#include <types_six_dof_expmap.h>
Public Member Functions | |
Vector2d | cam_project (const Vector3d &trans_xyz) const |
void | computeError () |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW | EdgeSE3ProjectXYZ () |
bool | isDepthPositive () |
virtual void | linearizeOplus () |
bool | read (std::istream &is) |
read the vertex from a stream, i.e., the internal state of the vertex More... | |
bool | write (std::ostream &os) const |
write the vertex to a stream More... | |
Public Member Functions inherited from g2o::BaseBinaryEdge< 2, Vector2d, VertexSBAPointXYZ, VertexSE3Expmap > | |
virtual bool | allVerticesFixed () const |
BaseBinaryEdge () | |
virtual void | constructQuadraticForm () |
virtual OptimizableGraph::Vertex * | createFrom () |
virtual OptimizableGraph::Vertex * | createTo () |
const JacobianXiOplusType & | jacobianOplusXi () const |
returns the result of the linearization in the manifold space for the node xi More... | |
const JacobianXjOplusType & | jacobianOplusXj () const |
returns the result of the linearization in the manifold space for the node xj More... | |
virtual void | linearizeOplus (JacobianWorkspace &jacobianWorkspace) |
virtual void | mapHessianMemory (double *d, int i, int j, bool rowMajor) |
virtual void | resize (size_t size) |
Public Member Functions inherited from g2o::BaseEdge< D, Vector2d > | |
BaseEdge () | |
virtual double | chi2 () const |
computes the chi2 based on the cached error value, only valid after computeError has been called. More... | |
const ErrorVector & | error () const |
ErrorVector & | error () |
virtual const double * | errorData () const |
returns the error vector cached after calling the computeError; More... | |
virtual double * | errorData () |
const InformationType & | information () const |
information matrix of the constraint More... | |
InformationType & | information () |
virtual const double * | informationData () const |
returns the memory of the information matrix, usable for example with a Eigen::Map<MatrixXd> More... | |
virtual double * | informationData () |
virtual void | initialEstimate (const OptimizableGraph::VertexSet &, OptimizableGraph::Vertex *) |
const Measurement & | measurement () const |
accessor functions for the measurement represented by the edge More... | |
virtual int | rank () const |
void | setInformation (const InformationType &information) |
virtual void | setMeasurement (const Measurement &m) |
virtual | ~BaseEdge () |
Public Member Functions inherited from g2o::OptimizableGraph::Edge | |
virtual Edge * | clone () const |
int | dimension () const |
returns the dimensions of the error function More... | |
Edge () | |
virtual bool | getMeasurementData (double *m) const |
OptimizableGraph * | graph () |
const OptimizableGraph * | graph () const |
virtual double | initialEstimatePossible (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to) |
long long | internalId () const |
the internal ID of the edge More... | |
int | level () const |
returns the level of the edge More... | |
virtual int | measurementDimension () const |
size_t | numParameters () const |
const Parameter * | parameter (int argNo) const |
void | resizeParameters (size_t newSize) |
RobustKernel * | robustKernel () const |
if NOT NULL, error of this edge will be robustifed with the kernel More... | |
void | setLevel (int l) |
sets the level of the edge More... | |
virtual bool | setMeasurementData (const double *m) |
virtual bool | setMeasurementFromState () |
bool | setParameterId (int argNum, int paramId) |
void | setRobustKernel (RobustKernel *ptr) |
virtual | ~Edge () |
Public Member Functions inherited from g2o::HyperGraph::Edge | |
Edge (int id=-1) | |
creates and empty edge with no vertices More... | |
virtual HyperGraphElementType | elementType () const |
int | id () const |
void | setId (int id) |
void | setVertex (size_t i, Vertex *v) |
const Vertex * | vertex (size_t i) const |
Vertex * | vertex (size_t i) |
const VertexContainer & | vertices () const |
VertexContainer & | vertices () |
Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement | |
virtual | ~HyperGraphElement () |
Public Attributes | |
double | cx |
double | cy |
double | fx |
double | fy |
Additional Inherited Members | |
Public Types inherited from g2o::BaseBinaryEdge< 2, Vector2d, VertexSBAPointXYZ, VertexSE3Expmap > | |
typedef BaseEdge< D, Vector2d >::ErrorVector | ErrorVector |
typedef Eigen::Map< Matrix< double, Dj, Di >, Matrix< double, Dj, Di >::Flags &PacketAccessBit?Aligned:Unaligned > | HessianBlockTransposedType |
typedef Eigen::Map< Matrix< double, Di, Dj >, Matrix< double, Di, Dj >::Flags &PacketAccessBit?Aligned:Unaligned > | HessianBlockType |
typedef BaseEdge< D, Vector2d >::InformationType | InformationType |
typedef Matrix< double, D, Di >::AlignedMapType | JacobianXiOplusType |
typedef Matrix< double, D, Dj >::AlignedMapType | JacobianXjOplusType |
typedef BaseEdge< D, Vector2d >::Measurement | Measurement |
typedef VertexSBAPointXYZ | VertexXiType |
typedef VertexSE3Expmap | VertexXjType |
Public Types inherited from g2o::BaseEdge< D, Vector2d > | |
typedef Matrix< double, D, 1 > | ErrorVector |
typedef Matrix< double, D, D > | InformationType |
typedef Vector2d | Measurement |
Static Public Attributes inherited from g2o::BaseBinaryEdge< 2, Vector2d, VertexSBAPointXYZ, VertexSE3Expmap > | |
static const int | Di |
static const int | Dimension |
static const int | Dj |
Static Public Attributes inherited from g2o::BaseEdge< D, Vector2d > | |
static const int | Dimension |
Protected Member Functions inherited from g2o::BaseEdge< D, Vector2d > | |
InformationType | robustInformation (const Eigen::Vector3d &rho) |
Protected Member Functions inherited from g2o::OptimizableGraph::Edge | |
template<typename ParameterType > | |
bool | installParameter (ParameterType *&p, size_t argNo, int paramId=-1) |
template<typename CacheType > | |
void | resolveCache (CacheType *&cache, OptimizableGraph::Vertex *, const std::string &_type, const ParameterVector ¶meters) |
virtual bool | resolveCaches () |
bool | resolveParameters () |
Protected Attributes inherited from g2o::BaseBinaryEdge< 2, Vector2d, VertexSBAPointXYZ, VertexSE3Expmap > | |
HessianBlockType | _hessian |
bool | _hessianRowMajor |
HessianBlockTransposedType | _hessianTransposed |
JacobianXiOplusType | _jacobianOplusXi |
JacobianXjOplusType | _jacobianOplusXj |
Protected Attributes inherited from g2o::BaseEdge< D, Vector2d > | |
ErrorVector | _error |
InformationType | _information |
Measurement | _measurement |
Protected Attributes inherited from g2o::OptimizableGraph::Edge | |
std::vector< int > | _cacheIds |
int | _dimension |
long long | _internalId |
int | _level |
std::vector< int > | _parameterIds |
std::vector< Parameter ** > | _parameters |
std::vector< std::string > | _parameterTypes |
RobustKernel * | _robustKernel |
Protected Attributes inherited from g2o::HyperGraph::Edge | |
int | _id |
unique id More... | |
VertexContainer | _vertices |
Definition at line 80 of file types_six_dof_expmap.h.
g2o::EdgeSE3ProjectXYZ::EdgeSE3ProjectXYZ | ( | ) |
Definition at line 73 of file types_six_dof_expmap.cpp.
Vector2d g2o::EdgeSE3ProjectXYZ::cam_project | ( | const Vector3d & | trans_xyz | ) | const |
Definition at line 141 of file types_six_dof_expmap.cpp.
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inlinevirtual |
Implements g2o::OptimizableGraph::Edge.
Definition at line 90 of file types_six_dof_expmap.h.
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inline |
Definition at line 97 of file types_six_dof_expmap.h.
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virtual |
Linearizes the oplus operator in the vertex, and stores the result in temporary variables _jacobianOplusXi and _jacobianOplusXj
Reimplemented from g2o::BaseBinaryEdge< 2, Vector2d, VertexSBAPointXYZ, VertexSE3Expmap >.
Definition at line 103 of file types_six_dof_expmap.cpp.
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virtual |
read the vertex from a stream, i.e., the internal state of the vertex
Implements g2o::OptimizableGraph::Edge.
Definition at line 76 of file types_six_dof_expmap.cpp.
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virtual |
write the vertex to a stream
Implements g2o::OptimizableGraph::Edge.
Definition at line 89 of file types_six_dof_expmap.cpp.
double g2o::EdgeSE3ProjectXYZ::cx |
Definition at line 108 of file types_six_dof_expmap.h.
double g2o::EdgeSE3ProjectXYZ::cy |
Definition at line 108 of file types_six_dof_expmap.h.
double g2o::EdgeSE3ProjectXYZ::fx |
Definition at line 108 of file types_six_dof_expmap.h.
double g2o::EdgeSE3ProjectXYZ::fy |
Definition at line 108 of file types_six_dof_expmap.h.