print/cout the object

[lz89]

I wonder is we could still have something like:
inline std::ostream& operator <<(std::ostream & out_str,
const SO3 & so3)
{

out_str << so3.log().transpose() << std::endl;
return out_str;
}

[strasdat]

Hi, I prefer not to include insertion operators ostream operator<< in Sophus, because there are so many options, especially for SO3 (rotation matrix, quaternion, angle-axis, so3.log() ...), and it is really a matter of taste which one to use.

Note that you can already do

std::cout << so3.matrix() << std::cout;
std::cout << so3.unit_quaternion() << std::cout;
std::cout << so3.log() << std::cout;

[apesIITM]

Hello @strasdat ,
I am trying to print the values of variable newRefToFrame_poseUpdate which is of type SE3 in https://github.com/tum-vision/lsd_slam/blob/master/lsd_slam_core/src/SlamSystem.cpp#L932
I want to read the values from it and modify. But when I try to print its value using following command, I receive an error.
std::cout << newRefToFrame_poseUpdate << std::endl;
Please provide a correct way to read and modify SE3 types.
Thanks.

[Mechazo11]

@apesIITM
I know this is kinda very late buy maybe try the following

std::cout << "SE3 matrix --> " <<newRefToFrame_poseUpdate.matrix() <<std::endl;

A variant of this line worked for me to see the 4x4 transformation matrices of keyframes produced by ORB_SLAM