Function SO2FromNormal

isee-preprocessing/include/sophus/geometry.hpp:26–31

//
template <class T>
SO2<T> SO2FromNormal(Vector2<T> normal_foo) {
  SOPHUS_ENSURE(normal_foo.squaredNorm() > Constants<T>::epsilon(), "%",
                normal_foo.transpose());
  normal_foo.normalize();
  return SO2<T>(normal_foo.y(), -normal_foo.x());
}

// Takes in a rotation ``R_foo_plane`` and returns the corresponding plane
// normal along the z-axis