g2o::VertexSCam Class Reference

Stereo camera vertex, derived from SE3 class. Note that we use the actual pose of the vertex as its parameterization, rather than the transform from RW to camera coords. Uses static vars for camera params, so there is a single camera setup. More...

#include <types_icp.h>

Inheritance diagram for g2o::VertexSCam:

List of all members.

Public Member Functions
void	mapPoint (Vector3d &res, const Vector3d &pt3)
virtual void	oplus (double *update)
	update the position of the node from the parameters in v
virtual bool	read (std::istream &is)
	read the vertex from a stream, i.e., the internal state of the vertex
void	setAll ()
void	setDr ()
void	setProjection ()
void	setTransform ()
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	VertexSCam ()
virtual bool	write (std::ostream &os) const
	write the vertex to a stream
Static Public Member Functions
static void	setKcam (double fx, double fy, double cx, double cy, double tx)
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
Matrix3d	dRdx
Matrix3d	dRdy
Matrix3d	dRdz
Matrix< double, 3, 4 >	w2i
Matrix< double, 3, 4 >	w2n
Static Public Attributes
static double	baseline
static Matrix3d	dRidx
static Matrix3d	dRidy
static Matrix3d	dRidz
static Matrix3d	Kcam

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Detailed Description

Stereo camera vertex, derived from SE3 class. Note that we use the actual pose of the vertex as its parameterization, rather than the transform from RW to camera coords. Uses static vars for camera params, so there is a single camera setup.

Definition at line 207 of file types_icp.h.

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Constructor & Destructor Documentation

g2o::VertexSCam::VertexSCam

(

)

Definition at line 203 of file types_icp.cpp.

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Member Function Documentation

void g2o::VertexSCam::mapPoint	(	Vector3d &	res,
		const Vector3d &	pt3
	)		[inline]

Definition at line 298 of file types_icp.h.

virtual void g2o::VertexSCam::oplus

(

double *

v

)

[inline, virtual]

update the position of the node from the parameters in v

Reimplemented from g2o::VertexSE3.

Definition at line 219 of file types_icp.h.

bool g2o::VertexSCam::read

(

std::istream &

is

)

[virtual]

read the vertex from a stream, i.e., the internal state of the vertex

Reimplemented from g2o::VertexSE3.

Definition at line 302 of file types_icp.cpp.

void g2o::VertexSCam::setAll

(

)

[inline]

Definition at line 290 of file types_icp.h.

void g2o::VertexSCam::setDr

(

)

[inline]

Definition at line 279 of file types_icp.h.

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

Definition at line 259 of file types_icp.h.

void g2o::VertexSCam::setProjection

(

)

[inline]

Definition at line 276 of file types_icp.h.

void g2o::VertexSCam::setTransform

(

)

[inline]

Definition at line 271 of file types_icp.h.

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

Definition at line 250 of file types_icp.h.

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

Definition at line 238 of file types_icp.h.

bool g2o::VertexSCam::write

(

std::ostream &

os

)

const [virtual]

write the vertex to a stream

Reimplemented from g2o::VertexSE3.

Definition at line 305 of file types_icp.cpp.

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Member Data Documentation

double g2o::VertexSCam::baseline [static]

Definition at line 227 of file types_icp.h.

Matrix3d g2o::VertexSCam::dRdx

Definition at line 235 of file types_icp.h.

Matrix3d g2o::VertexSCam::dRdy

Definition at line 235 of file types_icp.h.

Matrix3d g2o::VertexSCam::dRdz

Definition at line 235 of file types_icp.h.

Matrix3d g2o::VertexSCam::dRidx [static]

Definition at line 315 of file types_icp.h.

Matrix3d g2o::VertexSCam::dRidy [static]

Definition at line 315 of file types_icp.h.

Matrix3d g2o::VertexSCam::dRidz [static]

Definition at line 315 of file types_icp.h.

Matrix3d g2o::VertexSCam::Kcam [static]

Definition at line 226 of file types_icp.h.

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

Definition at line 231 of file types_icp.h.

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

Definition at line 230 of file types_icp.h.

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

• types_icp.h
• types_icp.cpp