g2o::SBACam Class Reference

#include <sbacam.h>

Inheritance diagram for g2o::SBACam:

Collaboration diagram for g2o::SBACam:

Public Member Functions
	SBACam ()
	SBACam (const Eigen::Quaterniond &r_, const Eigen::Vector3d &t_)
	SBACam (const SE3Quat &p)
void	update (const Vector6d &update)
void	setKcam (double fx, double fy, double cx, double cy, double tx)
void	setTransform ()
void	setProjection ()
void	setDr ()
Public Member Functions inherited from g2o::SE3Quat
	SE3Quat ()
	SE3Quat (const Matrix3D &R, const Vector3D &t)
	SE3Quat (const Eigen::Quaterniond &q, const Vector3D &t)
template<typename Derived >
	SE3Quat (const Eigen::MatrixBase< Derived > &v)
const Vector3D &	translation () const
void	setTranslation (const Vector3D &t_)
const Eigen::Quaterniond &	rotation () const
void	setRotation (const Eigen::Quaterniond &r_)
SE3Quat	operator* (const SE3Quat &tr2) const
SE3Quat &	operator*= (const SE3Quat &tr2)
Vector3D	operator* (const Vector3D &v) const
SE3Quat	inverse () const
double	operator[] (int i) const
Vector7d	toVector () const
void	fromVector (const Vector7d &v)
Vector6d	toMinimalVector () const
void	fromMinimalVector (const Vector6d &v)
Vector6d	log () const
Vector3D	map (const Vector3D &xyz) const
Eigen::Matrix< double, 6, 6, Eigen::ColMajor >	adj () const
Eigen::Matrix< double, 4, 4, Eigen::ColMajor >	to_homogeneous_matrix () const
void	normalizeRotation ()
	operator Isometry3D () const

Static Public Member Functions
static void	transformW2F (Eigen::Matrix< double, 3, 4 > &m, const Eigen::Vector3d &trans, const Eigen::Quaterniond &qrot)
static void	transformF2W (Eigen::Matrix< double, 3, 4 > &m, const Eigen::Vector3d &trans, const Eigen::Quaterniond &qrot)
Static Public Member Functions inherited from g2o::SE3Quat
static SE3Quat	exp (const Vector6d &update)

Public Attributes
Eigen::Matrix3d	Kcam
double	baseline
Eigen::Matrix< double, 3, 4 >	w2n
Eigen::Matrix< double, 3, 4 >	w2i
Eigen::Matrix3d	dRdx
Eigen::Matrix3d	dRdy
Eigen::Matrix3d	dRdz
Public Attributes inherited from g2o::SE3Quat
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Additional Inherited Members
Protected Attributes inherited from g2o::SE3Quat
Eigen::Quaterniond	_r
Vector3D	_t

Detailed Description

Definition at line 57 of file sbacam.h.

Constructor & Destructor Documentation

g2o::SBACam::SBACam ( )

inline

Definition at line 75 of file sbacam.h.

      {
        SE3Quat();
        setKcam(1,1,0.5,0.5,0);  // unit image projection
      }

g2o::SBACam::SBACam ( const Eigen::Quaterniond &  r_, const Eigen::Vector3d &  t_  )

inline

Definition at line 83 of file sbacam.h.

                                                                   : SE3Quat(r_, t_)
    {
      setTransform();
      setProjection();
      setDr();
    }

g2o::SBACam::SBACam ( const SE3Quat &  p )

inline

Definition at line 90 of file sbacam.h.

                               : SE3Quat(p) {
        setTransform();
        setProjection();
        setDr();
      }

Member Function Documentation

void g2o::SBACam::setDr ( )

inline

Definition at line 159 of file sbacam.h.

      {
        // inefficient, just for testing
        // use simple multiplications and additions for production code in calculating dRdx,y,z
        Eigen::Matrix3d dRidx, dRidy, dRidz;
        dRidx << 0.0,0.0,0.0,  
              0.0,0.0,2.0,
              0.0,-2.0,0.0;
        dRidy  << 0.0,0.0,-2.0,
               0.0,0.0,0.0,
               2.0,0.0,0.0;
        dRidz  << 0.0,2.0,0.0,  
               -2.0,0.0,0.0,
               0.0,0.0,0.0;

        // for dS'*R', with dS the incremental change
        dRdx = dRidx * w2n.block<3,3>(0,0);
        dRdy = dRidy * w2n.block<3,3>(0,0);
        dRdz = dRidz * w2n.block<3,3>(0,0);
      }

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

inline

Definition at line 138 of file sbacam.h.

Referenced by g2o::VertexCam::read().

      { 
        Kcam.setZero();
        Kcam(0,0) = fx;
        Kcam(1,1) = fy;
        Kcam(0,2) = cx;
        Kcam(1,2) = cy;
        Kcam(2,2) = 1.0;
        baseline = tx;
        setProjection();
        setDr();
      }

void g2o::SBACam::setProjection ( )

inline

Definition at line 156 of file sbacam.h.

{ w2i = Kcam * w2n; }

void g2o::SBACam::setTransform ( )

inline

Definition at line 152 of file sbacam.h.

{ transformW2F(w2n,_t,_r); }

static void g2o::SBACam::transformF2W ( Eigen::Matrix< double, 3, 4 > &  m, const Eigen::Vector3d &  trans, const Eigen::Quaterniond &  qrot  )

inlinestatic

Definition at line 129 of file sbacam.h.

      {
        m.block<3,3>(0,0) = qrot.toRotationMatrix();
        m.col(3) = trans;
      }

static void g2o::SBACam::transformW2F ( Eigen::Matrix< double, 3, 4 > &  m, const Eigen::Vector3d &  trans, const Eigen::Quaterniond &  qrot  )

inlinestatic

Definition at line 117 of file sbacam.h.

      {
        m.block<3,3>(0,0) = qrot.toRotationMatrix().transpose();
        m.col(3).setZero();         // make sure there's no translation
        Eigen::Vector4d tt;
        tt.head(3) = trans;
        tt[3] = 1.0;
        m.col(3) = -m*tt;
      }

void g2o::SBACam::update ( const Vector6d &  update )

inline

Definition at line 98 of file sbacam.h.

      {
        //      std::cout << "UPDATE " << update.transpose() << std::endl;
        // position update
        _t += update.head(3);
        // small quaternion update
        Eigen::Quaterniond qr;
        qr.vec() = update.segment<3>(3); 
        qr.w() = sqrt(1.0 - qr.vec().squaredNorm()); // should always be positive
        _r *= qr;                 // post-multiply
        _r.normalize();    
        setTransform();
        setProjection();
        setDr();
        //      std::cout << t.transpose() << std::endl;
        //      std::cout << r.coeffs().transpose() << std::endl;
      }

Member Data Documentation

double g2o::SBACam::baseline

Definition at line 64 of file sbacam.h.

Referenced by g2o::EdgeProjectP2SC::computeError(), g2o::EdgeProjectP2SC::linearizeOplus(), main(), and g2o::VertexCam::write().

Eigen::Matrix3d g2o::SBACam::dRdx

Definition at line 72 of file sbacam.h.

Referenced by g2o::EdgeProjectP2MC::linearizeOplus(), g2o::EdgeProjectP2SC::linearizeOplus(), and g2o::EdgeProjectP2MC_Intrinsics::linearizeOplus().

Eigen::Matrix3d g2o::SBACam::dRdy

Definition at line 72 of file sbacam.h.

Referenced by g2o::EdgeProjectP2MC::linearizeOplus(), g2o::EdgeProjectP2SC::linearizeOplus(), and g2o::EdgeProjectP2MC_Intrinsics::linearizeOplus().

Eigen::Matrix3d g2o::SBACam::dRdz

Definition at line 72 of file sbacam.h.

Referenced by g2o::EdgeProjectP2MC::linearizeOplus(), g2o::EdgeProjectP2SC::linearizeOplus(), and g2o::EdgeProjectP2MC_Intrinsics::linearizeOplus().

Eigen::Matrix3d g2o::SBACam::Kcam

Definition at line 63 of file sbacam.h.

Referenced by g2o::EdgeProjectP2SC::computeError(), g2o::EdgeProjectP2MC::linearizeOplus(), g2o::EdgeProjectP2SC::linearizeOplus(), g2o::EdgeProjectP2MC_Intrinsics::linearizeOplus(), main(), g2o::operator<<(), and g2o::VertexCam::write().

Eigen::Matrix<double,3,4> g2o::SBACam::w2i

Definition at line 68 of file sbacam.h.

Referenced by g2o::EdgeProjectP2MC::computeError(), g2o::EdgeProjectP2SC::computeError(), g2o::EdgeProjectP2MC_Intrinsics::computeError(), and g2o::operator<<().

Eigen::Matrix<double,3,4> g2o::SBACam::w2n

Definition at line 67 of file sbacam.h.

Referenced by g2o::EdgeProjectP2SC::computeError(), g2o::EdgeProjectP2MC::linearizeOplus(), g2o::EdgeProjectP2SC::linearizeOplus(), g2o::EdgeProjectP2MC_Intrinsics::linearizeOplus(), and g2o::operator<<().

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

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