g2o::VertexSim3Expmap Class Reference

Sim3 Vertex, (x,y,z,qw,qx,qy,qz) the parameterization for the increments constructed is a 7d vector (x,y,z,qx,qy,qz) (note that we leave out the w part of the quaternion. More...

#include <types_seven_dof_expmap.h>

Inheritance diagram for g2o::VertexSim3Expmap:

List of all members.

Public Member Functions
Vector2d	cam_map (const Vector2d &v) const
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
virtual void	setToOrigin ()
	sets the node to the origin (used in the multilevel stuff)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	VertexSim3Expmap ()
virtual bool	write (std::ostream &os) const
	write the vertex to a stream
Public Attributes
bool	_fix_scale
Vector2d	_focal_length
Vector2d	_principle_point

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Detailed Description

Sim3 Vertex, (x,y,z,qw,qx,qy,qz) the parameterization for the increments constructed is a 7d vector (x,y,z,qx,qy,qz) (note that we leave out the w part of the quaternion.

Definition at line 35 of file types_seven_dof_expmap.h.

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Constructor & Destructor Documentation

g2o::VertexSim3Expmap::VertexSim3Expmap

(

)

Definition at line 33 of file types_seven_dof_expmap.cpp.

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Member Function Documentation

Vector2d g2o::VertexSim3Expmap::cam_map

(

const Vector2d &

v

)

const [inline]

Definition at line 64 of file types_seven_dof_expmap.h.

virtual void g2o::VertexSim3Expmap::oplus

(

double *

v

)

[inline, virtual]

update the position of the node from the parameters in v

Implements g2o::OptimizableGraph::Vertex.

Definition at line 47 of file types_seven_dof_expmap.h.

bool g2o::VertexSim3Expmap::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 50 of file types_seven_dof_expmap.cpp.

virtual void g2o::VertexSim3Expmap::setToOrigin

(

)

[inline, virtual]

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

Implements g2o::OptimizableGraph::Vertex.

Definition at line 43 of file types_seven_dof_expmap.h.

bool g2o::VertexSim3Expmap::write

(

std::ostream &

os

)

const [virtual]

write the vertex to a stream

Implements g2o::OptimizableGraph::Vertex.

Definition at line 76 of file types_seven_dof_expmap.cpp.

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Member Data Documentation

bool g2o::VertexSim3Expmap::_fix_scale

Definition at line 72 of file types_seven_dof_expmap.h.

Vector2d g2o::VertexSim3Expmap::_focal_length

Definition at line 62 of file types_seven_dof_expmap.h.

Vector2d g2o::VertexSim3Expmap::_principle_point

Definition at line 61 of file types_seven_dof_expmap.h.

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

• types_seven_dof_expmap.h
• types_seven_dof_expmap.cpp