g2o::ParameterSE3Offset Class Reference

offset for an SE3 More...

#include <parameter_se3_offset.h>

Inheritance diagram for g2o::ParameterSE3Offset:

Collaboration diagram for g2o::ParameterSE3Offset:

Public Member Functions
	ParameterSE3Offset ()
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...
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

Protected Attributes
Isometry3D	_offset
Isometry3D	_inverseOffset
Protected Attributes inherited from g2o::Parameter
int	_id

Detailed Description

offset for an SE3

Definition at line 45 of file parameter_se3_offset.h.

Constructor & Destructor Documentation

g2o::ParameterSE3Offset::ParameterSE3Offset

(

)

Definition at line 38 of file parameter_se3_offset.cpp.

References setOffset().

                                        {
    setOffset();
  }

Member Function Documentation

const Isometry3D& g2o::ParameterSE3Offset::inverseOffset ( ) const

inline

rotation of the inverse offset as 3x3 rotation matrix

Definition at line 64 of file parameter_se3_offset.h.

Referenced by g2o::EdgeSE3PointXYZ::linearizeOplus().

{ return _inverseOffset;}

const Isometry3D& g2o::ParameterSE3Offset::offset ( ) const

inline

rotation of the offset as 3x3 rotation matrix

Definition at line 61 of file parameter_se3_offset.h.

Referenced by g2o::EdgeSE3Offset::initialEstimate(), g2o::EdgeSE3PointXYZDepth::initialEstimate(), g2o::EdgeSE3Prior::initialEstimate(), g2o::EdgeSE3PointXYZ::initialEstimate(), g2o::EdgeSE3PointXYZDisparity::initialEstimate(), g2o::EdgeSE3Prior::linearizeOplus(), g2o::EdgeSE3Offset::linearizeOplus(), g2o::SensorSE3Prior::sense(), g2o::SensorPointXYZ::sense(), g2o::SensorPointXYZDepth::sense(), g2o::SensorPointXYZDisparity::sense(), g2o::CacheSE3Offset::setOffsetParam(), g2o::CacheCamera::updateImpl(), and g2o::CacheSE3Offset::updateImpl().

{ return _offset;}

bool g2o::ParameterSE3Offset::read ( std::istream &  is )

virtual

read the data from a stream

Implements g2o::Parameter.

Reimplemented in g2o::ParameterCamera, and g2o::ParameterStereoCamera.

Definition at line 47 of file parameter_se3_offset.cpp.

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

                                              {
    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));
    return is.good();
  }

void g2o::ParameterSE3Offset::setOffset

(

const Isometry3D &

offset_ = Isometry3D::Identity()

)

update the offset to a new value. re-calculates the different representations, e.g., the rotation matrix

Definition at line 42 of file parameter_se3_offset.cpp.

References _inverseOffset, and _offset.

Referenced by main(), ParameterSE3Offset(), and read().

                                                             {
    _offset = offset_;
    _inverseOffset = _offset.inverse();
  }

bool g2o::ParameterSE3Offset::write ( std::ostream &  os ) const

virtual

write the data to a stream

Implements g2o::Parameter.

Reimplemented in g2o::ParameterCamera, and g2o::ParameterStereoCamera.

Definition at line 58 of file parameter_se3_offset.cpp.

References _offset, and g2o::internal::toVectorQT().

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

Member Data Documentation

Isometry3D g2o::ParameterSE3Offset::_inverseOffset

protected

Definition at line 68 of file parameter_se3_offset.h.

Referenced by setOffset().

Isometry3D g2o::ParameterSE3Offset::_offset

protected

Definition at line 67 of file parameter_se3_offset.h.

Referenced by setOffset(), and write().

g2o::ParameterSE3Offset::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 48 of file parameter_se3_offset.h.

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

• /home/xuezhisd/CLionProjects/g2o/g2o/types/slam3d/parameter_se3_offset.h
• /home/xuezhisd/CLionProjects/g2o/g2o/types/slam3d/parameter_se3_offset.cpp