Skip to content
This repository

HTTPS clone URL

Subversion checkout URL

You can clone with HTTPS or Subversion.

Download ZIP
Fetching contributors…

Cannot retrieve contributors at this time

file 63 lines (43 sloc) 1.327 kb
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63
/*
This file is part of the CVD Library.

Copyright (C) 2005 The Authors

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc.,
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
*/
#include <iostream>
#include <cstdlib>
#include <TooN/se3.h>

using namespace std;
using namespace TooN;


int main(int argc, char** argv)
{

if(argc != 7)
{
cerr << argv[0] << "error: put post multiplication SE3 on command line";
return 1;
}


Vector<6> camera;

for(int i=0; i< 6; i++)
camera[i] = atof(argv[i+1]);


Vector<6> in;

SE3<> s3, c;

c = SE3<>::exp(camera);


for(;;)
{
cin >> in;

if(!cin.good())
return 0;

s3=SE3<>::exp(in) * c;

cout << s3.ln() << endl;
}
}
Something went wrong with that request. Please try again.