Stereo camera vertex, derived from SE3 class. Note that we use the actual pose of the vertex as its parameterization, rather than the transform from RW to camera coords. Uses static vars for camera params, so there is a single camera setup. More...

#include <types_icp.h>

Inheritance diagram for g2o::VertexSCam:

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Collaboration diagram for g2o::VertexSCam:

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Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	VertexSCam ()

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...

virtual void	oplusImpl (const double *update)

void	setTransform ()

void	setProjection ()

void	setDr ()

void	setAll ()

void	mapPoint (Vector3D &res, const Vector3D &pt3)

Public Member Functions inherited from g2o::VertexSE3
	VertexSE3 ()

virtual void	setToOriginImpl ()
	sets the node to the origin (used in the multilevel stuff) More...

virtual bool	setEstimateDataImpl (const double *est)

virtual bool	getEstimateData (double *est) const

virtual int	estimateDimension () const

virtual bool	setMinimalEstimateDataImpl (const double *est)

virtual bool	getMinimalEstimateData (double *est) const

virtual int	minimalEstimateDimension () const

SE3Quat	G2O_ATTRIBUTE_DEPRECATED (estimateAsSE3Quat() const)
	wrapper function to use the old SE3 type More...

void	G2O_ATTRIBUTE_DEPRECATED (setEstimateFromSE3Quat(const SE3Quat &se3))
	wrapper function to use the old SE3 type More...

Public Member Functions inherited from g2o::BaseVertex< 6, Isometry3D >
	BaseVertex ()

virtual const double &	hessian (int i, int j) const
	get the element from the hessian matrix More...

virtual double &	hessian (int i, int j)

virtual double	hessianDeterminant () const

virtual double *	hessianData ()

virtual void	mapHessianMemory (double *d)

virtual int	copyB (double *b_) const

virtual const double &	b (int i) const
	get the b vector element More...

virtual double &	b (int i)

Eigen::Matrix< double, D, 1, Eigen::ColMajor > &	b ()
	return right hand side b of the constructed linear system More...

const Eigen::Matrix< double, D, 1, Eigen::ColMajor > &	b () const

virtual double *	bData ()
	return a pointer to the b vector associated with this vertex More...

virtual void	clearQuadraticForm ()

virtual double	solveDirect (double lambda=0)

HessianBlockType &	A ()
	return the hessian block associated with the vertex More...

const HessianBlockType &	A () const

virtual void	push ()
	backup the position of the vertex to a stack More...

virtual void	pop ()
	restore the position of the vertex by retrieving the position from the stack More...

virtual void	discardTop ()
	pop the last element from the stack, without restoring the current estimate More...

virtual int	stackSize () const
	return the stack size More...

const EstimateType &	estimate () const
	return the current estimate of the vertex More...

void	setEstimate (const EstimateType &et)
	set the estimate for the vertex also calls updateCache() More...

Public Member Functions inherited from g2o::OptimizableGraph::Vertex
	Vertex ()

virtual Vertex *	clone () const
	returns a deep copy of the current vertex More...

virtual	~Vertex ()

void	setToOrigin ()
	sets the node to the origin (used in the multilevel stuff) More...

bool	setEstimateData (const double *estimate)

bool	setEstimateData (const std::vector< double > &estimate)

virtual bool	getEstimateData (std::vector< double > &estimate) const

bool	setMinimalEstimateData (const double *estimate)

bool	setMinimalEstimateData (const std::vector< double > &estimate)

virtual bool	getMinimalEstimateData (std::vector< double > &estimate) const

void	oplus (const double *v)

int	hessianIndex () const
	temporary index of this node in the parameter vector obtained from linearization More...

int	G2O_ATTRIBUTE_DEPRECATED (tempIndex() const)

void	setHessianIndex (int ti)
	set the temporary index of the vertex in the parameter blocks More...

void	G2O_ATTRIBUTE_DEPRECATED (setTempIndex(int ti))

bool	fixed () const
	true => this node is fixed during the optimization More...

void	setFixed (bool fixed)
	true => this node should be considered fixed during the optimization More...

bool	marginalized () const
	true => this node is marginalized out during the optimization More...

void	setMarginalized (bool marginalized)
	true => this node should be marginalized out during the optimization More...

int	dimension () const
	dimension of the estimated state belonging to this node More...

virtual void	setId (int id)
	sets the id of the node in the graph be sure that the graph keeps consistent after changing the id More...

void	setColInHessian (int c)
	set the row of this vertex in the Hessian More...

int	colInHessian () const
	get the row of this vertex in the Hessian More...

const OptimizableGraph *	graph () const

OptimizableGraph *	graph ()

void	lockQuadraticForm ()

void	unlockQuadraticForm ()

virtual void	updateCache ()

CacheContainer *	cacheContainer ()

Public Member Functions inherited from g2o::HyperGraph::Vertex
	Vertex (int id=InvalidId)
	creates a vertex having an ID specified by the argument More...

int	id () const
	returns the id More...

const EdgeSet &	edges () const
	returns the set of hyper-edges that are leaving/entering in this vertex More...

EdgeSet &	edges ()
	returns the set of hyper-edges that are leaving/entering in this vertex More...

virtual HyperGraphElementType	elementType () const

Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement
virtual	~HyperGraphElement ()

HyperGraphElement *	clone () const

Public Member Functions inherited from g2o::HyperGraph::DataContainer
	DataContainer ()

virtual	~DataContainer ()

const Data *	userData () const
	the user data associated with this vertex More...

Data *	userData ()

void	setUserData (Data *obs)

void	addUserData (Data *obs)

Static Public Member Functions
static void	transformW2F (Eigen::Matrix< double, 3, 4, Eigen::ColMajor > &m, const Vector3D &trans, const Eigen::Quaterniond &qrot)

static void	transformF2W (Eigen::Matrix< double, 3, 4, Eigen::ColMajor > &m, const Vector3D &trans, const Eigen::Quaterniond &qrot)

static void	setKcam (double fx, double fy, double cx, double cy, double tx)

Public Attributes
Eigen::Matrix< double, 3, 4, Eigen::ColMajor >	w2n

Eigen::Matrix< double, 3, 4, Eigen::ColMajor >	w2i

Matrix3D	dRdx

Matrix3D	dRdy

Matrix3D	dRdz

Public Attributes inherited from g2o::VertexSE3
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Static Public Attributes
static Matrix3D	Kcam

static double	baseline

static Matrix3D	dRidx

static Matrix3D	dRidy

static Matrix3D	dRidz

Static Public Attributes inherited from g2o::VertexSE3
static const int	orthogonalizeAfter = 1000

Static Public Attributes inherited from g2o::BaseVertex< 6, Isometry3D >
static const int	Dimension
	dimension of the estimate (minimal) in the manifold space More...

Additional Inherited Members
Public Types inherited from g2o::BaseVertex< 6, Isometry3D >
typedef Isometry3D	EstimateType

typedef std::stack< EstimateType, std::vector< EstimateType, Eigen::aligned_allocator< EstimateType > > >	BackupStackType

typedef Eigen::Map< Eigen::Matrix< double, D, D, Eigen::ColMajor >, Eigen::Matrix< double, D, D, Eigen::ColMajor >::Flags &Eigen::AlignedBit?Eigen::Aligned:Eigen::Unaligned >	HessianBlockType

Protected Attributes inherited from g2o::VertexSE3
int	_numOplusCalls
	store how often opluse was called to trigger orthogonaliation of the rotation matrix More...

Protected Attributes inherited from g2o::BaseVertex< 6, Isometry3D >
HessianBlockType	_hessian

Eigen::Matrix< double, D, 1, Eigen::ColMajor >	_b

EstimateType	_estimate

BackupStackType	_backup

Protected Attributes inherited from g2o::OptimizableGraph::Vertex
OptimizableGraph *	_graph

Data *	_userData

int	_hessianIndex

bool	_fixed

bool	_marginalized

int	_dimension

int	_colInHessian

OpenMPMutex	_quadraticFormMutex

CacheContainer *	_cacheContainer

Protected Attributes inherited from g2o::HyperGraph::Vertex
int	_id

EdgeSet	_edges

Protected Attributes inherited from g2o::HyperGraph::DataContainer
Data *	_userData

Detailed Description

Stereo camera vertex, derived from SE3 class. Note that we use the actual pose of the vertex as its parameterization, rather than the transform from RW to camera coords. Uses static vars for camera params, so there is a single camera setup.

Definition at line 250 of file types_icp.h.

Constructor & Destructor Documentation

g2o::VertexSCam::VertexSCam ( )

Definition at line 232 of file types_icp.cpp.

                          :
     VertexSE3()
   {}

Member Function Documentation

void g2o::VertexSCam::mapPoint	(	Vector3D &	res,
		const Vector3D &	pt3
	)

inline

Definition at line 343 of file types_icp.h.

Referenced by g2o::Edge_XYZ_VSC::computeError().

       {
         Vector4D pt;
         pt.head<3>() = pt3;
         pt(3) = 1.0;
         Vector3D p1 = w2i * pt;
         Vector3D p2 = w2n * pt;
         Vector3D pb(baseline,0,0);
 
         double invp1 = 1.0/p1(2);
         res.head<2>() = p1.head<2>()*invp1;
 
         // right camera px
         p2 = Kcam*(p2-pb);
         res(2) = p2(0)/p2(2);
       }

virtual void g2o::VertexSCam::oplusImpl ( const double * update )

inlinevirtual

update the position of this vertex. The update is in the form (x,y,z,qx,qy,qz) whereas (x,y,z) represents the translational update and (qx,qy,qz) corresponds to the respective elements. The missing element qw of the quaternion is recovred by || (qw,qx,qy,qz) || == 1 => qw = sqrt(1 - || (qx,qy,qz) ||

Reimplemented from g2o::VertexSE3.

Definition at line 262 of file types_icp.h.

References g2o::VertexSE3::oplusImpl().

       {
         VertexSE3::oplusImpl(update);
         setAll();
       }

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

virtual

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

Reimplemented from g2o::VertexSE3.

Definition at line 331 of file types_icp.cpp.

332 { return false; }

void g2o::VertexSCam::setAll ( )

inline

Definition at line 335 of file types_icp.h.

Referenced by main().

       {
         setTransform();
         setProjection();
         setDr();
       }

void g2o::VertexSCam::setDr ( )

inline

Definition at line 324 of file types_icp.h.

       {
         // inefficient, just for testing
         // use simple multiplications and additions for production code in calculating dRdx,y,z
         // 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);
       }

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

inlinestatic

Definition at line 302 of file types_icp.h.

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;
         baseline = tx;
       }

void g2o::VertexSCam::setProjection ( )

inline

Definition at line 321 of file types_icp.h.

321 { w2i = Kcam * w2n; }

g2o::VertexSCam::w2i

Eigen::Matrix< double, 3, 4, Eigen::ColMajor > w2i

Definition: types_icp.h:274

g2o::VertexSCam::Kcam

static Matrix3D Kcam

Definition: types_icp.h:269

g2o::VertexSCam::w2n

Eigen::Matrix< double, 3, 4, Eigen::ColMajor > w2n

Definition: types_icp.h:273

void g2o::VertexSCam::setTransform ( )

inline

Definition at line 314 of file types_icp.h.

                            {
         w2n = estimate().inverse().matrix().block<3,4>(0, 0);
         //transformW2F(w2n,estimate().translation(), estimate().rotation());
       }

static void g2o::VertexSCam::transformF2W	(	Eigen::Matrix< double, 3, 4, Eigen::ColMajor > &	m,
		const Vector3D &	trans,
		const Eigen::Quaterniond &	qrot
	)

inlinestatic

Definition at line 293 of file types_icp.h.

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

static void g2o::VertexSCam::transformW2F	(	Eigen::Matrix< double, 3, 4, Eigen::ColMajor > &	m,
		const Vector3D &	trans,
		const Eigen::Quaterniond &	qrot
	)

inlinestatic

Definition at line 281 of file types_icp.h.

         {
           m.block<3,3>(0,0) = qrot.toRotationMatrix().transpose();
           m.col(3).setZero();         // make sure there's no translation
           Vector4D tt;
           tt.head(3) = trans;
           tt[3] = 1.0;
           m.col(3) = -m*tt;
         }

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

virtual

write the vertex to a stream

Reimplemented from g2o::VertexSE3.

Definition at line 334 of file types_icp.cpp.

335 { return false; }

Member Data Documentation

double g2o::VertexSCam::baseline

static

Definition at line 270 of file types_icp.h.

Referenced by g2o::Edge_XYZ_VSC::Edge_XYZ_VSC().

Matrix3D g2o::VertexSCam::dRdx

Definition at line 278 of file types_icp.h.

Referenced by g2o::Edge_XYZ_VSC::Edge_XYZ_VSC().

Matrix3D g2o::VertexSCam::dRdy

Definition at line 278 of file types_icp.h.

Referenced by g2o::Edge_XYZ_VSC::Edge_XYZ_VSC().

Matrix3D g2o::VertexSCam::dRdz

Definition at line 278 of file types_icp.h.

Referenced by g2o::Edge_XYZ_VSC::Edge_XYZ_VSC().

Matrix3D g2o::VertexSCam::dRidx

static

Definition at line 360 of file types_icp.h.

Matrix3D g2o::VertexSCam::dRidy

static

Definition at line 361 of file types_icp.h.

Matrix3D g2o::VertexSCam::dRidz

static

Definition at line 362 of file types_icp.h.

Matrix3D g2o::VertexSCam::Kcam

static

Definition at line 269 of file types_icp.h.

Referenced by g2o::Edge_XYZ_VSC::Edge_XYZ_VSC().

Eigen::Matrix<double,3,4,Eigen::ColMajor> g2o::VertexSCam::w2i

Definition at line 274 of file types_icp.h.

Eigen::Matrix<double,3,4,Eigen::ColMajor> g2o::VertexSCam::w2n

Definition at line 273 of file types_icp.h.

Referenced by g2o::Edge_XYZ_VSC::Edge_XYZ_VSC().

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

/home/xuezhisd/CLionProjects/g2o/g2o/types/icp/types_icp.h
/home/xuezhisd/CLionProjects/g2o/g2o/types/icp/types_icp.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation