se3_ops.hpp

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// g2o - General Graph Optimization
// Copyright (C) 2011 H. Strasdat
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
// met:
//
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//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
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  Matrix3D skew(const Vector3D&v)
  {
    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 deltaR(const Matrix3D& R)
  {
    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)
  {
    Vector2D res;
    res(0) = v(0)/v(2);
    res(1) = v(1)/v(2);
    return res;
  }

  Vector3D project(const Vector4D& v)
  {
    Vector3D res;
    res(0) = v(0)/v(3);
    res(1) = v(1)/v(3);
    res(2) = v(2)/v(3);
    return res;
  }

  Vector3D unproject(const Vector2D& v)
  {
    Vector3D res;
    res(0) = v(0);
    res(1) = v(1);
    res(2) = 1;
    return res;
  }

  Vector4D unproject(const Vector3D& v)
  {
    Vector4D res;
    res(0) = v(0);
    res(1) = v(1);
    res(2) = v(2);
    res(3) = 1;
    return res;
  }