Could inverse extrinsics

2018-04-29 14:47:35 +08:00
parent 77837933bc
commit f3d6fcdcb9
3 changed files with 14 additions and 4 deletions
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -315,6 +315,13 @@ std::ostream &operator<<(std::ostream &os, const MotionIntrinsics &in);
 struct MYNTEYE_API Extrinsics {
  double rotation[3][3]; /**< rotation matrix */
  double translation[3]; /**< translation vector */
+
+  Extrinsics Inverse() const {
+    return {{{rotation[0][0], rotation[1][0], rotation[2][0]},
+             {rotation[0][1], rotation[1][1], rotation[2][1]},
+             {rotation[0][2], rotation[1][2], rotation[2][2]}},
+            {-translation[0], -translation[1], -translation[2]}};
+  }
 };

 MYNTEYE_API