Struct Image

pub struct Image {
    pub image_id: u32,
    pub quaternion: [f64; 4],
    pub translation: [f64; 3],
    pub camera_id: u32,
    pub file_name: CString,
}

A COLMAP image.

Fields

image_id: u32

Image ID.

quaternion: [f64; 4]

A normalized Hamiltonian quaternion.

It represents the rotation from world space to view space.

It is in scalar-first order, i.e., [w, x, y, z].

translation: [f64; 3]

Translation in view space.

camera_id: u32

Camera ID.

file_name: CString

Image file name.

Implementations

impl Image

pub const fn position(&self, rotation: &[[f64; 3]; 3]) -> [f64; 3]

Return the 3D position in world space.

It takes the 3D rotation from world space to view space, i.e., Self::rotation.

Formula

Consider that 0 = Self::rotation * Self::position + Self::translation.

Therefore, Self::position = -Self::rotation^t * Self::translation.

pub const fn rotation(&self) -> [[f64; 3]; 3]

Return the 3D rotation from world space to view space.

It is in column-major order, i.e., M[col][row].

Trait Implementations

impl Clone for Image

fn clone(&self) -> Image

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Image

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

Formats the value using the given formatter.

impl Decoder for Image

type Err = Error

Error during decoding.

fn decode(reader: &mut impl Read) -> Result<Image, <Image as Decoder>::Err>

Decoding from the reader.

impl Default for Image

fn default() -> Image

Returns the “default value” for a type.

impl Encoder for Image

type Err = Error

Error type.

fn encode(&self, writer: &mut impl Write) -> Result<(), <Image as Encoder>::Err>

Encode bytes to the writer.

impl PartialEq for Image

fn eq(&self, other: &Image) -> 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 StructuralPartialEq for Image