g2o::ParameterCamera Class Reference

parameters for a camera More...

#include <parameter_camera.h>

Inheritance diagram for g2o::ParameterCamera:

Collaboration diagram for g2o::ParameterCamera:

Public Member Functions
	ParameterCamera ()
void	setKcam (double fx, double fy, double cx, double cy)
void	setOffset (const Isometry3 &offset_=Isometry3::Identity())
virtual bool	read (std::istream &is)
	read the data from a stream
virtual bool	write (std::ostream &os) const
	write the data to a stream
const Matrix3 &	Kcam () const
const Matrix3 &	invKcam () const
const Matrix3 &	Kcam_inverseOffsetR () const
Public Member Functions inherited from g2o::ParameterSE3Offset
	ParameterSE3Offset ()
void	setOffset (const Isometry3 &offset_=Isometry3::Identity())
const Isometry3 &	offset () const
	rotation of the offset as 3x3 rotation matrix
const Isometry3 &	inverseOffset () const
	rotation of the inverse offset as 3x3 rotation matrix
Public Member Functions inherited from g2o::Parameter
	Parameter ()
virtual	~Parameter ()
int	id () const
void	setId (int id_)
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::ParameterSE3Offset
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Attributes
Matrix3	_Kcam
Matrix3	_invKcam
Matrix3	_Kcam_inverseOffsetR
Protected Attributes inherited from g2o::ParameterSE3Offset
Isometry3	_offset
Isometry3	_inverseOffset
Protected Attributes inherited from g2o::Parameter
int	_id

Detailed Description

parameters for a camera

Definition at line 38 of file parameter_camera.h.

Constructor & Destructor Documentation

ParameterCamera()

g2o::ParameterCamera::ParameterCamera

(

)

Definition at line 41 of file parameter_camera.cpp.

                                 {
  setId(-1);
  setKcam(1, 1, 0.5, 0.5);
  setOffset();
}

References g2o::Parameter::setId(), setKcam(), and setOffset().

Member Function Documentation

invKcam()

const Matrix3 & g2o::ParameterCamera::invKcam ( ) const

inline

Definition at line 49 of file parameter_camera.h.

{ return _invKcam; }

Referenced by g2o::EdgeSE3PointXYZDepth::initialEstimate(), and g2o::EdgeSE3PointXYZDisparity::initialEstimate().

Kcam()

const Matrix3 & g2o::ParameterCamera::Kcam ( ) const

inline

Definition at line 48 of file parameter_camera.h.

{ return _Kcam; }

Referenced by g2o::CacheCamera::updateImpl().

Kcam_inverseOffsetR()

const Matrix3 & g2o::ParameterCamera::Kcam_inverseOffsetR ( ) const

inline

Definition at line 50 of file parameter_camera.h.

{ return _Kcam_inverseOffsetR; }

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

read()

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

virtual

read the data from a stream

Reimplemented from g2o::ParameterSE3Offset.

Reimplemented in g2o::ParameterStereoCamera.

Definition at line 63 of file parameter_camera.cpp.

                                         {
  Vector7 off;
  internal::readVector(is, off);
  // normalize the quaternion to recover numerical precision lost by storing as
  // human readable text
  Vector4::MapType(off.data() + 3).normalize();
  setOffset(internal::fromVectorQT(off));
  double fx, fy, cx, cy;
  is >> fx >> fy >> cx >> cy;
  setKcam(fx, fy, cx, cy);
  return is.good();
}

References g2o::internal::fromVectorQT(), g2o::internal::readVector(), setKcam(), and setOffset().

Referenced by g2o::ParameterStereoCamera::read().

setKcam()

void g2o::ParameterCamera::setKcam	(	double	fx,
		double	fy,
		double	cx,
		double	cy
	)

Definition at line 52 of file parameter_camera.cpp.

                                                                        {
  _Kcam.setZero();
  _Kcam(0, 0) = fx;
  _Kcam(1, 1) = fy;
  _Kcam(0, 2) = cx;
  _Kcam(1, 2) = cy;
  _Kcam(2, 2) = 1.0;
  _invKcam = _Kcam.inverse();
  _Kcam_inverseOffsetR = _Kcam * inverseOffset().rotation();
}

References _invKcam, _Kcam, _Kcam_inverseOffsetR, and g2o::ParameterSE3Offset::inverseOffset().

Referenced by main(), ParameterCamera(), and read().

setOffset()

void g2o::ParameterCamera::setOffset

(

const Isometry3 &

offset_ = Isometry3::Identity()

)

Definition at line 47 of file parameter_camera.cpp.

                                                        {
  ParameterSE3Offset::setOffset(offset_);
  _Kcam_inverseOffsetR = _Kcam * inverseOffset().rotation();
}

References _Kcam, _Kcam_inverseOffsetR, g2o::ParameterSE3Offset::inverseOffset(), and g2o::ParameterSE3Offset::setOffset().

Referenced by ParameterCamera(), and read().

write()

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

virtual

write the data to a stream

Reimplemented from g2o::ParameterSE3Offset.

Reimplemented in g2o::ParameterStereoCamera.

Definition at line 76 of file parameter_camera.cpp.

                                                {
  internal::writeVector(os, internal::toVectorQT(_offset));
  os << _Kcam(0, 0) << " ";
  os << _Kcam(1, 1) << " ";
  os << _Kcam(0, 2) << " ";
  os << _Kcam(1, 2) << " ";
  return os.good();
}

References _Kcam, g2o::ParameterSE3Offset::_offset, g2o::internal::toVectorQT(), and g2o::internal::writeVector().

Referenced by g2o::ParameterStereoCamera::write().

Member Data Documentation

_invKcam

Matrix3 g2o::ParameterCamera::_invKcam

protected

Definition at line 54 of file parameter_camera.h.

Referenced by setKcam().

_Kcam

Matrix3 g2o::ParameterCamera::_Kcam

protected

Definition at line 53 of file parameter_camera.h.

Referenced by setKcam(), setOffset(), and write().

_Kcam_inverseOffsetR

Matrix3 g2o::ParameterCamera::_Kcam_inverseOffsetR

protected

Definition at line 55 of file parameter_camera.h.

Referenced by setKcam(), and setOffset().

EIGEN_MAKE_ALIGNED_OPERATOR_NEW

g2o::ParameterCamera::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 40 of file parameter_camera.h.

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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