g2o::types_six_dof_expmap Namespace Reference

Functions
void	init ()

Function Documentation

void g2o::types_six_dof_expmap::init

(

)

Definition at line 43 of file types_icp.cpp.

References g2o::types_icp::initialized.

Referenced by g2o::G2O_ATTRIBUTE_CONSTRUCTOR(), g2o::Slam2DViewer::init(), and g2o::G2oQGLViewer::init().

    {
      if (types_icp::initialized)
        return;
      //cerr << "Calling " << __FILE__ << " " << __PRETTY_FUNCTION__ << endl;

      Edge_V_V_GICP::dRidx << 0.0,0.0,0.0,
        0.0,0.0,2.0,
        0.0,-2.0,0.0;
      Edge_V_V_GICP::dRidy  << 0.0,0.0,-2.0,
        0.0,0.0,0.0,
        2.0,0.0,0.0;
      Edge_V_V_GICP::dRidz  << 0.0,2.0,0.0,
        -2.0,0.0,0.0,
        0.0,0.0,0.0;

      VertexSCam::dRidx << 0.0,0.0,0.0,
        0.0,0.0,2.0,
        0.0,-2.0,0.0;
      VertexSCam::dRidy  << 0.0,0.0,-2.0,
        0.0,0.0,0.0,
        2.0,0.0,0.0;
      VertexSCam::dRidz  << 0.0,2.0,0.0,
        -2.0,0.0,0.0,
        0.0,0.0,0.0;

      types_icp::initialized = 1;
    }