g2o::SBACam Class Reference

#include <sbacam.h>

Inheritance diagram for g2o::SBACam:

List of all members.

Public Member Functions
	SBACam ()
	SBACam (Quaterniond r_, Vector3d t_)
	SBACam (const SE3Quat &p)
void	setDr ()
void	setKcam (double fx, double fy, double cx, double cy, double tx)
void	setProjection ()
void	setTransform ()
void	update (const Vector6d &update)
Static Public Member Functions
static void	transformF2W (Matrix< double, 3, 4 > &m, const Vector3d &trans, const Quaterniond &qrot)
static void	transformW2F (Matrix< double, 3, 4 > &m, const Vector3d &trans, const Quaterniond &qrot)
Public Attributes
double	baseline
Matrix3d	dRdx
Matrix3d	dRdy
Matrix3d	dRdz
Matrix3d	Kcam
Matrix< double, 3, 4 >	w2i
Matrix< double, 3, 4 >	w2n

---

Detailed Description

Definition at line 47 of file sbacam.h.

---

Constructor & Destructor Documentation

g2o::SBACam::SBACam

(

)

[inline]

Definition at line 65 of file sbacam.h.

g2o::SBACam::SBACam	(	Quaterniond	r_,
		Vector3d	t_
	)		[inline]

Definition at line 73 of file sbacam.h.

g2o::SBACam::SBACam

(

const SE3Quat &

p

)

[inline]

Definition at line 80 of file sbacam.h.

---

Member Function Documentation

void g2o::SBACam::setDr

(

)

[inline]

Definition at line 149 of file sbacam.h.

void g2o::SBACam::setKcam	(	double	fx,
		double	fy,
		double	cx,
		double	cy,
		double	tx
	)		[inline]

Definition at line 128 of file sbacam.h.

void g2o::SBACam::setProjection

(

)

[inline]

Definition at line 146 of file sbacam.h.

void g2o::SBACam::setTransform

(

)

[inline]

Definition at line 142 of file sbacam.h.

static void g2o::SBACam::transformF2W	(	Matrix< double, 3, 4 > &	m,
		const Vector3d &	trans,
		const Quaterniond &	qrot
	)		[inline, static]

Definition at line 119 of file sbacam.h.

static void g2o::SBACam::transformW2F	(	Matrix< double, 3, 4 > &	m,
		const Vector3d &	trans,
		const Quaterniond &	qrot
	)		[inline, static]

Definition at line 107 of file sbacam.h.

void g2o::SBACam::update

(

const Vector6d &

update

)

[inline]

Definition at line 88 of file sbacam.h.

---

Member Data Documentation

double g2o::SBACam::baseline

Definition at line 54 of file sbacam.h.

Matrix3d g2o::SBACam::dRdx

Definition at line 62 of file sbacam.h.

Matrix3d g2o::SBACam::dRdy

Definition at line 62 of file sbacam.h.

Matrix3d g2o::SBACam::dRdz

Definition at line 62 of file sbacam.h.

Matrix3d g2o::SBACam::Kcam

Definition at line 53 of file sbacam.h.

Matrix<double,3,4> g2o::SBACam::w2i

Definition at line 58 of file sbacam.h.

Matrix<double,3,4> g2o::SBACam::w2n

Definition at line 57 of file sbacam.h.

---

The documentation for this class was generated from the following file:

• sbacam.h