Struct LambdaTwist

#[non_exhaustive]
pub struct LambdaTwist {
    pub gauss_newton_iterations: usize,
    pub rotation_convergence_iterations: usize,
    pub rotation_convergence_epsilon: f64,
}

The core P3P algorithm named Lambda Twist. Estimates up to 4 potential WorldToCamera poses.

Returns 0 to 4 potential solutions to the equation:

• are the 3D point world coordinates.
• are the image coordinates (also sometimes called “bearing vectors”).
• are the signed distances from the camera.

This struct is marked as #[non_exhaustive] to allow the backwards-compatible addition of new fields.

Fields (Non-exhaustive)

Non-exhaustive structs could have additional fields added in future. Therefore, non-exhaustive structs cannot be constructed in external crates using the traditional Struct { .. } syntax; cannot be matched against without a wildcard ..; and struct update syntax will not work.

gauss_newton_iterations: usize

This determines the number of iterations that Gauss-Newton is ran on the poses to optimize them. The paper notes that it rarely improves after two iterations. The original implementation uses 5 iterations.

rotation_convergence_iterations: usize

This determines the number of iterations to spend converging on a proper rotation matrix.

rotation_convergence_epsilon: f64

The epsilon on which convergence is considered achieved for converging on a proper rotation.

Implementations

impl LambdaTwist

pub fn new() -> Self

Creates a default lambda twist with 5 iterations of Gauss-Newton.

pub fn gauss_newton_iterations(self, gauss_newton_iterations: usize) -> Self

Sets the LambdaTwist::gauss_newton_iterations.

pub fn rotation_convergence_iterations( self, rotation_convergence_iterations: usize, ) -> Self

Sets the LambdaTwist::rotation_convergence_iterations.

pub fn rotation_convergence_epsilon( self, rotation_convergence_epsilon: f64, ) -> Self

Sets the LambdaTwist::rotation_convergence_epsilon.

Trait Implementations

impl Clone for LambdaTwist

fn clone(&self) -> LambdaTwist

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for LambdaTwist

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

Formats the value using the given formatter.

impl Default for LambdaTwist

fn default() -> Self

Returns the “default value” for a type.

impl<P> Estimator<FeatureWorldMatch<P>> for LambdaTwist

where P: Bearing,

const MIN_SAMPLES: usize = 3usize

The minimum number of samples that the estimator can estimate a model from.

type Model = WorldToCamera

Model is the model which is estimated from the underlying data

type ModelIter = ArrayVec<[WorldToCamera; 4]>

Iterator over the models produced from the data.

fn estimate<I>(&self, data: I) -> Self::ModelIter

where I: Iterator<Item = FeatureWorldMatch<P>> + Clone,

Takes in an iterator over the data and produces a model that best fits the data.

impl PartialEq for LambdaTwist

fn eq(&self, other: &LambdaTwist) -> 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 Copy for LambdaTwist

impl StructuralPartialEq for LambdaTwist