#include <parameter_camera.h>

Inheritance diagram for g2o::CacheCamera:

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Collaboration diagram for g2o::CacheCamera:

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

const Affine3 &	w2i () const
	return the world to image transform

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

const ParameterSE3Offset *	offsetParam () const

void	setOffsetParam (ParameterSE3Offset *offsetParam)

const Isometry3 &	w2n () const

const Isometry3 &	n2w () const

const Isometry3 &	w2l () 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 ()

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Public Attributes inherited from g2o::CacheSE3Offset
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

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

virtual bool	resolveDependencies ()

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

Protected Attributes
Affine3	_w2i
	world to image transform

ParameterCamera *	params

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

Isometry3	_w2n

Isometry3	_n2w

Isometry3	_w2l

Protected Attributes inherited from g2o::Cache
bool	_updateNeeded

ParameterVector	_parameters

std::vector< Cache * >	_parentCaches

CacheContainer *	_container

Detailed Description

Definition at line 58 of file parameter_camera.h.

Member Function Documentation

◆ camParams()

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

inline

parameters of the camera

Definition at line 62 of file parameter_camera.h.

62{ return params; }

g2o::CacheCamera::params

ParameterCamera * params

Definition parameter_camera.h:70

◆ resolveDependencies()

bool g2o::CacheCamera::resolveDependencies ( )

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::CacheSE3Offset.

Definition at line 85 of file parameter_camera.cpp.

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

References g2o::Cache::_parameters, params, and g2o::CacheSE3Offset::resolveDependencies().

◆ updateImpl()

void g2o::CacheCamera::updateImpl ( )

protectedvirtual

redefine this to do the update

Reimplemented from g2o::CacheSE3Offset.

Definition at line 91 of file parameter_camera.cpp.

                             {
  CacheSE3Offset::updateImpl();
  _w2i.matrix().topLeftCorner<3, 4>() =
      params->Kcam() * w2n().matrix().topLeftCorner<3, 4>();
}

References _w2i, g2o::ParameterCamera::Kcam(), params, g2o::CacheSE3Offset::updateImpl(), and g2o::CacheSE3Offset::w2n().

◆ w2i()

const Affine3 & g2o::CacheCamera::w2i ( ) const

inline

return the world to image transform

Definition at line 64 of file parameter_camera.h.

64{ return _w2i; }

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

Member Data Documentation

◆ _w2i

Affine3 g2o::CacheCamera::_w2i

protected

world to image transform

Definition at line 69 of file parameter_camera.h.

Referenced by updateImpl().

◆ EIGEN_MAKE_ALIGNED_OPERATOR_NEW

g2o::CacheCamera::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 60 of file parameter_camera.h.

◆ params

ParameterCamera* g2o::CacheCamera::params

protected

Definition at line 70 of file parameter_camera.h.

Referenced by resolveDependencies(), and updateImpl().

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

/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/parameter_camera.h
/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/parameter_camera.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes