Example #1
0
        public SE3 Inverse()
        {
            SE3 result = new SE3();

            result.SO3         = SO3.Inverse();
            result.Translation = -1 * result.SO3.TransformVector(Translation);

            return(result);
        }
Example #2
0
        public Sim3 Inverse()
        {
            Sim3 result = new Sim3();

            result.SE3             = SE3.Inverse();
            result.Scale           = 1 / Scale;
            result.SE3.Translation = new Vector3(result.Scale * result.SE3.Translation.Vector);

            return(result);
        }
Example #3
0
 public Sim3(double[,] matrix)
 {
     Scale = matrix[3, 3];
     _SE3  = new SE3(matrix);
 }
Example #4
0
 public Sim3(double[][] matrix)
 {
     Scale = matrix[3][3];
     _SE3  = new SE3(matrix);
 }
Example #5
0
 public Sim3(double scale, SE3 se3)
 {
     Scale = scale;
     _SE3  = se3;
 }