Struct cv_core::CameraToWorld[−][src]

pub struct CameraToWorld(pub IsometryMatrix3<f64>);

Expand description

This contains a camera pose, which is a pose of the camera relative to the world. This transforms camera points (with depth as z) into world coordinates. This also tells you where the camera is located and oriented in the world.

Tuple Fields

0: IsometryMatrix3<f64>

Trait Implementations

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impl AsMut<Isometry<f64, U3, Rotation<f64, U3>>> for CameraToWorld

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fn as_mut(&mut self) -> &mut IsometryMatrix3<f64>

Performs the conversion.

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impl AsRef<Isometry<f64, U3, Rotation<f64, U3>>> for CameraToWorld

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fn as_ref(&self) -> &IsometryMatrix3<f64>

Performs the conversion.

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impl Clone for CameraToWorld

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fn clone(&self) -> CameraToWorld

Returns a copy of the value. Read more

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

Performs copy-assignment from source. Read more

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impl Debug for CameraToWorld

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

Formats the value using the given formatter. Read more

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impl From<CameraToWorld> for IsometryMatrix3<f64>

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fn from(original: CameraToWorld) -> Self

Performs the conversion.

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impl From<Isometry<f64, U3, Rotation<f64, U3>>> for CameraToWorld

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fn from(original: IsometryMatrix3<f64>) -> CameraToWorld

Performs the conversion.

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impl PartialEq<CameraToWorld> for CameraToWorld

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fn eq(&self, other: &CameraToWorld) -> bool

This method tests for self and other values to be equal, and is used by ==. Read more

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fn ne(&self, other: &CameraToWorld) -> bool

This method tests for !=.

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impl Pose for CameraToWorld

type InputPoint = CameraPoint

type OutputPoint = WorldPoint

type Inverse = WorldToCamera

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fn isometry(self) -> IsometryMatrix3<f64>

Retrieve the isometry.

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fn identity() -> Self

Creates a pose with no change in position or orientation.

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fn inverse(self) -> Self::Inverse

Takes the inverse of the pose.

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fn scale(self, scale: f64) -> Self

Applies a scale factor to the pose (scales the translation component)

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fn from_parts(translation: Vector3<f64>, rotation: Rotation3<f64>) -> Self

Create the pose from rotation and translation.

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fn homogeneous(self) -> Matrix4<f64>

Retrieve the homogeneous matrix.

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fn se3(self) -> Vector6<f64>

Retrieve the se(3) representation of the pose.

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fn from_se3(se3: Vector6<f64>) -> Self

Set the se(3) representation of the pose.

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fn transform_jacobians(
self,
input: Self::InputPoint
) -> (Self::OutputPoint, Matrix4<f64>, Matrix4x6<f64>)

Transform the given point to an output point, while also retrieving both Jacobians. Read more

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fn transform_jacobian_input(
self,
input: Self::InputPoint
) -> (Self::OutputPoint, Matrix4<f64>)

Transform the given point to an output point, while also retrieving the input Jacobian. Read more

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fn transform_jacobian_self(
self,
input: Self::InputPoint
) -> (Self::OutputPoint, Matrix4x6<f64>)

Transform the given point to an output point, while also retrieving the transform Jacobian. Read more

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fn transform(self, input: Self::InputPoint) -> Self::OutputPoint

Transform the given point to an output point, while also retrieving the transform Jacobian. Read more

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impl Copy for CameraToWorld

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impl StructuralPartialEq for CameraToWorld

Auto Trait Implementations

impl RefUnwindSafe for CameraToWorld

impl Send for CameraToWorld

impl Sync for CameraToWorld

impl Unpin for CameraToWorld

impl UnwindSafe for CameraToWorld

Blanket Implementations

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impl<T> Any for T where
T: 'static + ?Sized,

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pub fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T where
T: ?Sized,

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pub fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T where
T: ?Sized,

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pub fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> From<T> for T

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pub fn from(t: T) -> T

Performs the conversion.

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impl<T, U> Into for T where
U: From<T>,

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pub fn into(self) -> U

Performs the conversion.

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impl<T> Same<T> for T

type Output = T

Should always be Self

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impl<T> Scalar for T where
T: Copy + PartialEq<T> + Debug + Any,

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pub fn inlined_clone(&self) -> T

Performance hack: Clone doesn’t get inlined for Copy types in debug mode, so make it inline anyway.

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fn is<T>() -> bool where
T: Scalar,

Tests if Self the same as the type T Read more

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impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,

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pub fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

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pub fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

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pub fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

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pub fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

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impl<T> ToOwned for T where
T: Clone,

type Owned = T

The resulting type after obtaining ownership.

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pub fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

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pub fn clone_into(&self, target: &mut T)

🔬 This is a nightly-only experimental API. (toowned_clone_into)

recently added

Uses borrowed data to replace owned data, usually by cloning. Read more

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impl<T, U> TryFrom for T where
U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

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pub fn try_from(value: U) -> Result<T, <T as TryFrom>::Error>

Performs the conversion.

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impl<T, U> TryInto for T where
U: TryFrom<T>,

type Error = >::Error

The type returned in the event of a conversion error.

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pub fn try_into(self) -> Result<U, >::Error>

Performs the conversion.

Struct cv_core::CameraToWorld[−][src]

Tuple Fields

Trait Implementations

impl AsMut<Isometry<f64, U3, Rotation<f64, U3>>> for CameraToWorld

fn as_mut(&mut self) -> &mut IsometryMatrix3<f64>

impl AsRef<Isometry<f64, U3, Rotation<f64, U3>>> for CameraToWorld

fn as_ref(&self) -> &IsometryMatrix3<f64>

impl Clone for CameraToWorld

fn clone(&self) -> CameraToWorld

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

impl Debug for CameraToWorld

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

impl From<CameraToWorld> for IsometryMatrix3<f64>

fn from(original: CameraToWorld) -> Self

impl From<Isometry<f64, U3, Rotation<f64, U3>>> for CameraToWorld

fn from(original: IsometryMatrix3<f64>) -> CameraToWorld

impl PartialEq<CameraToWorld> for CameraToWorld

fn eq(&self, other: &CameraToWorld) -> bool

fn ne(&self, other: &CameraToWorld) -> bool

impl Pose for CameraToWorld

type InputPoint = CameraPoint

type OutputPoint = WorldPoint

type Inverse = WorldToCamera

fn isometry(self) -> IsometryMatrix3<f64>

fn identity() -> Self

fn inverse(self) -> Self::Inverse

fn scale(self, scale: f64) -> Self

fn from_parts(translation: Vector3<f64>, rotation: Rotation3<f64>) -> Self

fn homogeneous(self) -> Matrix4<f64>

fn se3(self) -> Vector6<f64>

fn from_se3(se3: Vector6<f64>) -> Self

fn transform_jacobians( self, input: Self::InputPoint) -> (Self::OutputPoint, Matrix4<f64>, Matrix4x6<f64>)

fn transform_jacobian_input( self, input: Self::InputPoint) -> (Self::OutputPoint, Matrix4<f64>)

fn transform_jacobian_self( self, input: Self::InputPoint) -> (Self::OutputPoint, Matrix4x6<f64>)

fn transform(self, input: Self::InputPoint) -> Self::OutputPoint

impl Copy for CameraToWorld

impl StructuralPartialEq for CameraToWorld

Auto Trait Implementations

impl RefUnwindSafe for CameraToWorld

impl Send for CameraToWorld

impl Sync for CameraToWorld

impl Unpin for CameraToWorld

impl UnwindSafe for CameraToWorld

Blanket Implementations

impl<T> Any for T where T: 'static + ?Sized,

pub fn type_id(&self) -> TypeId

impl<T> Borrow<T> for T where T: ?Sized,

pub fn borrow(&self) -> &T

impl<T> BorrowMut<T> for T where T: ?Sized,

pub fn borrow_mut(&mut self) -> &mut T

impl<T> From<T> for T

pub fn from(t: T) -> T

impl<T, U> Into<U> for T where U: From<T>,

pub fn into(self) -> U

impl<T> Same<T> for T

type Output = T

impl<T> Scalar for T where T: Copy + PartialEq<T> + Debug + Any,

pub fn inlined_clone(&self) -> T

fn is<T>() -> bool where T: Scalar,

impl<SS, SP> SupersetOf<SS> for SP where SS: SubsetOf<SP>,

pub fn to_subset(&self) -> Option<SS>

pub fn is_in_subset(&self) -> bool

pub fn to_subset_unchecked(&self) -> SS

pub fn from_subset(element: &SS) -> SP

impl<T> ToOwned for T where T: Clone,

type Owned = T

pub fn to_owned(&self) -> T

pub fn clone_into(&self, target: &mut T)

impl<T, U> TryFrom<U> for T where U: Into<T>,

type Error = Infallible

pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

impl<T, U> TryInto<U> for T where U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

impl<V, T> VZip<V> for T where V: MultiLane<T>,

pub fn vzip(self) -> V

fn transform_jacobians(
self,
input: Self::InputPoint
) -> (Self::OutputPoint, Matrix4<f64>, Matrix4x6<f64>)

fn transform_jacobian_input(
self,
input: Self::InputPoint
) -> (Self::OutputPoint, Matrix4<f64>)

fn transform_jacobian_self(
self,
input: Self::InputPoint
) -> (Self::OutputPoint, Matrix4x6<f64>)

impl<T> Any for T where
T: 'static + ?Sized,

impl<T> Borrow<T> for T where
T: ?Sized,

impl<T> BorrowMut<T> for T where
T: ?Sized,

impl<T, U> Into<U> for T where
U: From<T>,

impl<T> Scalar for T where
T: Copy + PartialEq<T> + Debug + Any,

fn is<T>() -> bool where
T: Scalar,

impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,

impl<T> ToOwned for T where
T: Clone,

impl<T, U> TryFrom<U> for T where
U: Into<T>,

impl<T, U> TryInto<U> for T where
U: TryFrom<T>,

impl<V, T> VZip<V> for T where
V: MultiLane<T>,