Use Rot3 and Sphere2 random constructors to generate random E

2013-12-26 14:00:07 -05:00 · 2013-12-26 14:00:07 -05:00 · 01dbca8ce1
parent a47f0a30da
commit 01dbca8ce1
1 changed files with 6 additions and 0 deletions
--- a/gtsam/geometry/EssentialMatrix.h
+++ b/gtsam/geometry/EssentialMatrix.h
@ -48,6 +48,12 @@ public:
      aRb_(aRb), aTb_(aTb), E_(aTb_.skew() * aRb_.matrix()) {
  }

+  /// Random, using Rot3::Random and Sphere2::Random
+  template<typename Engine>
+  static EssentialMatrix Random(Engine & rng) {
+    return EssentialMatrix(Rot3::Random(rng), Sphere2::Random(rng));
+  }
+
  /// @}

  /// @name Testable