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Improve Rotation3d #258

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merged 5 commits into from
Jan 26, 2024
Merged

Improve Rotation3d #258

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397100e
Extended py::class for nonconst read
sarlinpe Jan 26, 2024
8b7f7ba
Improve Rotation3d
sarlinpe Jan 26, 2024
f8cf4d1
Doc
sarlinpe Jan 26, 2024
3673051
Fix
sarlinpe Jan 26, 2024
63ad504
Merge branch 'master' into sarlinpe/improve-rotation3d
sarlinpe Jan 26, 2024
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14 changes: 14 additions & 0 deletions pycolmap/geometry/bindings.h
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,12 @@ void BindGeometry(py::module& m) {
.def(py::init<const Eigen::Matrix3d&>(),
"rotmat"_a,
"3x3 rotation matrix.")
.def(py::init([](const Eigen::Vector3d& vec) {
return Eigen::Quaterniond(
Eigen::AngleAxis<double>(vec.norm(), vec.normalized()));
}),
"axis_angle"_a,
"Axis-angle 3D vector.")
.def_property(
"quat",
py::overload_cast<>(&Eigen::Quaterniond::coeffs),
Expand All @@ -47,6 +53,14 @@ void BindGeometry(py::module& m) {
.def("normalize", &Eigen::Quaterniond::normalize)
.def("matrix", &Eigen::Quaterniond::toRotationMatrix)
.def("norm", &Eigen::Quaterniond::norm)
.def("angle",
[](const Eigen::Quaterniond& self) {
return Eigen::AngleAxis<double>(self).angle();
})
.def("angle_to",
[](const Eigen::Quaterniond& self, const Eigen::Quaterniond& other) {
return self.angularDistance(other);
})
.def("inverse", &Eigen::Quaterniond::inverse)
.def("__repr__", [](const Eigen::Quaterniond& self) {
std::stringstream ss;
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