sba::Node2d Class Reference
#include <spa2d.h>
List of all members.
Public Member Functions |
| void | normArot () |
| | Normalize to [-pi,+pi].
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| void | setDr () |
| void | setTransform () |
Public Attributes |
| double | arot |
| Eigen::Matrix2d | dRdx |
| bool | isFixed |
| | For SPA, is this camera fixed or free?
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| EIGEN_MAKE_ALIGNED_OPERATOR_NEW int | nodeId |
| | node id - somewhat redundant, but can be useful, e.g., in KARTO links
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| double | oldarot |
| Eigen::Matrix< double, 3, 1 > | oldtrans |
| Eigen::Matrix< double, 3, 1 > | trans |
| | 6DOF pose as a unit quaternion and translation vector
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| Eigen::Matrix< double, 2, 3 > | w2n |
| | Resultant transform from world to node coordinates;.
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Detailed Description
NODE2d holds graph nodes corresponding to frames, for use in sparse bundle adjustment type double must be <double> or <float>
Each node has a 6DOF pose, encoded as a translation vector and rotation unit quaternion (Eigen classes). These represent the pose of the node in the world frame.
The pose generates a 3x4 homogenous transform, taking a point in world coordinates into the node coordinates.
Additionally a 3x4 homogenous transform is composed from the pose transform and a projection transform to the frame image coordinates.
Projections from points to features are in a list. There should also be a reverse index from features to projections and points, so that matched features can tie in to points.
Definition at line 94 of file spa2d.h.
Member Function Documentation
| void sba::Node2d::normArot |
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Normalize to [-pi,+pi].
Definition at line 106 of file spa2d.h.
| void sba::Node2d::setDr |
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| void sba::Node2d::setTransform |
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Member Data Documentation
Covariance matrix, 3x3. Variables are [trans,rot], with the rotational part being the x parameter of the unit quaternion Derivatives of the rotation matrix transpose wrt quaternion xyz, used for calculating Jacobian wrt pose of a projection.
Definition at line 123 of file spa2d.h.
For SPA, is this camera fixed or free?
Definition at line 128 of file spa2d.h.
node id - somewhat redundant, but can be useful, e.g., in KARTO links
Definition at line 100 of file spa2d.h.
3DOF pose as a unit quaternion and translation vector, saving for LM step
Definition at line 132 of file spa2d.h.
6DOF pose as a unit quaternion and translation vector
Definition at line 103 of file spa2d.h.
Resultant transform from world to node coordinates;.
Definition at line 113 of file spa2d.h.
The documentation for this class was generated from the following files:
