Struct StereoRig 

pub struct StereoRig { /* private fields */ }

Calibrated two-camera stereo geometry.

Implementations

impl StereoRig

pub fn try_new( left: CameraMatrix3, right: CameraMatrix3, pose: RelativePose, ) -> VisionResult<Self>

Creates a rig from left/right intrinsics and the right-camera pose in the left-camera frame (X_right = R X_left + t).

pub const fn left(self) -> CameraMatrix3

Returns the left intrinsic matrix.

pub const fn right(self) -> CameraMatrix3

Returns the right intrinsic matrix.

pub const fn pose(self) -> RelativePose

Returns the right camera pose expressed in the left camera frame.

pub fn baseline(self) -> f64

Returns the absolute baseline length |t|.

Trait Implementations

impl Clone for StereoRig

fn clone(&self) -> StereoRig

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for StereoRig

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

Formats the value using the given formatter.

impl PartialEq for StereoRig

fn eq(&self, other: &StereoRig) -> 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 StereoRig

impl StructuralPartialEq for StereoRig