#include <types_six_dof_expmap.h>
Inheritance diagram for g2o::EdgeSE3ProjectXYZ:
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 &AlignedBit?Aligned:Unaligned > | HessianBlockTransposedType |
| typedef Eigen::Map< Matrix< double, Di, Dj >, Matrix< double, Di, Dj >::Flags &AlignedBit?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 |
Detailed Description
Definition at line 80 of file types_six_dof_expmap.h.
Constructor & Destructor Documentation
| g2o::EdgeSE3ProjectXYZ::EdgeSE3ProjectXYZ | ( | ) |
Definition at line 73 of file types_six_dof_expmap.cpp.
Member Function Documentation
| Vector2d g2o::EdgeSE3ProjectXYZ::cam_project | ( | const Vector3d & | trans_xyz | ) | const |
Definition at line 141 of file types_six_dof_expmap.cpp.
|
inlinevirtual |
Implements g2o::OptimizableGraph::Edge.
Definition at line 90 of file types_six_dof_expmap.h.
|
inline |
Definition at line 97 of file types_six_dof_expmap.h.
|
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.
|
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.
|
virtual |
write the vertex to a stream
Implements g2o::OptimizableGraph::Edge.
Definition at line 89 of file types_six_dof_expmap.cpp.
Member Data Documentation
| 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.
The documentation for this class was generated from the following files: