g2o::VertexSE3Expmap Class Reference

SE3 Vertex parameterized internally with a transformation matrix and externally with its exponential map. More...

#include <types_six_dof_expmap.h>

Inheritance diagram for g2o::VertexSE3Expmap:

List of all members.

Public Member Functions
Vector2d	cam_map (const Vector3d &trans_xyz) const
virtual void	oplus (double *update_)
	update the position of the node from the parameters in v
bool	read (std::istream &is)
	read the vertex from a stream, i.e., the internal state of the vertex
virtual void	setToOrigin ()
	sets the node to the origin (used in the multilevel stuff)
Vector3d	stereocam_uvq_map (const Vector3d &trans_xyz) const
Vector3d	stereocam_uvu_map (const Vector3d &trans_xyz) const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	VertexSE3Expmap ()
bool	write (std::ostream &os) const
	write the vertex to a stream
Public Attributes
double	_baseline
Vector2d	_focal_length
Vector2d	_principle_point

---

Detailed Description

SE3 Vertex parameterized internally with a transformation matrix and externally with its exponential map.

Definition at line 36 of file types_six_dof_expmap.h.

---

Constructor & Destructor Documentation

g2o::VertexSE3Expmap::VertexSE3Expmap

(

)

Definition at line 35 of file types_six_dof_expmap.cpp.

---

Member Function Documentation

Vector2d g2o::VertexSE3Expmap::cam_map

(

const Vector3d &

trans_xyz

)

const [inline]

Definition at line 69 of file types_six_dof_expmap.h.

virtual void g2o::VertexSE3Expmap::oplus

(

double *

v

)

[inline, virtual]

update the position of the node from the parameters in v

Implements g2o::OptimizableGraph::Vertex.

Definition at line 49 of file types_six_dof_expmap.h.

bool g2o::VertexSE3Expmap::read

(

std::istream &

is

)

[virtual]

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

Implements g2o::OptimizableGraph::Vertex.

Definition at line 44 of file types_six_dof_expmap.cpp.

virtual void g2o::VertexSE3Expmap::setToOrigin

(

)

[inline, virtual]

sets the node to the origin (used in the multilevel stuff)

Implements g2o::OptimizableGraph::Vertex.

Definition at line 45 of file types_six_dof_expmap.h.

Vector3d g2o::VertexSE3Expmap::stereocam_uvq_map

(

const Vector3d &

trans_xyz

)

const [inline]

Definition at line 80 of file types_six_dof_expmap.h.

Vector3d g2o::VertexSE3Expmap::stereocam_uvu_map

(

const Vector3d &

trans_xyz

)

const [inline]

Definition at line 94 of file types_six_dof_expmap.h.

bool g2o::VertexSE3Expmap::write

(

std::ostream &

os

)

const [virtual]

write the vertex to a stream

Implements g2o::OptimizableGraph::Vertex.

Definition at line 58 of file types_six_dof_expmap.cpp.

---

Member Data Documentation

double g2o::VertexSE3Expmap::_baseline

Definition at line 66 of file types_six_dof_expmap.h.

Vector2d g2o::VertexSE3Expmap::_focal_length

Definition at line 65 of file types_six_dof_expmap.h.

Vector2d g2o::VertexSE3Expmap::_principle_point

Definition at line 64 of file types_six_dof_expmap.h.

---

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

• types_six_dof_expmap.h
• types_six_dof_expmap.cpp