#include <parameter_camera.h>

Inheritance diagram for g2o::deprecated::CacheCamera:

Collaboration diagram for g2o::deprecated::CacheCamera:

[legend]

Public Member Functions
const ParameterCamera *	camParams () const
	parameters of the camera More...

const Eigen::Affine3d &	w2i () const
	return the world to image transform More...

Public Member Functions inherited from g2o::deprecated::CacheSE3Offset
	CacheSE3Offset ()

const ParameterSE3Offset *	offsetParam () const

void	setOffsetParam (ParameterSE3Offset *offsetParam)

const SE3Quat &	w2n () const

const SE3Quat &	n2w () const

const Eigen::Isometry3d &	w2nMatrix () const

const Eigen::Isometry3d &	n2wMatrix () const

const Eigen::Isometry3d &	w2lMatrix () const

Public Member Functions inherited from g2o::Cache
	Cache (CacheContainer *container_=0, const ParameterVector &parameters_=ParameterVector())

CacheKey	key () const

OptimizableGraph::Vertex *	vertex ()

OptimizableGraph *	graph ()

CacheContainer *	container ()

ParameterVector &	parameters ()

void	update ()

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::deprecated::CacheSE3Offset
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Member Functions
virtual void	updateImpl ()
	redefine this to do the update More...

virtual bool	resolveDependancies ()

Protected Member Functions inherited from g2o::Cache
Cache *	installDependency (const std::string &type_, const std::vector< int > &parameterIndices)

Protected Attributes
Eigen::Affine3d	_w2i
	world to image transform More...

ParameterCamera *	params

Protected Attributes inherited from g2o::deprecated::CacheSE3Offset
ParameterSE3Offset *	_offsetParam
	the parameter connected to the cache More...

SE3Quat	_se3_w2n

SE3Quat	_se3_n2w

Eigen::Isometry3d	_w2n
	world to sensor transform More...

Eigen::Isometry3d	_w2l
	world to local More...

Eigen::Isometry3d	_n2w
	sensor to world More...

Protected Attributes inherited from g2o::Cache
bool	_updateNeeded

ParameterVector	_parameters

std::vector< Cache * >	_parentCaches

CacheContainer *	_container

Detailed Description

Definition at line 61 of file parameter_camera.h.

Member Function Documentation

const ParameterCamera* g2o::deprecated::CacheCamera::camParams ( ) const

inline

parameters of the camera

Definition at line 65 of file parameter_camera.h.

Referenced by updateImpl().

65 {return params;}

g2o::deprecated::CacheCamera::params

ParameterCamera * params

Definition: parameter_camera.h:72

bool g2o::deprecated::CacheCamera::resolveDependancies ( )

protectedvirtual

Function to be called from a cache that has dependencies. It just invokes a sequence of installDependency(). Although the caches returned are stored in the _parentCache vector, it is better that you redefine your own cache member variables, for better readability

Reimplemented from g2o::deprecated::CacheSE3Offset.

Definition at line 81 of file parameter_camera.cpp.

                                        {
     if  (!CacheSE3Offset::resolveDependancies())
       return false;
     params = dynamic_cast<ParameterCamera*>(_parameters[0]);
     return params != 0;
   }

void g2o::deprecated::CacheCamera::updateImpl ( )

protectedvirtual

redefine this to do the update

Reimplemented from g2o::deprecated::CacheSE3Offset.

Definition at line 88 of file parameter_camera.cpp.

References camParams(), and g2o::deprecated::ParameterSE3Offset::offsetMatrix().

                               {
     CacheSE3Offset::updateImpl();
     _w2i.matrix().topLeftCorner<3,4>() = params->Kcam() * w2nMatrix().matrix().topLeftCorner<3,4>();
   }

const Eigen::Affine3d& g2o::deprecated::CacheCamera::w2i ( ) const

inline

return the world to image transform

Definition at line 67 of file parameter_camera.h.

Referenced by g2o::deprecated::EdgeSE3PointXYZDepth::computeError(), g2o::deprecated::EdgeSE3PointXYZDisparity::computeError(), g2o::deprecated::EdgeSE3PointXYZDepth::linearizeOplus(), g2o::deprecated::EdgeSE3PointXYZDisparity::linearizeOplus(), g2o::deprecated::EdgeSE3PointXYZDepth::setMeasurementFromState(), and g2o::deprecated::EdgeSE3PointXYZDisparity::setMeasurementFromState().

67 {return _w2i;}

g2o::deprecated::CacheCamera::_w2i

Eigen::Affine3d _w2i

world to image transform

Definition: parameter_camera.h:71

Member Data Documentation

Eigen::Affine3d g2o::deprecated::CacheCamera::_w2i

protected

world to image transform

Definition at line 71 of file parameter_camera.h.

g2o::deprecated::CacheCamera::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 63 of file parameter_camera.h.

ParameterCamera* g2o::deprecated::CacheCamera::params

protected

Definition at line 72 of file parameter_camera.h.

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

/home/xuezhisd/CLionProjects/g2o/g2o/types/deprecated/slam3d/parameter_camera.h
/home/xuezhisd/CLionProjects/g2o/g2o/types/deprecated/slam3d/parameter_camera.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

Member Data Documentation