Sim3 Vertex, (x,y,z,qw,qx,qy,qz) the parameterization for the increments constructed is a 7d vector (x,y,z,qx,qy,qz) (note that we leave out the w part of the quaternion. More...

#include <types_seven_dof_expmap.h>

Inheritance diagram for g2o::VertexSim3Expmap:

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Collaboration diagram for g2o::VertexSim3Expmap:

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Public Member Functions
	VertexSim3Expmap ()

virtual bool	read (std::istream &is)
	read the vertex from a stream, i.e., the internal state of the vertex

virtual bool	write (std::ostream &os) const
	write the vertex to a stream

virtual void	setToOriginImpl ()
	sets the node to the origin (used in the multilevel stuff)

virtual void	oplusImpl (const double *update_)

Vector2	cam_map1 (const Vector2 &v) const

Vector2	cam_map2 (const Vector2 &v) const

Public Member Functions inherited from g2o::BaseVertex< 7, Sim3 >
	BaseVertex ()

	BaseVertex (const BaseVertex &)=delete

BaseVertex &	operator= (const BaseVertex &)=delete

virtual const double &	hessian (int i, int j) const
	get the element from the hessian matrix

virtual double &	hessian (int i, int j)

virtual double	hessianDeterminant () const

virtual double *	hessianData ()

virtual void	mapHessianMemory (double *d)

virtual int	copyB (double *b_) const

virtual const double &	b (int i) const
	get the b vector element

virtual double &	b (int i)

Eigen::Matrix< double, D, 1, Eigen::ColMajor > &	b ()
	return right hand side b of the constructed linear system

const Eigen::Matrix< double, D, 1, Eigen::ColMajor > &	b () const

virtual double *	bData ()
	return a pointer to the b vector associated with this vertex

virtual void	clearQuadraticForm ()

virtual double	solveDirect (double lambda=0)

HessianBlockType &	A ()
	return the hessian block associated with the vertex

const HessianBlockType &	A () const

virtual void	push ()
	backup the position of the vertex to a stack

virtual void	pop ()

virtual void	discardTop ()

virtual int	stackSize () const
	return the stack size

const EstimateType &	estimate () const
	return the current estimate of the vertex

void	setEstimate (const EstimateType &et)
	set the estimate for the vertex also calls updateCache()

Public Member Functions inherited from g2o::OptimizableGraph::Vertex
	Vertex ()

virtual	~Vertex ()

void	setToOrigin ()
	sets the node to the origin (used in the multilevel stuff)

bool	setEstimateData (const double *estimate)

bool	setEstimateData (const std::vector< double > &estimate)

template<typename Derived >
bool	setEstimateData (const Eigen::MatrixBase< Derived > &estimate)

virtual bool	getEstimateData (double *estimate) const

virtual bool	getEstimateData (std::vector< double > &estimate) const

template<typename Derived >
bool	getEstimateData (Eigen::MatrixBase< Derived > &estimate) const

virtual int	estimateDimension () const

bool	setMinimalEstimateData (const double *estimate)

bool	setMinimalEstimateData (const std::vector< double > &estimate)

template<typename Derived >
bool	setMinimalEstimateData (const Eigen::MatrixBase< Derived > &estimate)

virtual bool	getMinimalEstimateData (double *estimate) const

virtual bool	getMinimalEstimateData (std::vector< double > &estimate) const

template<typename Derived >
bool	getMinimalEstimateData (Eigen::MatrixBase< Derived > &estimate) const

virtual int	minimalEstimateDimension () const

void	oplus (const double *v)

int	hessianIndex () const

int	G2O_ATTRIBUTE_DEPRECATED (tempIndex() const)

void	setHessianIndex (int ti)
	set the temporary index of the vertex in the parameter blocks

void	G2O_ATTRIBUTE_DEPRECATED (setTempIndex(int ti))

bool	fixed () const
	true => this node is fixed during the optimization

void	setFixed (bool fixed)
	true => this node should be considered fixed during the optimization

bool	marginalized () const
	true => this node is marginalized out during the optimization

void	setMarginalized (bool marginalized)
	true => this node should be marginalized out during the optimization

int	dimension () const
	dimension of the estimated state belonging to this node

virtual void	setId (int id)

void	setColInHessian (int c)
	set the row of this vertex in the Hessian

int	colInHessian () const
	get the row of this vertex in the Hessian

const OptimizableGraph *	graph () const

OptimizableGraph *	graph ()

void	lockQuadraticForm ()

void	unlockQuadraticForm ()

virtual void	updateCache ()

CacheContainer *	cacheContainer ()

Public Member Functions inherited from g2o::HyperGraph::Vertex
	Vertex (int id=InvalidId)
	creates a vertex having an ID specified by the argument

int	id () const
	returns the id

const EdgeSet &	edges () const
	returns the set of hyper-edges that are leaving/entering in this vertex

EdgeSet &	edges ()
	returns the set of hyper-edges that are leaving/entering in this vertex

virtual HyperGraphElementType	elementType () 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)

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Vector2	_principle_point1

Vector2	_principle_point2

Vector2	_focal_length1

Vector2	_focal_length2

bool	_fix_scale

Additional Inherited Members
Public Types inherited from g2o::BaseVertex< 7, Sim3 >
using	EstimateType = Sim3

using	BackupStackType = std::stack< EstimateType, std::vector< EstimateType > >

using	HessianBlockType = Eigen::Map< Eigen::Matrix< double, D, D, Eigen::ColMajor >, Eigen::Matrix< double, D, D, Eigen::ColMajor >::Flags &Eigen::PacketAccessBit ? Eigen::Aligned :Eigen::Unaligned >

Static Public Attributes inherited from g2o::BaseVertex< 7, Sim3 >
static const int	Dimension
	dimension of the estimate (minimal) in the manifold space

Protected Member Functions inherited from g2o::OptimizableGraph::Vertex
virtual bool	setEstimateDataImpl (const double *)

virtual bool	setMinimalEstimateDataImpl (const double *)

Protected Attributes inherited from g2o::BaseVertex< 7, Sim3 >
HessianBlockType	_hessian

Eigen::Matrix< double, D, 1, Eigen::ColMajor >	_b

EstimateType	_estimate

BackupStackType	_backup

Protected Attributes inherited from g2o::OptimizableGraph::Vertex
OptimizableGraph *	_graph

Data *	_userData

int	_hessianIndex

bool	_fixed

bool	_marginalized

int	_dimension

int	_colInHessian

OpenMPMutex	_quadraticFormMutex

CacheContainer *	_cacheContainer

Protected Attributes inherited from g2o::HyperGraph::Vertex
int	_id

EdgeSet	_edges

Protected Attributes inherited from g2o::HyperGraph::DataContainer
Data *	_userData

Detailed Description

Sim3 Vertex, (x,y,z,qw,qx,qy,qz) the parameterization for the increments constructed is a 7d vector (x,y,z,qx,qy,qz) (note that we leave out the w part of the quaternion.

Will represent relative transformation between two cameras

Definition at line 60 of file types_seven_dof_expmap.h.

Constructor & Destructor Documentation

◆ VertexSim3Expmap()

g2o::VertexSim3Expmap::VertexSim3Expmap ( )

Definition at line 43 of file types_seven_dof_expmap.cpp.

                                   : BaseVertex<7, Sim3>() {
  _marginalized = false;
  _fix_scale = false;
 
  _principle_point1[0] = 0;
  _principle_point1[1] = 0;
  _focal_length1[0] = 1;
  _focal_length1[1] = 1;
 
  _principle_point2[0] = 0;
  _principle_point2[1] = 0;
  _focal_length2[0] = 1;
  _focal_length2[1] = 1;
}

References _fix_scale, _focal_length1, _focal_length2, g2o::OptimizableGraph::Vertex::_marginalized, _principle_point1, and _principle_point2.

Member Function Documentation

◆ cam_map1()

Vector2 g2o::VertexSim3Expmap::cam_map1 ( const Vector2 & v ) const

inline

Definition at line 81 of file types_seven_dof_expmap.h.

                                           {
    Vector2 res;
    res[0] = v[0] * _focal_length1[0] + _principle_point1[0];
    res[1] = v[1] * _focal_length1[1] + _principle_point1[1];
    return res;
  }

Referenced by g2o::EdgeSim3ProjectXYZ::computeError().

◆ cam_map2()

Vector2 g2o::VertexSim3Expmap::cam_map2 ( const Vector2 & v ) const

inline

Definition at line 88 of file types_seven_dof_expmap.h.

                                           {
    Vector2 res;
    res[0] = v[0] * _focal_length2[0] + _principle_point2[0];
    res[1] = v[1] * _focal_length2[1] + _principle_point2[1];
    return res;
  }

Referenced by g2o::EdgeInverseSim3ProjectXYZ::computeError().

◆ oplusImpl()

virtual void g2o::VertexSim3Expmap::oplusImpl ( const double * v )

inlinevirtual

update the position of the node from the parameters in v. Implement in your class!

Implements g2o::OptimizableGraph::Vertex.

Definition at line 69 of file types_seven_dof_expmap.h.

                                                {
    Eigen::Map<Vector7> update(const_cast<double*>(update_));
 
    if (_fix_scale) update[6] = 0;
 
    Sim3 s(update);
    setEstimate(s * estimate());
  }

◆ read()

bool g2o::VertexSim3Expmap::read ( std::istream & is )

virtual

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

Implements g2o::OptimizableGraph::Vertex.

Definition at line 61 of file types_seven_dof_expmap.cpp.

                                          {
  Vector7 cam2world;
  bool state = true;
  state &= internal::readVector(is, cam2world);
  state &= internal::readVector(is, _focal_length1);
  state &= internal::readVector(is, _principle_point1);
  setEstimate(Sim3(cam2world).inverse());
  return state;
}

References _focal_length1, _principle_point1, g2o::internal::readVector(), and g2o::BaseVertex< 7, Sim3 >::setEstimate().

◆ setToOriginImpl()

virtual void g2o::VertexSim3Expmap::setToOriginImpl ( )

inlinevirtual

sets the node to the origin (used in the multilevel stuff)

Implements g2o::OptimizableGraph::Vertex.

Definition at line 67 of file types_seven_dof_expmap.h.

67{ _estimate = Sim3(); }

g2o::BaseVertex< 7, Sim3 >::_estimate

EstimateType _estimate

Definition base_vertex.h:137

◆ write()

bool g2o::VertexSim3Expmap::write ( std::ostream & os ) const

virtual

write the vertex to a stream

Implements g2o::OptimizableGraph::Vertex.

Definition at line 71 of file types_seven_dof_expmap.cpp.

                                                 {
  Sim3 cam2world(estimate().inverse());
  Vector7 lv = cam2world.log();
  internal::writeVector(os, lv);
  internal::writeVector(os, _focal_length1);
  internal::writeVector(os, _principle_point1);
  return os.good();
}

References _focal_length1, _principle_point1, g2o::BaseVertex< 7, Sim3 >::estimate(), g2o::Sim3::log(), and g2o::internal::writeVector().

Member Data Documentation

◆ _fix_scale

bool g2o::VertexSim3Expmap::_fix_scale

Definition at line 95 of file types_seven_dof_expmap.h.

Referenced by VertexSim3Expmap().

◆ _focal_length1

Vector2 g2o::VertexSim3Expmap::_focal_length1

Definition at line 79 of file types_seven_dof_expmap.h.

Referenced by read(), VertexSim3Expmap(), and write().

◆ _focal_length2

Vector2 g2o::VertexSim3Expmap::_focal_length2

Definition at line 79 of file types_seven_dof_expmap.h.

Referenced by VertexSim3Expmap().

◆ _principle_point1

Vector2 g2o::VertexSim3Expmap::_principle_point1

Definition at line 78 of file types_seven_dof_expmap.h.

Referenced by read(), VertexSim3Expmap(), and write().

◆ _principle_point2

Vector2 g2o::VertexSim3Expmap::_principle_point2

Definition at line 78 of file types_seven_dof_expmap.h.

Referenced by VertexSim3Expmap().

◆ EIGEN_MAKE_ALIGNED_OPERATOR_NEW

g2o::VertexSim3Expmap::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 62 of file types_seven_dof_expmap.h.

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

/build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.h
/build/reproducible-path/g2o-0~20230806/g2o/types/sim3/types_seven_dof_expmap.cpp

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VertexSim3Expmap()

Member Function Documentation

◆ cam_map1()

◆ cam_map2()

◆ oplusImpl()

◆ read()

◆ setToOriginImpl()

◆ write()

Member Data Documentation

◆ _fix_scale

◆ _focal_length1

◆ _focal_length2

◆ _principle_point1

◆ _principle_point2

◆ EIGEN_MAKE_ALIGNED_OPERATOR_NEW