Public Member Functions |
| double | calcErr (const Node &nd, const Point &pt, double huber=0.0) |
| | Calculates re-projection error and stores it in err.
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| void | clearCovariance () |
| | Clear the covariance matrix and no longer use it.
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| double | getErrNorm () |
| | Get the correct norm of the error, depending on whether the projection is monocular or stereo.
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| double | getErrSquaredNorm () |
| | Get the correct squared norm of the error, depending on whether the projection is monocular or stereo.
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| | Proj () |
| | Default constructor. Initializes to default values, kp = <0 0 0> and ndi = <0>. Also sets the projection to be invalid.
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| | Proj (int ci, Eigen::Vector2d &q) |
| | Monocular constructor. To construct a stereo projection, use other constructor. NOTE: sets the projection to be valid.
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| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | Proj (int ci, Eigen::Vector3d &q, bool stereo=true) |
| | General & stereo constructor. To construct a monocular projection, either use stereo = false or the other constructor. NOTE: sets the projection to be valid.
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| void | setCovariance (const Eigen::Matrix3d &covar) |
| | Set the covariance matrix to use for cost calculation. Without the covariance matrix, cost is calculated by: cost = ||err|| With a covariance matrix, the cost is calculated by: cost = (err)T*covar*(err).
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| void | setJacobians (const Node &nd, const Point &pt, JacobProds *jpp) |
| | Sets the jacobians and hessians for the projection to use for SBA.
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Public Attributes |
| Eigen::Matrix< double, 3, 3 > | covarmat |
| | Covariance matrix for cost calculation.
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| Eigen::Vector3d | err |
| | Reprojection error.
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| bool | isValid |
| | valid or not (could be out of bounds)
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| JacobProds * | jp |
| | Jacobian products.
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| Eigen::Vector3d | kp |
| | Keypoint, u,v,u-d vector.
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| int | ndi |
| | Node index, the camera node for this projection.
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| Eigen::Vector3d | plane_local_normal |
| | Original normal in plane_node_index coordinate's frame.
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| int | plane_node_index |
| | Point-plane node index in SBA.
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| Eigen::Vector3d | plane_normal |
| | Normal for point-plane projections.
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| Eigen::Vector3d | plane_point |
| | Point for point-plane projections.
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| int | plane_point_index |
| | Point-plane match point index in SBA.
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| bool | pointPlane |
| | Whether this is a point-plane match (true) or a point-point match (false).
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| bool | stereo |
| | Whether the projection is Stereo (True) or Monocular (False).
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| Eigen::Matrix< double, 6, 3 > | Tpc |
| bool | useCovar |
| | Use a covariance matrix?
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Static Public Attributes |
| static const double | qScale = 1.0 |
Protected Member Functions |
| double | calcErrMono_ (const Node &nd, const Point &pt, double huber) |
| | Calculate error function for stereo.
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| double | calcErrStereo_ (const Node &nd, const Point &pt, double huber) |
| | Calculate error function for stereo.
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| void | setJacobiansMono_ (const Node &nd, const Point &pt, JacobProds *jpp) |
| | Set monocular jacobians/hessians.
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| void | setJacobiansStereo_ (const Node &nd, const Point &pt, JacobProds *jpp) |
| | Set stereo jacobians/hessians.
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Sets the jacobians and hessians for the projection to use for SBA.
Monocular:
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
Stereo: pc = R'[pw-t] => left cam pc = R'[pw-t] + [b 0 0]' => right cam px only
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 only change for right cam is px += b
Definition at line 17 of file proj.cpp.
