#include <types_seven_dof_expmap.h>

Inheritance diagram for g2o::EdgeSim3ProjectXYZ:

[legend]

Public Member Functions
void	computeError ()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	EdgeSim3ProjectXYZ ()

virtual bool	read (std::istream &is)
	read the vertex from a stream, i.e., the internal state of the vertex More...

virtual bool	write (std::ostream &os) const
	write the vertex to a stream More...

Public Member Functions inherited from g2o::BaseBinaryEdge< 2, Vector2d, VertexSBAPointXYZ, VertexSim3Expmap >
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	linearizeOplus ()

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 ()

Additional Inherited Members
Public Types inherited from g2o::BaseBinaryEdge< 2, Vector2d, VertexSBAPointXYZ, VertexSim3Expmap >
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 VertexSim3Expmap	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, VertexSim3Expmap >
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 &parameters)

virtual bool	resolveCaches ()

bool	resolveParameters ()

Protected Attributes inherited from g2o::BaseBinaryEdge< 2, Vector2d, VertexSBAPointXYZ, VertexSim3Expmap >
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