g2o::CameraParameters Class Reference

#include <types_six_dof_expmap.h>

Inheritance diagram for g2o::CameraParameters:

Collaboration diagram for g2o::CameraParameters:

Public Member Functions
	CameraParameters ()
	CameraParameters (double focal_length, const Vector2D &principle_point, double baseline)
Vector2D	cam_map (const Vector3D &trans_xyz) const
Vector3D	stereocam_uvu_map (const Vector3D &trans_xyz) const
virtual bool	read (std::istream &is)
	read the data from a stream More...
virtual bool	write (std::ostream &os) const
	write the data to a stream More...
Public Member Functions inherited from g2o::Parameter
	Parameter ()
virtual	~Parameter ()
int	id () const
void	setId (int id_)
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
double	focal_length
Vector2D	principle_point
double	baseline

Additional Inherited Members
Protected Attributes inherited from g2o::Parameter
int	_id

Detailed Description

Definition at line 43 of file types_six_dof_expmap.h.

Constructor & Destructor Documentation

g2o::CameraParameters::CameraParameters

(

)

Definition at line 45 of file types_six_dof_expmap.cpp.

  : focal_length(1.),
    principle_point(Vector2D(0., 0.)),
    baseline(0.5)  {
}

g2o::CameraParameters::CameraParameters ( double  focal_length, const Vector2D &  principle_point, double  baseline  )

inline

Definition at line 49 of file types_six_dof_expmap.h.

      : focal_length(focal_length),
      principle_point(principle_point),
      baseline(baseline){}

Member Function Documentation

Vector2D g2o::CameraParameters::cam_map

(

const Vector3D &

trans_xyz

)

const

Definition at line 70 of file types_six_dof_expmap.cpp.

References g2o::project2d().

Referenced by g2o::EdgeProjectXYZ2UV::computeError(), g2o::EdgeProjectPSI2UV::computeError(), and main().

                                                                    {
  Vector2D proj = project2d(trans_xyz);
  Vector2D res;
  res[0] = proj[0]*focal_length + principle_point[0];
  res[1] = proj[1]*focal_length + principle_point[1];
  return res;
}

virtual bool g2o::CameraParameters::read ( std::istream &  is )

inlinevirtual

read the data from a stream

Implements g2o::Parameter.

Definition at line 60 of file types_six_dof_expmap.h.

                                      {
      is >> focal_length;
      is >> principle_point[0];
      is >> principle_point[1];
      is >> baseline;
      return true;
    }

Vector3D g2o::CameraParameters::stereocam_uvu_map

(

const Vector3D &

trans_xyz

)

const

Definition at line 78 of file types_six_dof_expmap.cpp.

Referenced by g2o::EdgeProjectXYZ2UVU::computeError().

                                                                             {
  Vector2D uv_left = cam_map(trans_xyz);
  double proj_x_right = (trans_xyz[0]-baseline)/trans_xyz[2];
  double u_right = proj_x_right*focal_length + principle_point[0];
  return Vector3D(uv_left[0],uv_left[1],u_right);
}

virtual bool g2o::CameraParameters::write ( std::ostream &  os ) const

inlinevirtual

write the data to a stream

Implements g2o::Parameter.

Definition at line 68 of file types_six_dof_expmap.h.

                                              {
      os << focal_length << " ";
      os << principle_point.x() << " ";
      os << principle_point.y() << " ";
      os << baseline << " ";
      return true;
    }

Member Data Documentation

double g2o::CameraParameters::baseline

Definition at line 78 of file types_six_dof_expmap.h.

g2o::CameraParameters::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 46 of file types_six_dof_expmap.h.

double g2o::CameraParameters::focal_length

Definition at line 76 of file types_six_dof_expmap.h.

Referenced by g2o::EdgeProjectXYZ2UV::linearizeOplus(), and g2o::EdgeProjectPSI2UV::linearizeOplus().

Vector2D g2o::CameraParameters::principle_point

Definition at line 77 of file types_six_dof_expmap.h.

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

• /home/xuezhisd/CLionProjects/g2o/g2o/types/sba/types_six_dof_expmap.h
• /home/xuezhisd/CLionProjects/g2o/g2o/types/sba/types_six_dof_expmap.cpp