Struct CameraPose 

pub struct CameraPose {
    pub r: [[f64; 3]; 3],
    pub t: [f64; 3],
}

A camera pose represented by a 3×3 rotation matrix R and a translation vector t (3-element array). The camera-to-world transform is: P_world = R P_cam + t.

Fields

r: [[f64; 3]; 3]

3×3 rotation matrix (row-major: R[i] is row i).

t: [f64; 3]

Translation vector [tx, ty, tz] (camera centre in world coordinates).

Implementations

impl CameraPose

pub fn new(r: [[f64; 3]; 3], t: [f64; 3]) -> Self

Create a new camera pose.

pub fn identity() -> Self

Identity pose (camera at world origin, no rotation).

Trait Implementations

impl Clone for CameraPose

fn clone(&self) -> CameraPose

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for CameraPose

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

Formats the value using the given formatter.