Function from_rquat_translation 

pub fn from_rquat_translation<R: RealField + Copy>(
    rquat: UnitQuaternion<R>,
    translation: Point3<R>,
) -> ExtrinsicParameters<R>

Creates extrinsic parameters from a rotation quaternion and translation vector.

This function constructs camera extrinsic parameters from a rotation represented as a unit quaternion and a translation vector. This is a common parameterization used in robotics and SLAM applications.

Mathematical Details

The relationship between camera center C and translation vector t is:

t = -R * C
C = -R^T * t

where R is the rotation matrix corresponding to rquat.

Arguments

• rquat - Unit quaternion representing the camera rotation
• translation - Translation vector from world origin to camera position

Returns

ExtrinsicParameters constructed from the rotation and translation

Example

use braid_mvg::extrinsics::from_rquat_translation;
use nalgebra::{UnitQuaternion, Point3, Vector3};

let rotation = UnitQuaternion::from_axis_angle(&Vector3::z_axis(), 0.5);
let translation = Point3::new(1.0, 2.0, 3.0);

let extrinsics = from_rquat_translation(rotation, translation);