g2o::EdgeSE3Calib Class Reference

Landmark measurement that also calibrates an offset for the landmark measurement. More...

#include <edge_se3_calib.h>

Inheritance diagram for g2o::EdgeSE3Calib:

Collaboration diagram for g2o::EdgeSE3Calib:

Public Member Functions
G2O_TYPES_SLAM3D_ADDONS_API EIGEN_MAKE_ALIGNED_OPERATOR_NEW G2O_TYPES_SLAM3D_ADDONS_API	EdgeSE3Calib ()
G2O_TYPES_SLAM3D_ADDONS_API void	computeError ()
virtual G2O_TYPES_SLAM3D_ADDONS_API bool	read (std::istream &is)
	read the vertex from a stream, i.e., the internal state of the vertex
virtual G2O_TYPES_SLAM3D_ADDONS_API bool	write (std::ostream &os) const
	write the vertex to a stream
Public Member Functions inherited from g2o::BaseVariableSizedEdge< 6, Isometry3 >
	BaseVariableSizedEdge ()
virtual void	linearizeOplus (JacobianWorkspace &jacobianWorkspace)
virtual void	linearizeOplus ()
virtual void	resize (size_t size)
virtual bool	allVerticesFixed () const
virtual void	constructQuadraticForm ()
virtual void	mapHessianMemory (double *d, int i, int j, bool rowMajor)
Public Member Functions inherited from g2o::BaseEdge< D, E >
	BaseEdge ()
BaseEdge &	operator= (const BaseEdge &)=delete
	BaseEdge (const BaseEdge &)=delete
virtual	~BaseEdge ()
virtual double	chi2 () const
virtual const double *	errorData () const
	returns the error vector cached after calling the computeError;
virtual double *	errorData ()
const ErrorVector &	error () const
ErrorVector &	error ()
EIGEN_STRONG_INLINE const InformationType &	information () const
	information matrix of the constraint
EIGEN_STRONG_INLINE InformationType &	information ()
void	setInformation (const InformationType &information)
virtual const double *	informationData () const
virtual double *	informationData ()
EIGEN_STRONG_INLINE const Measurement &	measurement () const
	accessor functions for the measurement represented by the edge
virtual void	setMeasurement (const Measurement &m)
virtual int	rank () const
virtual void	initialEstimate (const OptimizableGraph::VertexSet &, OptimizableGraph::Vertex *)
template<int Dim = D>
std::enable_if< Dim==-1, void >::type	setDimension (int dim)
Public Member Functions inherited from g2o::OptimizableGraph::Edge
	Edge ()
virtual	~Edge ()
virtual bool	setMeasurementData (const double *m)
virtual bool	getMeasurementData (double *m) const
virtual int	measurementDimension () const
virtual bool	setMeasurementFromState ()
RobustKernel *	robustKernel () const
	if NOT NULL, error of this edge will be robustifed with the kernel
void	setRobustKernel (RobustKernel *ptr)
virtual double	initialEstimatePossible (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)
int	level () const
	returns the level of the edge
void	setLevel (int l)
	sets the level of the edge
int	dimension () const
	returns the dimensions of the error function
	G2O_ATTRIBUTE_DEPRECATED (virtual Vertex *createFrom())
	G2O_ATTRIBUTE_DEPRECATED (virtual Vertex *createTo())
virtual Vertex *	createVertex (int)
long long	internalId () const
	the internal ID of the edge
OptimizableGraph *	graph ()
const OptimizableGraph *	graph () const
bool	setParameterId (int argNum, int paramId)
const Parameter *	parameter (int argNo) const
size_t	numParameters () const
void	resizeParameters (size_t newSize)
Public Member Functions inherited from g2o::HyperGraph::Edge
	Edge (int id=InvalidId)
	creates and empty edge with no vertices
const VertexContainer &	vertices () const
VertexContainer &	vertices ()
const Vertex *	vertex (size_t i) const
Vertex *	vertex (size_t i)
void	setVertex (size_t i, Vertex *v)
int	id () const
void	setId (int id)
virtual HyperGraphElementType	elementType () const
int	numUndefinedVertices () const
Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement
virtual	~HyperGraphElement ()
Public Member Functions inherited from g2o::HyperGraph::DataContainer
	DataContainer ()
virtual	~DataContainer ()
const Data *	userData () const
	the user data associated with this vertex
Data *	userData ()
void	setUserData (Data *obs)
void	addUserData (Data *obs)

Additional Inherited Members
Public Types inherited from g2o::BaseVariableSizedEdge< 6, Isometry3 >
typedef BaseEdge< D, Isometry3 >::Measurement	Measurement
typedef MatrixX::MapType	JacobianType
typedef BaseEdge< D, Isometry3 >::ErrorVector	ErrorVector
typedef BaseEdge< D, Isometry3 >::InformationType	InformationType
typedef Eigen::Map< MatrixX, MatrixX::Flags &Eigen::PacketAccessBit ? Eigen::Aligned :Eigen::Unaligned >	HessianBlockType
Public Types inherited from g2o::BaseEdge< D, E >
typedef E	Measurement
typedef internal::BaseEdgeTraits< D >::ErrorVector	ErrorVector
typedef internal::BaseEdgeTraits< D >::InformationType	InformationType
Static Public Attributes inherited from g2o::BaseVariableSizedEdge< 6, Isometry3 >
static constexpr int	Dimension
Static Public Attributes inherited from g2o::BaseEdge< D, E >
static constexpr int	Dimension = internal::BaseEdgeTraits<D>::Dimension
Protected Member Functions inherited from g2o::BaseVariableSizedEdge< 6, Isometry3 >
void	computeQuadraticForm (const InformationType &omega, const ErrorVector &weightedError)
Protected Member Functions inherited from g2o::BaseEdge< D, E >
InformationType	robustInformation (const Vector3 &rho) const
bool	writeInformationMatrix (std::ostream &os) const
	write the upper trinagular part of the information matrix into the stream
bool	readInformationMatrix (std::istream &is)
bool	writeParamIds (std::ostream &os) const
	write the param IDs that are potentially used by the edge
bool	readParamIds (std::istream &is)
	reads the param IDs from the stream
Protected Member Functions inherited from g2o::OptimizableGraph::Edge
template<typename ParameterType >
bool	installParameter (ParameterType *&p, size_t argNo, int paramId=-1)
template<typename CacheType >
void	resolveCache (CacheType *&cache, OptimizableGraph::Vertex *, const std::string &_type, const ParameterVector &parameters)
bool	resolveParameters ()
virtual bool	resolveCaches ()
Protected Attributes inherited from g2o::BaseVariableSizedEdge< 6, Isometry3 >
std::vector< HessianHelper >	_hessian
std::vector< JacobianType >	_jacobianOplus
	jacobians of the edge (w.r.t. oplus)
Protected Attributes inherited from g2o::BaseEdge< D, E >
Measurement	_measurement
	the measurement of the edge
InformationType	_information
ErrorVector	_error
Protected Attributes inherited from g2o::OptimizableGraph::Edge
int	_dimension
int	_level
RobustKernel *	_robustKernel
long long	_internalId
std::vector< int >	_cacheIds
std::vector< std::string >	_parameterTypes
std::vector< Parameter ** >	_parameters
std::vector< int >	_parameterIds
Protected Attributes inherited from g2o::HyperGraph::Edge
VertexContainer	_vertices
int	_id
	unique id
Protected Attributes inherited from g2o::HyperGraph::DataContainer
Data *	_userData

Detailed Description

Landmark measurement that also calibrates an offset for the landmark measurement.

Definition at line 40 of file edge_se3_calib.h.

Constructor & Destructor Documentation

EdgeSE3Calib()

g2o::EdgeSE3Calib::EdgeSE3Calib

(

)

Definition at line 33 of file edge_se3_calib.cpp.

                           : BaseVariableSizedEdge<6, Isometry3>() {
  resize(3);
}

References g2o::BaseVariableSizedEdge< 6, Isometry3 >::resize().

Member Function Documentation

computeError()

void g2o::EdgeSE3Calib::computeError ( )

virtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 37 of file edge_se3_calib.cpp.

                                {
  const VertexSE3* v1 = static_cast<const VertexSE3*>(_vertices[0]);
  const VertexSE3* v2 = static_cast<const VertexSE3*>(_vertices[1]);
  const VertexSE3* calib = static_cast<const VertexSE3*>(_vertices[2]);
  _error = g2o::internal::toVectorMQT(
      _measurement.inverse() * calib->estimate().inverse() *
      v1->estimate().inverse() * v2->estimate() * calib->estimate());
}

References g2o::BaseEdge< D, E >::_error, g2o::BaseEdge< D, E >::_measurement, g2o::HyperGraph::Edge::_vertices, g2o::BaseVertex< D, T >::estimate(), and g2o::internal::toVectorMQT().

read()

bool g2o::EdgeSE3Calib::read ( std::istream &  is )

virtual

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

Implements g2o::OptimizableGraph::Edge.

Definition at line 51 of file edge_se3_calib.cpp.

                                      {
  Vector7 meas;
  internal::readVector(is, meas);
  // normalize the quaternion to recover numerical precision lost by storing as
  // human readable text
  Vector4::MapType(meas.data() + 3).normalize();
  setMeasurement(g2o::internal::fromVectorQT(meas));
  return readInformationMatrix(is);
}

References g2o::internal::fromVectorQT(), g2o::BaseEdge< D, E >::readInformationMatrix(), g2o::internal::readVector(), and g2o::BaseEdge< D, E >::setMeasurement().

write()

bool g2o::EdgeSE3Calib::write ( std::ostream &  os ) const

virtual

write the vertex to a stream

Implements g2o::OptimizableGraph::Edge.

Definition at line 46 of file edge_se3_calib.cpp.

                                             {
  internal::writeVector(os, internal::toVectorQT(_measurement));
  return writeInformationMatrix(os);
}

References g2o::BaseEdge< D, E >::_measurement, g2o::internal::toVectorQT(), g2o::BaseEdge< D, E >::writeInformationMatrix(), and g2o::internal::writeVector().

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

• /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_calib.h
• /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d_addons/edge_se3_calib.cpp