ImuCamPose

Represents a combined IMU and camera pose for graph optimization. More...

Collaboration diagram for ImuCamPose:

Public Member Functions
	ImuCamPose ()
	Default constructor.
	ImuCamPose (Eigen::Matrix3< g_type > &_Rwc, Eigen::Vector3< g_type > &_twc, KeyFrame *pKF)
	Constructs from a rotation, translation, and keyframe.
	ImuCamPose (Frame &pF)
	Constructs from a Frame.
bool	isDepthPositive (const Eigen::Vector3< g_type > &Xw, int cam_idx=0) const
	Checks whether a 3D point has positive depth in the given camera.
Eigen::Vector2< g_type >	Project (const Eigen::Vector3< g_type > &Xw, int cam_idx=0) const
	Projects a 3D world point to 2D (monocular).
Eigen::Vector3< g_type >	ProjectStereo (const Eigen::Vector3< g_type > &Xw, int cam_idx=0) const
	Projects a 3D world point to stereo coordinates.
void	SetParam (const Buffer< Eigen::Matrix3< g_type > > &_Rcw, const Buffer< Eigen::Vector3< g_type > > &_tcw, const Buffer< Eigen::Matrix3< g_type > > &_Rbc, const Buffer< Eigen::Vector3< g_type > > &_tbc, const g_type &_bf)
	Sets camera and IMU extrinsic parameters.
void	Update (const g_type *pu)
	Updates the pose in the IMU body reference frame.
void	UpdateW (const g_type *pu)
	Updates the pose in the world reference frame.

Public Attributes
g_type	bf
	Stereo baseline times focal length.
Eigen::Matrix3< g_type >	DR
	Delta rotation for 4DoF optimization.
int	its
	Iteration counter.
Buffer< GeometricCamera * >	pCamera
	Camera models.
Buffer< Eigen::Matrix3< g_type > >	Rbc
	Camera-body and body-camera rotations.
Buffer< Eigen::Matrix3< g_type > >	Rcw
	Camera-to-world rotations per camera.
Eigen::Matrix3< g_type >	Rwb
	IMU body-to-world rotation.
Eigen::Matrix3< g_type >	Rwb0
	Initial body-to-world rotation for 4DoF pose graph.
Buffer< Eigen::Vector3< g_type > >	tbc
	Camera-body and body-camera translations.
Buffer< Eigen::Vector3< g_type > >	tcw
	Camera-to-world translations per camera.
Eigen::Vector3< g_type >	twb
	IMU body-to-world translation.

Detailed Description

Represents a combined IMU and camera pose for graph optimization.

Stores the IMU body pose (Rwb, twb) and the derived camera poses for a multi-camera setup, along with extrinsic calibration.

Definition at line 98 of file G2oTypes.h.

Constructor & Destructor Documentation

ImuCamPose() [1/2]

ImuCamPose::ImuCamPose

(

Frame &

pF

)

Constructs from a Frame.

Parameters

[in]

pF

The frame to extract pose from.

ImuCamPose() [2/2]

ImuCamPose::ImuCamPose	(	Eigen::Matrix3< g_type > &	_Rwc,
		Eigen::Vector3< g_type > &	_twc,
		KeyFrame *	pKF )

Constructs from a rotation, translation, and keyframe.

Parameters

[in]	_Rwc	World-to-camera rotation.
[in]	_twc	World-to-camera translation.
[in]	pKF	Source keyframe for extrinsics.

Member Function Documentation

isDepthPositive()

bool ImuCamPose::isDepthPositive	(	const Eigen::Vector3< g_type > &	Xw,
		int	cam_idx = 0 ) const

Checks whether a 3D point has positive depth in the given camera.

Parameters

[in]	Xw	3D point in world coordinates.
[in]	cam_idx	Camera index (default 0).

Returns

True if depth is positive.

Project()

Eigen::Vector2< g_type > ImuCamPose::Project	(	const Eigen::Vector3< g_type > &	Xw,
		int	cam_idx = 0 ) const

Projects a 3D world point to 2D (monocular).

Parameters

[in]	Xw	3D point in world coordinates.
[in]	cam_idx	Camera index (default 0).

Returns

The 2D projected point.

ProjectStereo()

Eigen::Vector3< g_type > ImuCamPose::ProjectStereo	(	const Eigen::Vector3< g_type > &	Xw,
		int	cam_idx = 0 ) const

Projects a 3D world point to stereo coordinates.

Parameters

[in]	Xw	3D point in world coordinates.
[in]	cam_idx	Camera index (default 0).

Returns

The 3D stereo projected point (u, v, ur).

SetParam()

void ImuCamPose::SetParam	(	const Buffer< Eigen::Matrix3< g_type > > &	_Rcw,
		const Buffer< Eigen::Vector3< g_type > > &	_tcw,
		const Buffer< Eigen::Matrix3< g_type > > &	_Rbc,
		const Buffer< Eigen::Vector3< g_type > > &	_tbc,
		const g_type &	_bf )

Sets camera and IMU extrinsic parameters.

Parameters

[in]	_Rcw	Camera-to-world rotations per camera.
[in]	_tcw	Camera-to-world translations per camera.
[in]	_Rbc	Body-to-camera rotations.
[in]	_tbc	Body-to-camera translations.
[in]	_bf	Stereo baseline times focal length.

Update()

void ImuCamPose::Update

(

const g_type *

pu

)

Updates the pose in the IMU body reference frame.

Parameters

[in]

pu

Pointer to the 6-element update vector.

UpdateW()

void ImuCamPose::UpdateW

(

const g_type *

pu

)

Updates the pose in the world reference frame.

Parameters

[in]

pu

Pointer to the 6-element update vector.

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

• OrbSLAM/Headers/G2oTypes.h