se3_ops.hpp File Reference

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Functions
Matrix3D	skew (const Vector3D &v)
Vector3D	deltaR (const Matrix3D &R)
Vector2D	project (const Vector3D &v)
Vector3D	project (const Vector4D &v)
Vector3D	unproject (const Vector2D &v)
Vector4D	unproject (const Vector3D &v)

Function Documentation

Vector3D deltaR

(

const Matrix3D &

R

)

Definition at line 40 of file se3_ops.hpp.

  {
    Vector3D v;
    v(0)=R(2,1)-R(1,2);
    v(1)=R(0,2)-R(2,0);
    v(2)=R(1,0)-R(0,1);
    return v;
  }

Vector2D project

(

const Vector3D &

v

)

Definition at line 49 of file se3_ops.hpp.

  {
    Vector2D res;
    res(0) = v(0)/v(2);
    res(1) = v(1)/v(2);
    return res;
  }

Vector3D project

(

const Vector4D &

v

)

Definition at line 57 of file se3_ops.hpp.

  {
    Vector3D res;
    res(0) = v(0)/v(3);
    res(1) = v(1)/v(3);
    res(2) = v(2)/v(3);
    return res;
  }

Matrix3D skew

(

const Vector3D &

v

)

Definition at line 27 of file se3_ops.hpp.

  {
    Matrix3D m;
    m.fill(0.);
    m(0,1)  = -v(2);
    m(0,2)  =  v(1);
    m(1,2)  = -v(0);
    m(1,0)  =  v(2);
    m(2,0) = -v(1);
    m(2,1) = v(0);
    return m;
  }

Vector3D unproject

(

const Vector2D &

v

)

Definition at line 66 of file se3_ops.hpp.

  {
    Vector3D res;
    res(0) = v(0);
    res(1) = v(1);
    res(2) = 1;
    return res;
  }

Vector4D unproject

(

const Vector3D &

v

)

Definition at line 75 of file se3_ops.hpp.

  {
    Vector4D res;
    res(0) = v(0);
    res(1) = v(1);
    res(2) = v(2);
    res(3) = 1;
    return res;
  }