se3_ops.hpp
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26 
27  Matrix3d skew(const Vector3d&v)
28  {
29  Matrix3d m;
30  m.fill(0.);
31  m(0,1) = -v(2);
32  m(0,2) = v(1);
33  m(1,2) = -v(0);
34  m(1,0) = v(2);
35  m(2,0) = -v(1);
36  m(2,1) = v(0);
37  return m;
38  }
39 
40  Vector3d deltaR(const Matrix3d& R)
41  {
42  Vector3d v;
43  v(0)=R(2,1)-R(1,2);
44  v(1)=R(0,2)-R(2,0);
45  v(2)=R(1,0)-R(0,1);
46  return v;
47  }
48 
49  Vector2d project(const Vector3d& v)
50  {
51  Vector2d res;
52  res(0) = v(0)/v(2);
53  res(1) = v(1)/v(2);
54  return res;
55  }
56 
57  Vector3d project(const Vector4d& v)
58  {
59  Vector3d res;
60  res(0) = v(0)/v(3);
61  res(1) = v(1)/v(3);
62  res(2) = v(2)/v(3);
63  return res;
64  }
65 
66  Vector3d unproject(const Vector2d& v)
67  {
68  Vector3d res;
69  res(0) = v(0);
70  res(1) = v(1);
71  res(2) = 1;
72  return res;
73  }
74 
75  Vector4d unproject(const Vector3d& v)
76  {
77  Vector4d res;
78  res(0) = v(0);
79  res(1) = v(1);
80  res(2) = v(2);
81  res(3) = 1;
82  return res;
83  }
84 
85 
Matrix3d skew(const Vector3d &v)
Definition: se3_ops.hpp:27
Vector3d unproject(const Vector2d &v)
Definition: se3_ops.hpp:66
Vector3d deltaR(const Matrix3d &R)
Definition: se3_ops.hpp:40
Vector2d project(const Vector3d &v)
Definition: se3_ops.hpp:49


orb_slam2_with_maps_odom
Author(s): teng zhang
autogenerated on Fri Sep 25 2020 03:24:47