Class EdgeSim3¶
- Defined in File g2oTypeSim3Sophus.h
Inheritance Relationships¶
Base Type¶
public g2o::BaseBinaryEdge< 7, Sophus::Sim3d, VertexSim3, VertexSim3 >
Class Documentation¶
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class
EdgeSim3: public g2o::BaseBinaryEdge<7, Sophus::Sim3d, VertexSim3, VertexSim3>¶ 7D edge between two Vertex7
Public Functions
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EdgeSim3()¶
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bool
read(std::istream &is)¶
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bool
write(std::ostream &os) const¶
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void
computeError()¶
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void
linearizeOplus()¶
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virtual void
setMeasurement(const Sophus::Sim3d &m)¶
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virtual bool
setMeasurementData(const double *m)¶
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virtual bool
setMeasurementFromState()¶
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virtual double
initialEstimatePossible(const g2o::OptimizableGraph::VertexSet&, g2o::OptimizableGraph::Vertex *)¶
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virtual void
initialEstimate(const g2o::OptimizableGraph::VertexSet &from, g2o::OptimizableGraph::Vertex *)¶
Protected Attributes
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Sophus::Sim3d
_inverseMeasurement¶
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