se3_ops.h

// g2o - General Graph Optimization
// Copyright (C) 2011 H. Strasdat
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
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//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
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#ifndef G2O_MATH_STUFF
#define G2O_MATH_STUFF
 
#include <Eigen/Core>
#include <Eigen/Geometry>
 
namespace NDEVR 
{
  using namespace Eigen;
  inline Matrix3<g_type> skew(const Vector3<g_type>& v);
  inline Vector3<g_type> deltaR(const Matrix3<g_type>& R);
  inline Vector2<g_type> project(const Vector3<g_type>&);
  inline Vector3<g_type> project(const Vector4<g_type>&);
  inline Vector3<g_type> unproject(const Vector2<g_type>&);
  inline Vector4<g_type> unproject(const Vector3<g_type>&);
 
}
#include "se3_ops.hpp"
#endif //MATH_STUFF