Returns the ith generator of internal SU(2) representation. Precondition: ``i`` must be 0, 1 or 2.

* Returns the number of values still to be returned * @return amount of values to return */

Lie bracket It computes the Lie bracket of SO(3). To be more specific, it computes ``[omega_1, omega_2]_so3 := vee([hat(omega_1), hat(omega_2)])``

* \brief Lifts a point from the image plane to its projective ray * * \param p image coordinates * \param P coordinates of the projective ray */

* \brief Lifts a point from the image plane to its projective ray * * \param p image coordinates * \param P coordinates of the projective ray */

* \brief Lifts a point from the image plane to its projective ray * * \param p image coordinates * \param P coordinates of the projective ray */

* \brief Lifts a point from the image plane to the unit sphere * * \param p image coordinates * \param P coordinates of the point on the sphere */

* \brief Lifts a point from the image plane to the unit sphere * * \param p image coordinates * \param P coordinates of the point on the sphere */

* \brief Lifts a point from the image plane to the unit sphere * * \param p image coordinates * \param P coordinates of the point on the sphere */

* \brief Lifts a point from the image plane to the unit sphere * * \param p image coordinates * \param P coordinates of the point on the sphere */

Logarithmic map Returns tangent space representation (= rotation vector) of the instance.

As above, but also returns ``theta = |omega|`` as out-parameter.

* Returns true iff entry ids of a are less then those of b. * Assumes there is no overlap between the islands * @param a * @param b

* Returns true iff a.Id < b.Id * @param a * @param b * @return true iff a.Id < b.Id */

\ * Says if a vector must be normalized according to the scoring function \ * @param norm (out) if true, norm to use * @return true iff

* Says whether this score is less than the score of another island * @param b * @return true iff this score < b.score */

* Says whether this score is greater than the score of another island * @param b * @return true iff this score > b.score */

Check if the spline has been calculated, then generate the spline interpolated value

* Returns the BRIEF descriptors of the given keypoints in the given image * @param image * @param points * @param descriptors * @param tr

* Compares the scores of two results * @return true iff this.score < r.score */

* Compares the entry id of the result * @return true iff this.id == id */

* Compares the entry ids * @param eid * @return true iff this entry id is the same as eid */

* Compares the scores of two results * @return true iff this.score > r.score */