本文整理汇总了C++中SE3::so3方法的典型用法代码示例。如果您正苦于以下问题：C++ SE3::so3方法的具体用法？C++ SE3::so3怎么用？C++ SE3::so3使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类SE3的用法示例。
在下文中一共展示了SE3::so3方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1:
void ROSOutput3DWrapper::publishTrackedFrame(Frame* kf)
{
lsd_slam_viewer::keyframeMsg fMsg;
fMsg.id = kf->id();
fMsg.time = kf->timeStampNs()/1000000.0;
fMsg.isKeyframe = false;
memcpy(fMsg.camToWorld.data(),kf->getScaledCamToWorld().cast<float>().data(),sizeof(float)*7);
fMsg.fx = kf->fx(publishLvl);
fMsg.fy = kf->fy(publishLvl);
fMsg.cx = kf->cx(publishLvl);
fMsg.cy = kf->cy(publishLvl);
fMsg.width = kf->width(publishLvl);
fMsg.height = kf->height(publishLvl);
fMsg.pointcloud.clear();
liveframe_publisher.publish(fMsg);
SE3 camToWorld = se3FromSim3(kf->getScaledCamToWorld());
geometry_msgs::PoseStamped pMsg;
pMsg.pose.position.x = camToWorld.translation()[0];
pMsg.pose.position.y = camToWorld.translation()[1];
pMsg.pose.position.z = camToWorld.translation()[2];
pMsg.pose.orientation.x = camToWorld.so3().unit_quaternion().x();
pMsg.pose.orientation.y = camToWorld.so3().unit_quaternion().y();
pMsg.pose.orientation.z = camToWorld.so3().unit_quaternion().z();
pMsg.pose.orientation.w = camToWorld.so3().unit_quaternion().w();
if (pMsg.pose.orientation.w < 0)
{
pMsg.pose.orientation.x *= -1;
pMsg.pose.orientation.y *= -1;
pMsg.pose.orientation.z *= -1;
pMsg.pose.orientation.w *= -1;
}
pMsg.header.stamp = ros::Time(kf->timeStampNs()/1000000.0);
pMsg.header.frame_id = "world";
pose_publisher.publish(pMsg);
}示例2:
Sim3 Sim3
::from_SE3(const SE3 & se3)
{
return Sim3(ScSO3(1.,se3.so3()),se3.translation());
}