41 float *transformation_ptr,
const float *pose_ptr) {
42 transformation_ptr[0] = cos(pose_ptr[2]) * cos(pose_ptr[1]);
43 transformation_ptr[1] =
44 -1 * sin(pose_ptr[2]) * cos(pose_ptr[0]) +
45 cos(pose_ptr[2]) * sin(pose_ptr[1]) * sin(pose_ptr[0]);
46 transformation_ptr[2] =
47 sin(pose_ptr[2]) * sin(pose_ptr[0]) +
48 cos(pose_ptr[2]) * sin(pose_ptr[1]) * cos(pose_ptr[0]);
49 transformation_ptr[4] = sin(pose_ptr[2]) * cos(pose_ptr[1]);
50 transformation_ptr[5] =
51 cos(pose_ptr[2]) * cos(pose_ptr[0]) +
52 sin(pose_ptr[2]) * sin(pose_ptr[1]) * sin(pose_ptr[0]);
53 transformation_ptr[6] =
54 -1 * cos(pose_ptr[2]) * sin(pose_ptr[0]) +
55 sin(pose_ptr[2]) * sin(pose_ptr[1]) * cos(pose_ptr[0]);
56 transformation_ptr[8] = -1 * sin(pose_ptr[1]);
57 transformation_ptr[9] = cos(pose_ptr[1]) * sin(pose_ptr[0]);
58 transformation_ptr[10] = cos(pose_ptr[1]) * cos(pose_ptr[0]);
61 #ifdef BUILD_CUDA_MODULE 62 void PoseToTransformationCUDA(
float *transformation_ptr,
const float *pose_ptr);
OPEN3D_HOST_DEVICE void PoseToTransformationImpl(float *transformation_ptr, const float *pose_ptr)
Shared implementation for PoseToTransformation function.
Definition: TransformationConverterImpl.h:40
#define OPEN3D_HOST_DEVICE
Definition: CUDAUtils.h:54
Definition: PinholeCameraIntrinsic.cpp:35