sba::ConP3P Class Reference
#include <sba.h>
List of all members.
Public Member Functions |
| Eigen::Matrix< double, 12, 1 > | calcErr (const Node &nd, const Point &pt) |
| | calculates projection error and stores it in <err>
|
| void | setJacobians (std::vector< Node, Eigen::aligned_allocator< Node > > nodes) |
Public Attributes |
| Eigen::Matrix< double, 12, 1 > | err |
| | error
|
| Eigen::Matrix< double, 3, 6 > | Hpc |
| | temp storage for Hpc, Tpc matrices in SBA
|
| bool | isValid |
| | valid or not (could be out of bounds)
|
| Eigen::Matrix< double, 6, 6 > | J10 |
| | Jacobians of 0p1,0p2 with respect to global p0, p1, p2.
|
| Eigen::Matrix< double, 6, 6 > | J11 |
| Eigen::Matrix< double, 6, 6 > | J20 |
| Eigen::Matrix< double, 6, 6 > | J22 |
| Eigen::Matrix< double, 12, 1 > | mean |
| | Mean vector and precision matrix for this constraint.
|
| int | nd1 |
| | Node indices, the constraint for this object.
|
| int | nd2 |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW int | ndr |
| | Reference pose index.
|
| Eigen::Matrix< double, 12, 12 > | prec |
| Eigen::Matrix< double, 6, 3 > | Tpc |
Detailed Description
CONP3P holds a constraint measurement between 3 poses. They are a repository for links between poses within a frame, with aux info such as jacobians
Definition at line 394 of file sba.h.
Member Function Documentation
| Eigen::Matrix<double,12,1> sba::ConP3P::calcErr |
( |
const Node & |
nd, |
|
|
const Point & |
pt | |
|
) |
| | |
calculates projection error and stores it in <err>
| void sba::ConP3P::setJacobians |
( |
std::vector< Node, Eigen::aligned_allocator< Node > > |
nodes |
) |
|
dpc/dq = dR'/dq [pw-t], in homogeneous form, with q a quaternion param dpc/dx = -R' * [1 0 0]', in homogeneous form, with x a translation param d(px/pz)/du = [ pz dpx/du - px dpz/du ] / pz^2, works for all variables
Definition at line 411 of file spa.cpp.
Member Data Documentation
error
Definition at line 410 of file sba.h.
temp storage for Hpc, Tpc matrices in SBA
Definition at line 429 of file sba.h.
valid or not (could be out of bounds)
Definition at line 433 of file sba.h.
Jacobians of 0p1,0p2 with respect to global p0, p1, p2.
Definition at line 415 of file sba.h.
Mean vector and precision matrix for this constraint.
Definition at line 406 of file sba.h.
Node indices, the constraint for this object.
Definition at line 403 of file sba.h.
Reference pose index.
Definition at line 400 of file sba.h.
The documentation for this class was generated from the following files:
