Struct CameraRobotCalibration 

pub struct CameraRobotCalibration {
    pub camera_to_robot: Mat4,
    pub robot_to_camera: Mat4,
    pub intrinsics: CameraIntrinsics,
    pub residual_pixels: f64,
    pub calibration_date: String,
}

Camera-to-robot extrinsic calibration (a rigid-body transform).

Fields

camera_to_robot: Mat4

Transform from camera frame to robot base frame.

robot_to_camera: Mat4

Transform from robot base frame to camera frame.

intrinsics: CameraIntrinsics

Camera intrinsics.

residual_pixels: f64

Calibration residual (reprojection error in pixels).

calibration_date: String

Calibration date (ISO 8601 string, informational).

Implementations

impl CameraRobotCalibration

pub fn identity(intrinsics: CameraIntrinsics) -> Self

Construct a calibration with identity transform.

pub fn camera_to_robot_point(&self, p: Vec3) -> Vec3

Transform a 3-D point from camera frame to robot base frame.

pub fn robot_to_camera_point(&self, p: Vec3) -> Vec3

Transform a 3-D point from robot base frame to camera frame.

Trait Implementations

impl Clone for CameraRobotCalibration

fn clone(&self) -> CameraRobotCalibration

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for CameraRobotCalibration

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

Formats the value using the given formatter.