Public Member Functions
	Pose3 (const Mat3 &c_R_w, const Vec3 &w_c)

	Pose3 (const Mat4 &T)

Mat3	rotation () const

void	setRotation (const Mat3 &rotation)

Vec3	translation () const

void	setTranslation (const Vec3 &translation)

Vec3	center () const

void	setCenter (const Vec3 &center)

Mat3X	operator() (const Mat3X &p) const

Pose3	operator* (const Pose3 &P) const

bool	operator== (const Pose3 &other) const

Pose3	inverse () const

double	depth (const Vec3 &X) const
	Return the depth (distance) of a point respect to the camera center.

Pose3	transformSRt (const double S, const Mat3 &R, const Vec3 &t) const
	Return the pose with the Scale, Rotation and translation applied.

const SE3::Matrix &	getHomogeneous () const

Protected Attributes
SE3::Matrix	_homogeneous {SE3::Matrix::Identity()}

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

/home/docs/checkouts/readthedocs.org/user_builds/alicevision/checkouts/latest/src/aliceVision/geometry/Pose3.hpp

Public Member Functions

Protected Attributes