g2o::CacheCamera Class Reference

#include <parameter_camera.h>

Inheritance diagram for g2o::CacheCamera:

Collaboration diagram for g2o::CacheCamera:

Public Member Functions
const ParameterCamera *	camParams () const
	parameters of the camera More...
const Affine3D &	w2i () const
	return the world to image transform More...
Public Member Functions inherited from g2o::CacheSE3Offset
	CacheSE3Offset ()
const ParameterSE3Offset *	offsetParam () const
void	setOffsetParam (ParameterSE3Offset *offsetParam)
const Isometry3D &	w2n () const
const Isometry3D &	n2w () const
const Isometry3D &	w2l () const
Public Member Functions inherited from g2o::Cache
	Cache (CacheContainer *container_=0, const ParameterVector &parameters_=ParameterVector())
CacheKey	key () const
OptimizableGraph::Vertex *	vertex ()
OptimizableGraph *	graph ()
CacheContainer *	container ()
ParameterVector &	parameters ()
void	update ()
virtual HyperGraph::HyperGraphElementType	elementType () const
Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement
virtual	~HyperGraphElement ()
HyperGraphElement *	clone () const

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Public Attributes inherited from g2o::CacheSE3Offset
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Member Functions
virtual void	updateImpl ()
	redefine this to do the update More...
virtual bool	resolveDependancies ()
Protected Member Functions inherited from g2o::Cache
Cache *	installDependency (const std::string &type_, const std::vector< int > &parameterIndices)

Protected Attributes
Affine3D	_w2i
	world to image transform More...
ParameterCamera *	params
Protected Attributes inherited from g2o::CacheSE3Offset
ParameterSE3Offset *	_offsetParam
	the parameter connected to the cache More...
Isometry3D	_w2n
Isometry3D	_n2w
Isometry3D	_w2l
Protected Attributes inherited from g2o::Cache
bool	_updateNeeded
ParameterVector	_parameters
std::vector< Cache * >	_parentCaches
CacheContainer *	_container

Detailed Description

Definition at line 58 of file parameter_camera.h.

Member Function Documentation

const ParameterCamera* g2o::CacheCamera::camParams ( ) const

inline

parameters of the camera

Definition at line 62 of file parameter_camera.h.

Referenced by updateImpl().

{return params;}

bool g2o::CacheCamera::resolveDependancies ( )

protectedvirtual

Function to be called from a cache that has dependencies. It just invokes a sequence of installDependency(). Although the caches returned are stored in the _parentCache vector, it is better that you redefine your own cache member variables, for better readability

Reimplemented from g2o::CacheSE3Offset.

Definition at line 87 of file parameter_camera.cpp.

                                       {
    if  (!CacheSE3Offset::resolveDependancies())
      return false;
    params = dynamic_cast<ParameterCamera*>(_parameters[0]);
    return params != 0;
  }

void g2o::CacheCamera::updateImpl ( )

protectedvirtual

redefine this to do the update

Reimplemented from g2o::CacheSE3Offset.

Definition at line 94 of file parameter_camera.cpp.

References camParams(), g2o::opengl::drawPyramid(), g2o::ParameterSE3Offset::offset(), and POSE_PARAMETER_COLOR.

                              {
    CacheSE3Offset::updateImpl();
    _w2i.matrix().topLeftCorner<3,4>() = params->Kcam() * w2n().matrix().topLeftCorner<3,4>();
  }

const Affine3D& g2o::CacheCamera::w2i ( ) const

inline

return the world to image transform

Definition at line 64 of file parameter_camera.h.

Referenced by g2o::EdgeSE3PointXYZDepth::computeError(), g2o::EdgeSE3PointXYZDisparity::computeError(), g2o::EdgeSE3PointXYZDepth::linearizeOplus(), g2o::EdgeSE3PointXYZDisparity::linearizeOplus(), g2o::EdgeSE3PointXYZDepth::setMeasurementFromState(), and g2o::EdgeSE3PointXYZDisparity::setMeasurementFromState().

{return _w2i;}

Member Data Documentation

Affine3D g2o::CacheCamera::_w2i

protected

world to image transform

Definition at line 69 of file parameter_camera.h.

g2o::CacheCamera::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 60 of file parameter_camera.h.

ParameterCamera* g2o::CacheCamera::params

protected

Definition at line 70 of file parameter_camera.h.

---

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

• /home/xuezhisd/CLionProjects/g2o/g2o/types/slam3d/parameter_camera.h
• /home/xuezhisd/CLionProjects/g2o/g2o/types/slam3d/parameter_camera.cpp