g2o::ParameterSE3Offset Class Reference

offset for an SE3 More...

#include <parameter_se3_offset.h>

Inheritance diagram for g2o::ParameterSE3Offset:

Collaboration diagram for g2o::ParameterSE3Offset:

Public Member Functions
	ParameterSE3Offset ()
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
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

Protected Attributes
Isometry3	_offset
Isometry3	_inverseOffset
Protected Attributes inherited from g2o::Parameter
int	_id

Detailed Description

offset for an SE3

Definition at line 39 of file parameter_se3_offset.h.

Constructor & Destructor Documentation

ParameterSE3Offset()

g2o::ParameterSE3Offset::ParameterSE3Offset

(

)

Definition at line 39 of file parameter_se3_offset.cpp.

{ setOffset(); }

References setOffset().

Member Function Documentation

inverseOffset()

const Isometry3 & g2o::ParameterSE3Offset::inverseOffset ( ) const

inline

rotation of the inverse offset as 3x3 rotation matrix

Definition at line 57 of file parameter_se3_offset.h.

{ return _inverseOffset; }

Referenced by g2o::EdgeSE3PointXYZ::linearizeOplus(), g2o::ParameterCamera::setKcam(), and g2o::ParameterCamera::setOffset().

offset()

const Isometry3 & g2o::ParameterSE3Offset::offset ( ) const

inline

rotation of the offset as 3x3 rotation matrix

Definition at line 54 of file parameter_se3_offset.h.

{ return _offset; }

Referenced by g2o::EdgeSE3XYZPrior::initialEstimate(), g2o::EdgeSE3Offset::initialEstimate(), g2o::EdgeSE3PointXYZ::initialEstimate(), g2o::EdgeSE3PointXYZDepth::initialEstimate(), g2o::EdgeSE3PointXYZDisparity::initialEstimate(), g2o::EdgeSE3Prior::initialEstimate(), g2o::EdgeSE3Offset::linearizeOplus(), g2o::EdgeSE3Prior::linearizeOplus(), g2o::SensorPointXYZ::sense(), g2o::SensorPointXYZDepth::sense(), g2o::SensorPointXYZDisparity::sense(), g2o::SensorSE3Prior::sense(), and g2o::CacheSE3Offset::updateImpl().

read()

bool g2o::ParameterSE3Offset::read ( std::istream &  is )

virtual

read the data from a stream

Implements g2o::Parameter.

Reimplemented in g2o::ParameterCamera, and g2o::ParameterStereoCamera.

Definition at line 46 of file parameter_se3_offset.cpp.

                                            {
  Vector7 off;
  bool state = 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));
  return state;
}

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

setOffset()

void g2o::ParameterSE3Offset::setOffset

(

const Isometry3 &

offset_ = Isometry3::Identity()

)

update the offset to a new value. re-calculates the different representations, e.g., the rotation matrix

Definition at line 41 of file parameter_se3_offset.cpp.

                                                           {
  _offset = offset_;
  _inverseOffset = _offset.inverse();
}

References _inverseOffset, and _offset.

Referenced by main(), ParameterSE3Offset(), read(), and g2o::ParameterCamera::setOffset().

write()

bool g2o::ParameterSE3Offset::write ( std::ostream &  os ) const

virtual

write the data to a stream

Implements g2o::Parameter.

Reimplemented in g2o::ParameterCamera, and g2o::ParameterStereoCamera.

Definition at line 56 of file parameter_se3_offset.cpp.

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

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

Member Data Documentation

_inverseOffset

Isometry3 g2o::ParameterSE3Offset::_inverseOffset

protected

Definition at line 61 of file parameter_se3_offset.h.

Referenced by setOffset().

_offset

Isometry3 g2o::ParameterSE3Offset::_offset

protected

Definition at line 60 of file parameter_se3_offset.h.

Referenced by setOffset(), g2o::ParameterCamera::write(), and write().

EIGEN_MAKE_ALIGNED_OPERATOR_NEW

g2o::ParameterSE3Offset::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 41 of file parameter_se3_offset.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_se3_offset.h
• /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/parameter_se3_offset.cpp