(pose)
| 362 | |
| 363 | // calculate inverse of se3 pose matrix |
| 364 | function inv(pose) { |
| 365 | let res = new Array(); |
| 366 | for (let i = 0; i < 3; i++) { |
| 367 | res.push([0, 0, 0, 0]); |
| 368 | } |
| 369 | // - R^T * t |
| 370 | res[0][3] = - pose[0][0] * pose[0][3] - pose[1][0] * pose[1][3] - pose[2][0] * pose[2][3]; |
| 371 | res[1][3] = - pose[0][1] * pose[0][3] - pose[1][1] * pose[1][3] - pose[2][1] * pose[2][3]; |
| 372 | res[2][3] = - pose[0][2] * pose[0][3] - pose[1][2] * pose[1][3] - pose[2][2] * pose[2][3]; |
| 373 | res[0][0] = pose[0][0]; res[0][1] = pose[1][0]; res[0][2] = pose[2][0]; |
| 374 | res[1][0] = pose[0][1]; res[1][1] = pose[1][1]; res[1][2] = pose[2][1]; |
| 375 | res[2][0] = pose[0][2]; res[2][1] = pose[1][2]; res[2][2] = pose[2][2]; |
| 376 | |
| 377 | return res; |
| 378 | } |
| 379 | |
| 380 | // window resize function |
| 381 | // The function is called in index.ejs |
no outgoing calls
no test coverage detected