se3_ops.hpp File Reference

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Functions
Matrix3	skew (const Vector3 &v)
Vector3	deltaR (const Matrix3 &R)
Vector2	project (const Vector3 &v)
Vector3	project (const Vector4 &v)
Vector3	unproject (const Vector2 &v)
Vector4	unproject (const Vector3 &v)

Function Documentation

deltaR()

Vector3 deltaR

(

const Matrix3 &

R

)

Definition at line 39 of file se3_ops.hpp.

                                 {
  Vector3 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;
}

Referenced by g2o::SE3Quat::log().

project() [1/2]

Vector2 project

(

const Vector3 &

v

)

Definition at line 47 of file se3_ops.hpp.

                                  {
  Vector2 res;
  res(0) = v(0) / v(2);
  res(1) = v(1) / v(2);
  return res;
}

Referenced by g2o::EdgeSim3ProjectXYZ::computeError(), and g2o::EdgeInverseSim3ProjectXYZ::computeError().

project() [2/2]

Vector3 project

(

const Vector4 &

v

)

Definition at line 54 of file se3_ops.hpp.

                                  {
  Vector3 res;
  res(0) = v(0) / v(3);
  res(1) = v(1) / v(3);
  res(2) = v(2) / v(3);
  return res;
}

skew()

Matrix3 skew

(

const Vector3 &

v

)

Definition at line 27 of file se3_ops.hpp.

                               {
  Matrix3 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;
}

Referenced by g2o::SE3Quat::adj(), g2o::SE3Quat::exp(), and g2o::SE3Quat::log().

unproject() [1/2]

Vector3 unproject

(

const Vector2 &

v

)

Definition at line 62 of file se3_ops.hpp.

                                    {
  Vector3 res;
  res(0) = v(0);
  res(1) = v(1);
  res(2) = 1;
  return res;
}

unproject() [2/2]

Vector4 unproject

(

const Vector3 &

v

)

Definition at line 70 of file se3_ops.hpp.

                                    {
  Vector4 res;
  res(0) = v(0);
  res(1) = v(1);
  res(2) = v(2);
  res(3) = 1;
  return res;
}