, U1, <DefaultAllocator as Allocator<f64, U6, U1>>::Buffer>
)
impl Pose for RelativeCameraPose
[src]
type InputPoint = CameraPoint
type OutputPoint = CameraPoint
fn transform_jacobians(
&self,
input: <RelativeCameraPose as Pose>::InputPoint
) -> (<RelativeCameraPose as Pose>::OutputPoint, Matrix<f64, U3, U3, <DefaultAllocator as Allocator<f64, U3, U3>>::Buffer>, Matrix<f64, U6, U3, <DefaultAllocator as Allocator<f64, U6, U3>>::Buffer>)
[src]
&self,
input: <RelativeCameraPose as Pose>::InputPoint
) -> (<RelativeCameraPose as Pose>::OutputPoint, Matrix<f64, U3, U3, <DefaultAllocator as Allocator<f64, U3, U3>>::Buffer>, Matrix<f64, U6, U3, <DefaultAllocator as Allocator<f64, U6, U3>>::Buffer>)
fn update(
&mut self,
delta: Matrix<f64, U6, U1, <DefaultAllocator as Allocator<f64, U6, U1>>::Buffer>
)
[src]
&mut self,
delta: Matrix<f64, U6, U1, <DefaultAllocator as Allocator<f64, U6, U1>>::Buffer>
)
impl Pose for WorldPose
[src]
type InputPoint = WorldPoint
type OutputPoint = CameraPoint
fn transform_jacobians(
&self,
input: <WorldPose as Pose>::InputPoint
) -> (<WorldPose as Pose>::OutputPoint, Matrix<f64, U3, U3, <DefaultAllocator as Allocator<f64, U3, U3>>::Buffer>, Matrix<f64, U6, U3, <DefaultAllocator as Allocator<f64, U6, U3>>::Buffer>)
[src]
&self,
input: <WorldPose as Pose>::InputPoint
) -> (<WorldPose as Pose>::OutputPoint, Matrix<f64, U3, U3, <DefaultAllocator as Allocator<f64, U3, U3>>::Buffer>, Matrix<f64, U6, U3, <DefaultAllocator as Allocator<f64, U6, U3>>::Buffer>)
fn update(
&mut self,
delta: Matrix<f64, U6, U1, <DefaultAllocator as Allocator<f64, U6, U1>>::Buffer>
)
[src]
&mut self,
delta: Matrix<f64, U6, U1, <DefaultAllocator as Allocator<f64, U6, U1>>::Buffer>
)