[−][src]Trait cv::Pose
This trait is implemented by all the different poses in this library:
CameraToWorld
- TransformsCameraPoint
intoWorldPoint
WorldToCamera
- TransformsWorldPoint
intoCameraPoint
CameraToCamera
- TransformsCameraPoint
from one camera intoCameraPoint
for another camera
Associated Types
Loading content...Required methods
Loading content...Provided methods
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: Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>,
rotation: Rotation<f64, U3>
) -> Self
translation: Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>,
rotation: Rotation<f64, U3>
) -> Self
Create the pose from rotation and translation.
fn homogeneous(
self
) -> Matrix<f64, U4, U4, <DefaultAllocator as Allocator<f64, U4, U4>>::Buffer>
self
) -> Matrix<f64, U4, U4, <DefaultAllocator as Allocator<f64, U4, U4>>::Buffer>
Retrieve the homogeneous matrix.
fn se3(
self
) -> Matrix<f64, U6, U1, <DefaultAllocator as Allocator<f64, U6, U1>>::Buffer>
self
) -> Matrix<f64, U6, U1, <DefaultAllocator as Allocator<f64, U6, U1>>::Buffer>
Retrieve the se(3) representation of the pose.
fn from_se3(
se3: Matrix<f64, U6, U1, <DefaultAllocator as Allocator<f64, U6, U1>>::Buffer>
) -> Self
se3: Matrix<f64, U6, U1, <DefaultAllocator as Allocator<f64, U6, U1>>::Buffer>
) -> Self
Set the se(3) representation of the pose.
fn transform_jacobians(
self,
input: Self::InputPoint
) -> (Self::OutputPoint, Matrix<f64, U4, U4, <DefaultAllocator as Allocator<f64, U4, U4>>::Buffer>, Matrix<f64, U4, U6, <DefaultAllocator as Allocator<f64, U4, U6>>::Buffer>)
self,
input: Self::InputPoint
) -> (Self::OutputPoint, Matrix<f64, U4, U4, <DefaultAllocator as Allocator<f64, U4, U4>>::Buffer>, Matrix<f64, U4, U6, <DefaultAllocator as Allocator<f64, U4, U6>>::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 transform_jacobian_input(
self,
input: Self::InputPoint
) -> (Self::OutputPoint, Matrix<f64, U4, U4, <DefaultAllocator as Allocator<f64, U4, U4>>::Buffer>)
self,
input: Self::InputPoint
) -> (Self::OutputPoint, Matrix<f64, U4, U4, <DefaultAllocator as Allocator<f64, U4, U4>>::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_self(
self,
input: Self::InputPoint
) -> (Self::OutputPoint, Matrix<f64, U4, U6, <DefaultAllocator as Allocator<f64, U4, U6>>::Buffer>)
self,
input: Self::InputPoint
) -> (Self::OutputPoint, Matrix<f64, U4, U6, <DefaultAllocator as Allocator<f64, U4, U6>>::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)