public readonly V3d Translation; // cam 2 world was chosen, so that it can be easily read
// while debugging
public CameraExtrinsics(M33d cam2worldRotation, V3d cam2worldTranslation)
{
var zero = cam2worldRotation * cam2worldRotation.Transposed - M33d.Identity;
if (zero.NormMax > 1e6)
{
throw new ArgumentException("supplied matrix is not a rotation");
}
if (cam2worldRotation.Determinant() < 0.0)
{
throw new ArgumentException("supplied rotation is improper (mirroring)");
}
Rotation = cam2worldRotation;
Translation = cam2worldTranslation;
}
