Sim3 Vertex, (x,y,z,qw,qx,qy,qz) the parameterization for the increments constructed is a 7d vector (x,y,z,qx,qy,qz) (note that we leave out the w part of the quaternion. More...

#include <types_seven_dof_expmap.h>

Inheritance diagram for g2o::VertexSim3Expmap:

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Collaboration diagram for g2o::VertexSim3Expmap:

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Public Member Functions
	VertexSim3Expmap ()

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

virtual void	oplusImpl (const double *update_)

Vector2D	cam_map (const Vector2D &v) const

Public Member Functions inherited from g2o::BaseVertex< 7, Sim3 >
	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 (double *estimate) const

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

virtual int	estimateDimension () const

bool	setMinimalEstimateData (const double *estimate)

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

virtual bool	getMinimalEstimateData (double *estimate) const

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

virtual int	minimalEstimateDimension () 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)

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Vector2D	_principle_point

Vector2D	_focal_length

bool	_fix_scale

Additional Inherited Members
Public Types inherited from g2o::BaseVertex< 7, Sim3 >
typedef Sim3	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

Static Public Attributes inherited from g2o::BaseVertex< 7, Sim3 >
static const int	Dimension
	dimension of the estimate (minimal) in the manifold space More...

Protected Member Functions inherited from g2o::OptimizableGraph::Vertex
virtual bool	setEstimateDataImpl (const double *)

virtual bool	setMinimalEstimateDataImpl (const double *)

Protected Attributes inherited from g2o::BaseVertex< 7, Sim3 >
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

Sim3 Vertex, (x,y,z,qw,qx,qy,qz) the parameterization for the increments constructed is a 7d vector (x,y,z,qx,qy,qz) (note that we leave out the w part of the quaternion.

Definition at line 43 of file types_seven_dof_expmap.h.

Constructor & Destructor Documentation

g2o::VertexSim3Expmap::VertexSim3Expmap ( )

Definition at line 42 of file types_seven_dof_expmap.cpp.

References _fix_scale, _focal_length, g2o::OptimizableGraph::Vertex::_marginalized, and _principle_point.

                                      : BaseVertex<7, Sim3>()
   {
     _marginalized=false;
     _fix_scale = false;
     _principle_point[0] = 0;
     _principle_point[1] = 0;
     _focal_length[0] = 1;
     _focal_length[1] = 1;
   }

Member Function Documentation

Vector2D g2o::VertexSim3Expmap::cam_map ( const Vector2D & v ) const

inline

Definition at line 69 of file types_seven_dof_expmap.h.

Referenced by g2o::EdgeSim3ProjectXYZ::computeError().

     {
       Vector2D res;
       res[0] = v[0]*_focal_length[0] + _principle_point[0];
       res[1] = v[1]*_focal_length[1] + _principle_point[1];
       return res;
     }

virtual void g2o::VertexSim3Expmap::oplusImpl ( const double * v )

inlinevirtual

update the position of the node from the parameters in v. Implement in your class!

Implements g2o::OptimizableGraph::Vertex.

Definition at line 55 of file types_seven_dof_expmap.h.

References _fix_scale, g2o::BaseVertex< 7, Sim3 >::estimate(), and g2o::BaseVertex< 7, Sim3 >::setEstimate().

     {
       Eigen::Map<Vector7d> update(const_cast<double*>(update_));
 
       if (_fix_scale)
         update[6] = 0;
 
       Sim3 s(update);
       setEstimate(s*estimate());
     }

bool g2o::VertexSim3Expmap::read ( std::istream & is )

virtual

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

Implements g2o::OptimizableGraph::Vertex.

Definition at line 59 of file types_seven_dof_expmap.cpp.

References Sim3.

   {
     Vector7d cam2world;
     for (int i=0; i<6; i++){
       is >> cam2world[i];
     }
     is >> cam2world[6];
 //    if (! is) {
 //      // if the scale is not specified we set it to 1;
 //      std::cerr << "!s";
 //      cam2world[6]=0.;
 //    }
 
     for (int i=0; i<2; i++)
     {
       is >> _focal_length[i];
     }
     for (int i=0; i<2; i++)
     {
       is >> _principle_point[i];
     }
 
     setEstimate(Sim3(cam2world).inverse());
     return true;
   }

virtual void g2o::VertexSim3Expmap::setToOriginImpl ( )

inlinevirtual

sets the node to the origin (used in the multilevel stuff)

Implements g2o::OptimizableGraph::Vertex.

Definition at line 51 of file types_seven_dof_expmap.h.

References g2o::BaseVertex< 7, Sim3 >::_estimate, and Sim3.

                                    {
       _estimate = Sim3();
     }

bool g2o::VertexSim3Expmap::write ( std::ostream & os ) const

virtual

write the vertex to a stream

Implements g2o::OptimizableGraph::Vertex.

Definition at line 85 of file types_seven_dof_expmap.cpp.

References g2o::Sim3::log().

   {
     Sim3 cam2world(estimate().inverse());
     Vector7d lv=cam2world.log();
     for (int i=0; i<7; i++){
       os << lv[i] << " ";
     }
     for (int i=0; i<2; i++)
     {
       os << _focal_length[i] << " ";
     }
     for (int i=0; i<2; i++)
     {
       os << _principle_point[i] << " ";
     }
     return os.good();
   }