g2o::ParameterCamera Class Reference

parameters for a camera More...

#include <parameter_camera.h>

Inheritance diagram for g2o::ParameterCamera:

Collaboration diagram for g2o::ParameterCamera:

Public Member Functions
	ParameterCamera ()
void	setKcam (double fx, double fy, double cx, double cy)
void	setOffset (const Isometry3D &offset_=Isometry3D::Identity())
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...
const Matrix3D &	Kcam () const
const Matrix3D &	invKcam () const
const Matrix3D &	Kcam_inverseOffsetR () const
Public Member Functions inherited from g2o::ParameterSE3Offset
	ParameterSE3Offset ()
void	setOffset (const Isometry3D &offset_=Isometry3D::Identity())
const Isometry3D &	offset () const
	rotation of the offset as 3x3 rotation matrix More...
const Isometry3D &	inverseOffset () const
	rotation of the inverse offset as 3x3 rotation matrix 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
Public Attributes inherited from g2o::ParameterSE3Offset
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Attributes
Matrix3D	_Kcam
Matrix3D	_invKcam
Matrix3D	_Kcam_inverseOffsetR
Protected Attributes inherited from g2o::ParameterSE3Offset
Isometry3D	_offset
Isometry3D	_inverseOffset
Protected Attributes inherited from g2o::Parameter
int	_id

Detailed Description

parameters for a camera

Definition at line 38 of file parameter_camera.h.

Constructor & Destructor Documentation

g2o::ParameterCamera::ParameterCamera

(

)

Definition at line 40 of file parameter_camera.cpp.

                                  {
    setId(-1);
    setKcam(1,1,0.5,0.5);
    setOffset();
  }

Member Function Documentation

const Matrix3D& g2o::ParameterCamera::invKcam ( ) const

inline

Definition at line 49 of file parameter_camera.h.

Referenced by g2o::EdgeSE3PointXYZDepth::initialEstimate(), and g2o::EdgeSE3PointXYZDisparity::initialEstimate().

{ return _invKcam;}

const Matrix3D& g2o::ParameterCamera::Kcam ( ) const

inline

Definition at line 48 of file parameter_camera.h.

{ return _Kcam;}

const Matrix3D& g2o::ParameterCamera::Kcam_inverseOffsetR ( ) const

inline

Definition at line 50 of file parameter_camera.h.

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

{ return _Kcam_inverseOffsetR;}

bool g2o::ParameterCamera::read ( std::istream &  is )

virtual

read the data from a stream

Reimplemented from g2o::ParameterSE3Offset.

Reimplemented in g2o::ParameterStereoCamera.

Definition at line 63 of file parameter_camera.cpp.

References g2o::internal::fromVectorQT(), and g2o::internal::normalize().

                                           {
    Vector7d off;
    for (int i=0; i<7; i++)
      is >> off[i];
    // normalize the quaternion to recover numerical precision lost by storing as human readable text
    Vector4D::MapType(off.data()+3).normalize();
    setOffset(internal::fromVectorQT(off));
    double fx,fy,cx,cy;
    is >> fx >> fy >> cx >> cy;
    setKcam(fx,fy,cx,cy);
    return is.good();
  }

void g2o::ParameterCamera::setKcam	(	double	fx,
		double	fy,
		double	cx,
		double	cy
	)

Definition at line 51 of file parameter_camera.cpp.

Referenced by main().

                                                                         {
    _Kcam.setZero();
    _Kcam(0,0) = fx;
    _Kcam(1,1) = fy;
    _Kcam(0,2) = cx;
    _Kcam(1,2) = cy;
    _Kcam(2,2) = 1.0;
    _invKcam = _Kcam.inverse();
    _Kcam_inverseOffsetR = _Kcam * inverseOffset().rotation();
  }

void g2o::ParameterCamera::setOffset

(

const Isometry3D &

offset_ = Isometry3D::Identity()

)

Definition at line 46 of file parameter_camera.cpp.

                                                          {
    ParameterSE3Offset::setOffset(offset_);
    _Kcam_inverseOffsetR = _Kcam * inverseOffset().rotation();
  }

bool g2o::ParameterCamera::write ( std::ostream &  os ) const

virtual

write the data to a stream

Reimplemented from g2o::ParameterSE3Offset.

Reimplemented in g2o::ParameterStereoCamera.

Definition at line 76 of file parameter_camera.cpp.

References g2o::internal::toVectorQT().

                                                  {
    Vector7d off = internal::toVectorQT(_offset);
    for (int i=0; i<7; i++)
      os << off[i] << " ";
    os << _Kcam(0,0) << " ";
    os << _Kcam(1,1) << " ";
    os << _Kcam(0,2) << " ";
    os << _Kcam(1,2) << " ";
    return os.good();
  }

Member Data Documentation

Matrix3D g2o::ParameterCamera::_invKcam

protected

Definition at line 54 of file parameter_camera.h.

Matrix3D g2o::ParameterCamera::_Kcam

protected

Definition at line 53 of file parameter_camera.h.

Matrix3D g2o::ParameterCamera::_Kcam_inverseOffsetR

protected

Definition at line 55 of file parameter_camera.h.

g2o::ParameterCamera::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 40 of file parameter_camera.h.

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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