Sim3

Similarity transformation in 3D (rotation + translation + scale). More...

Collaboration diagram for Sim3:

Public Member Functions
	Sim3 ()
	Default constructor.
	Sim3 (const Matrix3< g_type > &R, const Vector3< g_type > &t, g_type s)
	Constructs from a rotation matrix, translation, and scale.
	Sim3 (const Quaternion< g_type > &r, const Vector3< g_type > &t, g_type s)
	Constructs from a quaternion, translation, and scale.
	Sim3 (const Vector7d &update, bool fix_scale)
	Constructs from a 7D tangent-space update vector.
Sim3	inverse () const
	Computes the inverse of this similarity transform.
Vector7d	log () const
	Computes the logarithmic map (Sim3 -> 7D tangent vector).
Vector3< g_type >	map (const Vector3< g_type > &xyz) const
	Applies the similarity transform to a 3D point: s * R * xyz + t.
Sim3	operator* (const Sim3 &other) const
	Composes two Sim3 transforms.
Sim3 &	operator*= (const Sim3 &other)
	In-place composition with another Sim3 transform.
g_type &	operator[] (int i)
	Mutable element access: indices 0-3 = quaternion, 4-6 = translation, 7 = scale.
g_type	operator[] (int i) const
	Const element access: indices 0-3 = quaternion, 4-6 = translation, 7 = scale.
Quaternion< g_type > &	rotation ()
	Returns a mutable reference to the rotation quaternion.
const Quaternion< g_type > &	rotation () const
	Returns a const reference to the rotation quaternion.
g_type &	scale ()
	Returns a mutable reference to the scale factor.
const g_type &	scale () const
	Returns a const reference to the scale factor.
Vector3< g_type > &	translation ()
	Returns a mutable reference to the translation.
const Vector3< g_type > &	translation () const
	Returns a const reference to the translation.

Protected Attributes
Quaternion< g_type >	r
	Rotation component as a unit quaternion.
g_type	s
	Scale factor.
Vector3< g_type >	t
	Translation component.

Detailed Description

Similarity transformation in 3D (rotation + translation + scale).

Definition at line 12 of file sim3.h.

Constructor & Destructor Documentation

Sim3() [1/4]

Sim3::Sim3 ( )

inline

Default constructor.

Identity rotation, zero translation, unit scale.

Definition at line 24 of file sim3.h.

References r, s, and t.

Referenced by inverse(), operator*(), and operator*=().

Sim3() [2/4]

Sim3::Sim3 ( const Quaternion< g_type > & r, const Vector3< g_type > & t, g_type s )

inline

Constructs from a quaternion, translation, and scale.

Parameters

[in]	r	The rotation quaternion.
[in]	t	The translation vector.
[in]	s	The scale factor.

Definition at line 35 of file sim3.h.

References r, s, and t.

Sim3() [3/4]

Sim3::Sim3 ( const Matrix3< g_type > & R, const Vector3< g_type > & t, g_type s )

inline

Constructs from a rotation matrix, translation, and scale.

Parameters

[in]	R	The 3x3 rotation matrix.
[in]	t	The translation vector.
[in]	s	The scale factor.

Definition at line 44 of file sim3.h.

References r, s, and t.

Sim3() [4/4]

Sim3::Sim3 ( const Vector7d & update, bool fix_scale )

inline

Constructs from a 7D tangent-space update vector.

Parameters

[in]	update	The update vector (omega, upsilon, sigma).
[in]	fix_scale	If true, the scale component is not updated.

Definition at line 52 of file sim3.h.

References cast(), cos(), r, s, sin(), skew(), and t.

Member Function Documentation

inverse()

Sim3 Sim3::inverse ( ) const

inline

Computes the inverse of this similarity transform.

Returns

The inverse Sim3.

Definition at line 218 of file sim3.h.

References Sim3(), r, s, and t.

log()

Vector7d Sim3::log ( ) const

inline

Computes the logarithmic map (Sim3 -> 7D tangent vector).

Returns

The 7D tangent vector (omega, upsilon, sigma).

Definition at line 135 of file sim3.h.

References cos(), deltaR(), r, s, sin(), skew(), sqrt(), and t.

Referenced by EdgeSim3::computeError().

map()

Vector3< g_type > Sim3::map ( const Vector3< g_type > & xyz ) const

inline

Applies the similarity transform to a 3D point: s * R * xyz + t.

Parameters

[in]

xyz

The 3D point to transform.

Returns

The transformed point.

Definition at line 129 of file sim3.h.

References r, s, and t.

operator*()

Sim3 Sim3::operator* ( const Sim3 & other ) const

inline

Composes two Sim3 transforms.

Parameters

[in]

other

The right-hand side transform.

Definition at line 257 of file sim3.h.

References Sim3(), r, s, and t.

operator*=()

Sim3 & Sim3::operator*= ( const Sim3 & other )

inline

In-place composition with another Sim3 transform.

Parameters

[in]

other

The right-hand side transform.

Definition at line 267 of file sim3.h.

References Sim3().

operator[]() [1/2]

g_type & Sim3::operator[] ( int i )

inline

Mutable element access: indices 0-3 = quaternion, 4-6 = translation, 7 = scale.

Parameters

[in]

i

The element index (0-7).

Definition at line 241 of file sim3.h.

References r, s, and t.

operator[]() [2/2]

g_type Sim3::operator[] ( int i ) const

inline

Const element access: indices 0-3 = quaternion, 4-6 = translation, 7 = scale.

Parameters

[in]

i

The element index (0-7).

Definition at line 226 of file sim3.h.

References r, s, and t.

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The documentation for this struct was generated from the following file:

• GraphOptimization/Headers/sim3.h