g2o::EdgeNormal Class Reference

#include <sbacam.h>

Public Member Functions
	EdgeNormal ()
void	makeRot ()

Public Attributes
Eigen::Vector3d	pos
Eigen::Vector3d	normal
Eigen::Matrix3d	R

Detailed Description

Definition at line 201 of file sbacam.h.

Constructor & Destructor Documentation

g2o::EdgeNormal::EdgeNormal ( )

inline

Definition at line 216 of file sbacam.h.

      {
        pos.setZero();
        normal << 0, 0, 1;
        makeRot();
      }

Member Function Documentation

void g2o::EdgeNormal::makeRot ( )

inline

Definition at line 224 of file sbacam.h.

      {
        Eigen::Vector3d y;
        y << 0, 1, 0;
        R.row(2) = normal;
        y = y - normal(1)*normal;
        y.normalize();            // need to check if y is close to 0
        R.row(1) = y;
        R.row(0) = normal.cross(R.row(1));
        //      cout << normal.transpose() << endl;
        //      cout << R << endl << endl;
        //      cout << R*R.transpose() << endl << endl;
      }

Member Data Documentation

Eigen::Vector3d g2o::EdgeNormal::normal

Definition at line 210 of file sbacam.h.

Eigen::Vector3d g2o::EdgeNormal::pos

Definition at line 207 of file sbacam.h.

Eigen::Matrix3d g2o::EdgeNormal::R

Definition at line 213 of file sbacam.h.

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

• /home/xuezhisd/CLionProjects/g2o/g2o/types/sba/sbacam.h