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Public Member Functions | Public Attributes | Protected Attributes | List of all members
g2o::EdgeSE2SensorCalib Class Reference

scanmatch measurement that also calibrates an offset for the laser More...

#include <edge_se2_sensor_calib.h>

Inheritance diagram for g2o::EdgeSE2SensorCalib:
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Collaboration diagram for g2o::EdgeSE2SensorCalib:
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Public Member Functions

 EdgeSE2SensorCalib ()
 
void computeError ()
 
void setMeasurement (const SE2 &m)
 
virtual double initialEstimatePossible (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)
 
virtual void initialEstimate (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)
 
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::BaseMultiEdge< 3, SE2 >
 BaseMultiEdge ()
 
virtual void linearizeOplus (JacobianWorkspace &jacobianWorkspace)
 
virtual void linearizeOplus ()
 
virtual void resize (size_t size)
 
virtual bool allVerticesFixed () const
 
virtual void constructQuadraticForm ()
 
virtual void mapHessianMemory (double *d, int i, int j, bool rowMajor)
 
- Public Member Functions inherited from g2o::BaseEdge< D, SE2 >
 BaseEdge ()
 
virtual ~BaseEdge ()
 
virtual double chi2 () const
 computes the chi2 based on the cached error value, only valid after computeError has been called. More...
 
virtual const double * errorData () const
 returns the error vector cached after calling the computeError; More...
 
virtual double * errorData ()
 
const ErrorVectorerror () const
 
ErrorVectorerror ()
 
EIGEN_STRONG_INLINE const InformationTypeinformation () const
 information matrix of the constraint More...
 
EIGEN_STRONG_INLINE InformationTypeinformation ()
 
EIGEN_STRONG_INLINE void setInformation (const 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 ()
 
EIGEN_STRONG_INLINE const Measurementmeasurement () const
 accessor functions for the measurement represented by the edge More...
 
virtual int rank () const
 
- Public Member Functions inherited from g2o::OptimizableGraph::Edge
 Edge ()
 
virtual ~Edge ()
 
virtual Edgeclone () const
 
virtual bool setMeasurementData (const double *m)
 
virtual bool getMeasurementData (double *m) const
 
virtual int measurementDimension () const
 
virtual bool setMeasurementFromState ()
 
RobustKernelrobustKernel () const
 if NOT NULL, error of this edge will be robustifed with the kernel More...
 
void setRobustKernel (RobustKernel *ptr)
 
int level () const
 returns the level of the edge More...
 
void setLevel (int l)
 sets the level of the edge More...
 
int dimension () const
 returns the dimensions of the error function More...
 
 G2O_ATTRIBUTE_DEPRECATED (virtual Vertex *createFrom())
 
 G2O_ATTRIBUTE_DEPRECATED (virtual Vertex *createTo())
 
virtual VertexcreateVertex (int)
 
long long internalId () const
 the internal ID of the edge More...
 
OptimizableGraphgraph ()
 
const OptimizableGraphgraph () const
 
bool setParameterId (int argNum, int paramId)
 
const Parameterparameter (int argNo) const
 
size_t numParameters () const
 
void resizeParameters (size_t newSize)
 
- Public Member Functions inherited from g2o::HyperGraph::Edge
 Edge (int id=InvalidId)
 creates and empty edge with no vertices More...
 
const VertexContainervertices () const
 
VertexContainervertices ()
 
const Vertexvertex (size_t i) const
 
Vertexvertex (size_t i)
 
void setVertex (size_t i, Vertex *v)
 
int id () const
 
void setId (int id)
 
virtual HyperGraphElementType elementType () const
 
int numUndefinedVertices () const
 
- Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement
virtual ~HyperGraphElement ()
 
HyperGraphElementclone () const
 
- Public Member Functions inherited from g2o::HyperGraph::DataContainer
 DataContainer ()
 
virtual ~DataContainer ()
 
const DatauserData () const
 the user data associated with this vertex More...
 
DatauserData ()
 
void setUserData (Data *obs)
 
void addUserData (Data *obs)
 

Public Attributes

 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 

Protected Attributes

SE2 _inverseMeasurement
 
- Protected Attributes inherited from g2o::BaseMultiEdge< 3, SE2 >
std::vector< HessianHelper > _hessian
 
std::vector< JacobianType, Eigen::aligned_allocator< JacobianType > > _jacobianOplus
 jacobians of the edge (w.r.t. oplus) More...
 
- Protected Attributes inherited from g2o::BaseEdge< D, SE2 >
Measurement _measurement
 
InformationType _information
 
ErrorVector _error
 
- Protected Attributes inherited from g2o::OptimizableGraph::Edge
int _dimension
 
int _level
 
RobustKernel_robustKernel
 
long long _internalId
 
std::vector< int > _cacheIds
 
std::vector< std::string > _parameterTypes
 
std::vector< Parameter ** > _parameters
 
std::vector< int > _parameterIds
 
- Protected Attributes inherited from g2o::HyperGraph::Edge
VertexContainer _vertices
 
int _id
 unique id More...
 
- Protected Attributes inherited from g2o::HyperGraph::DataContainer
Data_userData
 

Additional Inherited Members

- Public Types inherited from g2o::BaseMultiEdge< 3, SE2 >
typedef BaseEdge< D, SE2 >::Measurement Measurement
 
typedef MatrixXD::MapType JacobianType
 
typedef BaseEdge< D, SE2 >::ErrorVector ErrorVector
 
typedef BaseEdge< D, SE2 >::InformationType InformationType
 
typedef Eigen::Map< MatrixXD, MatrixXD::Flags &Eigen::AlignedBit?Eigen::Aligned:Eigen::Unaligned > HessianBlockType
 
- Public Types inherited from g2o::BaseEdge< D, SE2 >
typedef SE2 Measurement
 
typedef Eigen::Matrix< double, D, 1, Eigen::ColMajor > ErrorVector
 
typedef Eigen::Matrix< double, D, D, Eigen::ColMajor > InformationType
 
- Static Public Attributes inherited from g2o::BaseMultiEdge< 3, SE2 >
static const int Dimension
 
- Static Public Attributes inherited from g2o::BaseEdge< D, SE2 >
static const int Dimension
 
- Protected Member Functions inherited from g2o::BaseMultiEdge< 3, SE2 >
void computeQuadraticForm (const InformationType &omega, const ErrorVector &weightedError)
 
- Protected Member Functions inherited from g2o::BaseEdge< D, SE2 >
InformationType robustInformation (const 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)
 
bool resolveParameters ()
 
virtual bool resolveCaches ()
 

Detailed Description

scanmatch measurement that also calibrates an offset for the laser

Definition at line 39 of file edge_se2_sensor_calib.h.

Constructor & Destructor Documentation

g2o::EdgeSE2SensorCalib::EdgeSE2SensorCalib ( )

Definition at line 33 of file edge_se2_sensor_calib.cpp.

References g2o::BaseMultiEdge< 3, SE2 >::resize().

33  :
34  BaseMultiEdge<3, SE2>()
35  {
36  resize(3);
37  }
virtual void resize(size_t size)

Member Function Documentation

void g2o::EdgeSE2SensorCalib::computeError ( )
inlinevirtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 45 of file edge_se2_sensor_calib.h.

References g2o::BaseVertex< D, T >::estimate(), and g2o::SE2::toVector().

46  {
47  const VertexSE2* v1 = static_cast<const VertexSE2*>(_vertices[0]);
48  const VertexSE2* v2 = static_cast<const VertexSE2*>(_vertices[1]);
49  const VertexSE2* laserOffset = static_cast<const VertexSE2*>(_vertices[2]);
50  const SE2& x1 = v1->estimate();
51  const SE2& x2 = v2->estimate();
52  SE2 delta = _inverseMeasurement * ((x1 * laserOffset->estimate()).inverse() * x2 * laserOffset->estimate());
53  _error = delta.toVector();
54  }
ErrorVector _error
Definition: base_edge.h:89
VertexContainer _vertices
Definition: hyper_graph.h:202
void g2o::EdgeSE2SensorCalib::initialEstimate ( const OptimizableGraph::VertexSet ,
OptimizableGraph::Vertex  
)
virtual

set the estimate of the to vertex, based on the estimate of the from vertices in the edge.

Reimplemented from g2o::BaseEdge< D, SE2 >.

Definition at line 39 of file edge_se2_sensor_calib.cpp.

References _inverseMeasurement, g2o::HyperGraph::Edge::_vertices, g2o::BaseVertex< D, T >::estimate(), g2o::SE2::inverse(), g2o::BaseEdge< D, SE2 >::measurement(), and g2o::BaseVertex< D, T >::setEstimate().

40  {
41  (void) to;
42  VertexSE2* vi = static_cast<VertexSE2*>(_vertices[0]);
43  VertexSE2* vj = static_cast<VertexSE2*>(_vertices[1]);
44  VertexSE2* l = static_cast<VertexSE2*>(_vertices[2]);
45  if (from.count(l) == 0)
46  return;
47  if (from.count(vi) == 1) {
48  vj->setEstimate(vi->estimate() * l->estimate() * measurement() * l->estimate().inverse());
49  } else {
50  vi->setEstimate(vj->estimate() * l->estimate() * _inverseMeasurement * l->estimate().inverse());
51  }
52  }
SE2 inverse() const
invert :-)
Definition: se2.h:82
EIGEN_STRONG_INLINE const Measurement & measurement() const
accessor functions for the measurement represented by the edge
Definition: base_edge.h:75
VertexContainer _vertices
Definition: hyper_graph.h:202
virtual double g2o::EdgeSE2SensorCalib::initialEstimatePossible ( const OptimizableGraph::VertexSet from,
OptimizableGraph::Vertex to 
)
inlinevirtual

override in your class if it's possible to initialize the vertices in certain combinations. The return value may correspond to the cost for initiliaizng the vertex but should be positive if the initialization is possible and negative if not possible.

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 61 of file edge_se2_sensor_calib.h.

62  {
63  if ( from.count(_vertices[2]) == 1 // need the laser offset
64  && ((from.count(_vertices[0]) == 1 && to == _vertices[1]) || ((from.count(_vertices[1]) == 1 && to == _vertices[0])))) {
65  return 1.0;
66  }
67  return -1.0;
68  }
VertexContainer _vertices
Definition: hyper_graph.h:202
bool g2o::EdgeSE2SensorCalib::read ( std::istream &  is)
virtual

read the vertex from a stream, i.e., the internal state of the vertex

Implements g2o::OptimizableGraph::Edge.

Definition at line 54 of file edge_se2_sensor_calib.cpp.

References _inverseMeasurement, g2o::BaseEdge< D, SE2 >::_measurement, g2o::SE2::fromVector(), g2o::BaseEdge< D, SE2 >::information(), g2o::SE2::inverse(), and g2o::BaseEdge< D, SE2 >::measurement().

55  {
56  Vector3D p;
57  is >> p(0) >> p(1) >> p(2);
60  for (int i = 0; i < information().rows(); ++i)
61  for (int j = i; j < information().cols(); ++j) {
62  is >> information()(i, j);
63  if (i != j)
64  information()(j, i) = information()(i, j);
65  }
66  return true;
67  }
Eigen::Matrix< double, 3, 1, Eigen::ColMajor > Vector3D
Definition: eigen_types.h:46
Measurement _measurement
Definition: base_edge.h:87
void fromVector(const Vector3D &v)
assign from a 3D vector (x, y, theta)
Definition: se2.h:103
EIGEN_STRONG_INLINE const InformationType & information() const
information matrix of the constraint
Definition: base_edge.h:67
SE2 inverse() const
invert :-)
Definition: se2.h:82
EIGEN_STRONG_INLINE const Measurement & measurement() const
accessor functions for the measurement represented by the edge
Definition: base_edge.h:75
void g2o::EdgeSE2SensorCalib::setMeasurement ( const SE2 m)
inlinevirtual

Reimplemented from g2o::BaseEdge< D, SE2 >.

Definition at line 56 of file edge_se2_sensor_calib.h.

References g2o::SE2::inverse().

Referenced by g2o::Gm2dlIO::readGm2dl().

56  {
57  _measurement = m;
59  }
Measurement _measurement
Definition: base_edge.h:87
SE2 inverse() const
invert :-)
Definition: se2.h:82
bool g2o::EdgeSE2SensorCalib::write ( std::ostream &  os) const
virtual

write the vertex to a stream

Implements g2o::OptimizableGraph::Edge.

Definition at line 69 of file edge_se2_sensor_calib.cpp.

References g2o::BaseVertex< D, T >::estimate(), g2o::BaseEdge< D, SE2 >::information(), g2o::BaseEdge< D, SE2 >::measurement(), g2o::SE2::toVector(), g2o::SE2::translation(), and g2o::HyperGraph::Edge::vertex().

70  {
72  os << p(0) << " " << p(1) << " " << p(2);
73  for (int i = 0; i < information().rows(); ++i)
74  for (int j = i; j < information().cols(); ++j)
75  os << " " << information()(i, j);
76  return os.good();
77  }
Vector3D toVector() const
convert to a 3D vector (x, y, theta)
Definition: se2.h:108
Eigen::Matrix< double, 3, 1, Eigen::ColMajor > Vector3D
Definition: eigen_types.h:46
EIGEN_STRONG_INLINE const InformationType & information() const
information matrix of the constraint
Definition: base_edge.h:67
EIGEN_STRONG_INLINE const Measurement & measurement() const
accessor functions for the measurement represented by the edge
Definition: base_edge.h:75

Member Data Documentation

SE2 g2o::EdgeSE2SensorCalib::_inverseMeasurement
protected

Definition at line 75 of file edge_se2_sensor_calib.h.

Referenced by initialEstimate(), and read().

g2o::EdgeSE2SensorCalib::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 42 of file edge_se2_sensor_calib.h.


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