SE3_< Precision > Class Template Reference

Represent a three-dimensional Euclidean transformation (a rotation and a translation). More...

Public Types
typedef Point3_< Precision >	Vec3

Public Member Functions
	SE3_ (const Precision &x, const Precision &y, const Precision &z, const Precision &wx, const Precision &wy, const Precision &wz, const Precision &w)
	SE3_ (const SO3_< Precision > &r, const Vec3 &t)
template<typename Scalar >
	operator SE3_< Scalar > ()
SO3_< Precision > &	get_rotation ()
	Returns the rotation part of the transformation as a SO3.
const SO3_< Precision > &	get_rotation () const
Vec3 &	get_translation ()
	Returns the translation part of the transformation as a Vector.
const Vec3 &	get_translation () const
SE3_	inverse () const
template<typename P >
SE3_ &	operator*= (const SE3_< P > &rhs)
	Right-multiply by another SE3 (concatenate the two transformations) More...
template<typename P >
SE3_	operator* (const SE3_< P > &rhs) const
template<typename P >
bool	operator< (const SE3_< P > &rhs) const
void	fromMatrix (const Precision *m)
	R is described as follow, M is a 4*4 Homography matrix |r0 r1 r2| |r3 r4 r5| |r6 r7 r8|.
void	getMatrix (Precision *m) const
Vector< Precision, 6 >	log () const
Vector< Precision, 6 >	ln () const
SO3_< Precision >	getRotation () const
Point3_< Precision >	getTranslation () const
void	setRotation (SO3_< Precision > R)
void	setTranslation (Point3_< Precision > t)
SE3_	mul (const SE3_ &rq) const
Point3_< Precision >	trans (const Point3_< Precision > &p) const
std::string	toString () const

Static Public Member Functions
template<typename Scalar >
static SE3_< Scalar >	exp (const Vector< Scalar, 6 > &l)
template<typename Scalar >
static SE3_< Scalar >	expFast (const Vector< Scalar, 6 > &l)

Protected Attributes
SO3_< Precision >	my_rotation
Vec3	my_translation

Related Functions
(Note that these are not member functions.)
Vec3	operator* (const SE3_< Precision > &lhs, const Vec3 &rhs)
	Right-multiply by a Vector. More...
std::ostream &	operator<< (std::ostream &os, const SE3_ &rhs)
	Write an SE3 to a stream. More...
std::istream &	operator>> (std::istream &is, SE3_ &rhs)
	Write an SE3 from a stream. More...

Detailed Description

template<class Precision = double>
class GSLAM::SE3_< Precision >

Represent a three-dimensional Euclidean transformation (a rotation and a translation).

| r00 r01 r02 t0 | M = | R T |= | r10 r11 r12 t1 | = | Rx Ry Rz T | | 0 1 | | r20 r21 r22 t2 | | 0 0 0 1 | | 0 0 0 1 | Here R=(Rx,Ry,Rz) is the rotation , T=(x,y,z)^T is the translation.

For the matrix M (only if the matrix means a camera to world transform): Rx means the direction of X axis; Ry means the direction of Y axis; Rz means the direction of Z axis; T means the translation of this coordinate.

The coordinates of point P=(X,Y,Z)^T in this coordinate can be computed by left-multiply the matrix M:

SE3<double> C2W;  // Camera to world SE3
Point3d P_cam(1,2,3); // Coordinates in the camera coordinate
cout<<"Coordinates in the world coordinate:"<<C2W*P_cam<<endl;

SE3<double> W2C=C2W.inv(); // It also can present a world to camera transform
Point3d P_w(4,5,6); // A point in the world
cout<<"The coodinates in the camera is "<<W2C*P_w;

It should be noticed that when a SE3 is representing the world-to-camera transform, the function get_translation() does not acqually return the translation.

Member Function Documentation

const SO3_<Precision>& get_rotation

(

)

const

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

const Vec3& get_translation

(

)

const

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

SE3_& operator*=

(

const SE3_< P > &

rhs

)

Right-multiply by another SE3 (concatenate the two transformations)

Parameters

rhs	The multipier

References SE3_< Precision >::get_rotation(), and SE3_< Precision >::get_translation().

Friends And Related Function Documentation

Vec3 operator* ( const SE3_< Precision > &  lhs, const Vec3 &  rhs  )

friend

Right-multiply by a Vector.

std::ostream& operator<< ( std::ostream &  os, const SE3_< Precision > &  rhs  )

friend

Write an SE3 to a stream.

std::istream& operator>> ( std::istream &  is, SE3_< Precision > &  rhs  )

friend

Write an SE3 from a stream.