g2o::ParameterStereoCamera Class Reference

parameters for a camera More...

#include <parameter_stereo_camera.h>

Inheritance diagram for g2o::ParameterStereoCamera:

Collaboration diagram for g2o::ParameterStereoCamera:

Public Member Functions
	ParameterStereoCamera ()
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	setBaseline (double baseline_)
double	baseline () const
Public Member Functions inherited from g2o::ParameterCamera
	ParameterCamera ()
void	setKcam (double fx, double fy, double cx, double cy)
void	setOffset (const Isometry3D &offset_=Isometry3D::Identity())
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::ParameterCamera
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Public Attributes inherited from g2o::ParameterSE3Offset
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Attributes
double	_baseline
Protected Attributes inherited from g2o::ParameterCamera
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_stereo_camera.h.

Constructor & Destructor Documentation

g2o::ParameterStereoCamera::ParameterStereoCamera

(

)

Definition at line 39 of file parameter_stereo_camera.cpp.

                                              {
    setBaseline(0.075);
  }

Member Function Documentation

double g2o::ParameterStereoCamera::baseline ( ) const

inline

Definition at line 47 of file parameter_stereo_camera.h.

{return _baseline;}

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

virtual

read the data from a stream

Reimplemented from g2o::ParameterCamera.

Definition at line 43 of file parameter_stereo_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);
    double baseline_;
    is >> baseline_;
    setBaseline(baseline_);
    return is.good();
  }

void g2o::ParameterStereoCamera::setBaseline ( double  baseline_ )

inline

Definition at line 46 of file parameter_stereo_camera.h.

{ _baseline = baseline_;}

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

virtual

write the data to a stream

Reimplemented from g2o::ParameterCamera.

Definition at line 59 of file parameter_stereo_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) << " ";
    os << baseline() << " ";
    return os.good();
  }

Member Data Documentation

double g2o::ParameterStereoCamera::_baseline

protected

Definition at line 49 of file parameter_stereo_camera.h.

g2o::ParameterStereoCamera::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 40 of file parameter_stereo_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_stereo_camera.h
• /home/xuezhisd/CLionProjects/g2o/g2o/types/slam3d/parameter_stereo_camera.cpp