Struct Pose 

pub struct Pose {
    pub rotation: Matrix3<f64>,
    pub translation: Vector3<f64>,
}

A 3D pose representing rotation and translation.

Fields

rotation: Matrix3<f64>

3x3 Rotation matrix.

translation: Vector3<f64>

3x1 Translation vector.

Implementations

impl Pose

pub fn new(rotation: Matrix3<f64>, translation: Vector3<f64>) -> Self

Create a new pose.

pub fn project( &self, point: &Vector3<f64>, intrinsics: &CameraIntrinsics, ) -> [f64; 2]

Project a 3D point into the image using this pose and intrinsics.

Trait Implementations

impl Clone for Pose

fn clone(&self) -> Pose

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Pose

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for Pose

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for Pose

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl Copy for Pose