1、代码
#include <Eigen/Core>
#include <sophus/se3.hpp>
int main() {
Sophus::SE3f se3;
cout << "se3.matrix()" << endl;
cout << se3.matrix() << endl << endl;
Eigen::Isometry3f iso(se3.matrix());
cout << "iso.matrix()" << endl;
cout << iso.matrix() << endl << endl;
Sophus::SE3f new_se3(iso.matrix());
cout << "new_se3.matrix()" << endl;
cout << new_se3.matrix() << endl << endl;
}
2、输出结果
se3.matrix()
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
iso.matrix()
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
new_se3.matrix()
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1