SBACam Vertex, (x,y,z,qw,qx,qy,qz) the parameterization for the increments constructed is a 6d vector (x,y,z,qx,qy,qz) (note that we leave out the w part of the quaternion. qw is assumed to be positive, otherwise there is an ambiguity in qx,qy,qz as a rotation. More...

#include <types_sba.h>

Inheritance diagram for g2o::VertexCam:

[legend]

List of all members.

Public Member Functions
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	VertexCam ()
virtual bool	write (std::ostream &os) const
	write the vertex to a stream
Public Attributes
VertexIntrinsics *	_intrinsics

Detailed Description

SBACam Vertex, (x,y,z,qw,qx,qy,qz) the parameterization for the increments constructed is a 6d vector (x,y,z,qx,qy,qz) (note that we leave out the w part of the quaternion. qw is assumed to be positive, otherwise there is an ambiguity in qx,qy,qz as a rotation.

Definition at line 61 of file types_sba.h.