sba Namespace Reference

Namespaces

namespace  msg

Classes

struct  CameraNode_
class  Con2dP2
class  ConP2
class  ConP3P
class  ConScale
class  CSparse
class  CSparse2d
struct  Frame_
class  JacobProds
class  Node
 NODE holds graph nodes corresponding to frames, for use in sparse bundle adjustment. 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. More...
class  Node2d
class  Proj
 Proj holds a projection measurement of a point onto a frame. They are a repository for the link between the frame and the point, with auxillary info such as Jacobians. More...
struct  Projection_
class  SysSBA
 SysSBA holds a set of nodes and points for sparse bundle adjustment. More...
class  SysSPA
 SysSPA holds a set of nodes and constraints for sparse pose adjustment. More...
class  SysSPA2d
 SysSPA2d holds a set of nodes and constraints for sparse pose adjustment. More...
class  Track
struct  WorldPoint_

Typedefs

typedef ::sba::CameraNode_
< std::allocator< void > > 		CameraNode
typedef boost::shared_ptr
< ::sba::CameraNode const > 		CameraNodeConstPtr
typedef boost::shared_ptr
< ::sba::CameraNode > 		CameraNodePtr
typedef ::sba::Frame_
< std::allocator< void > > 		Frame
typedef boost::shared_ptr
< ::sba::Frame const > 		FrameConstPtr
typedef boost::shared_ptr
< ::sba::Frame > 		FramePtr
typedef Eigen::Vector3d Keypoint
 Keypoints - subpixel using floats. u,v are pixel coordinates, d is disparity (if stereo).
typedef Eigen::Vector4d Point
 Point holds 3D points using in world coordinates. Currently we just represent these as 4-vectors, with a final "1.0".
typedef ::sba::Projection_
< std::allocator< void > > 		Projection
typedef boost::shared_ptr
< ::sba::Projection const > 		ProjectionConstPtr
typedef boost::shared_ptr
< ::sba::Projection > 		ProjectionPtr
typedef std::map< const int,
Proj, std::less< int >
, Eigen::aligned_allocator
< Proj > > 		ProjMap
typedef ::sba::WorldPoint_
< std::allocator< void > > 		WorldPoint
typedef boost::shared_ptr
< ::sba::WorldPoint const > 		WorldPointConstPtr
typedef boost::shared_ptr
< ::sba::WorldPoint > 		WorldPointPtr

Functions

void drawGraph (const SysSBA &sba, const ros::Publisher &camera_pub, const ros::Publisher &point_pub, int decimation=1, int bicolor=0)
static int getind (std::map< int, int > &m, int ind)
template<typename ContainerAllocator >
std::ostream & operator<< (std::ostream &s, const ::sba::WorldPoint_< ContainerAllocator > &v)
template<typename ContainerAllocator >
std::ostream & operator<< (std::ostream &s, const ::sba::Projection_< ContainerAllocator > &v)
template<typename ContainerAllocator >
std::ostream & operator<< (std::ostream &s, const ::sba::Frame_< ContainerAllocator > &v)
template<typename ContainerAllocator >
std::ostream & operator<< (std::ostream &s, const ::sba::CameraNode_< ContainerAllocator > &v)
int ParseBundlerFile (const char *fin, std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &camp, std::vector< Eigen::Matrix3d, Eigen::aligned_allocator< Eigen::Matrix3d > > &camR, std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &camt, std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &ptp, std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > > &ptc, std::vector< std::vector< Eigen::Vector4d, Eigen::aligned_allocator< Eigen::Vector4d > > > &ptt)
 A low-level parser for bundler files.
int ParseGraphFile (const char *fin, std::vector< Eigen::Vector5d, Eigen::aligned_allocator< Eigen::Vector5d > > &camps, std::vector< Eigen::Vector4d, Eigen::aligned_allocator< Eigen::Vector4d > > &camqs, std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &camts, std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &ptps, std::vector< std::vector< Eigen::Vector11d, Eigen::aligned_allocator< Eigen::Vector11d > > > &ptts)
 A low-level parser for graph files.
int ParseSPAGraphFile (const char *fin, std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &ntrans, std::vector< Eigen::Vector4d, Eigen::aligned_allocator< Eigen::Vector4d > > &nqrot, std::vector< Eigen::Vector2i, Eigen::aligned_allocator< Eigen::Vector2i > > &cind, std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &ctrans, std::vector< Eigen::Vector4d, Eigen::aligned_allocator< Eigen::Vector4d > > &cqrot, std::vector< Eigen::Matrix< double, 6, 6 >, Eigen::aligned_allocator< Eigen::Matrix< double, 6, 6 > > > &cvar)
 A low-level parser for graph files.
bool read2dP2File (char *fname, SysSPA2d spa)
 constraint files
int readBundlerFile (const char *filename, sba::SysSBA &sbaout)
 Reads bundle adjustment data from a Bundler file to an instance of SysSBA.
int readGraphFile (const char *filename, sba::SysSBA &sbaout)
 Reads bundle adjustment data from a graph-type file to an instance of SysSBA.
bool readP2File (char *fname, SysSPA spa)
 constraint files
int readSPAGraphFile (const char *filename, SysSPA &spaout)
 Reads 3D pose graph data from a graph-type file to an instance of SysSPA.
void transformF2W (Eigen::Matrix< double, 3, 4 > &m, const Eigen::Matrix< double, 4, 1 > &trans, const Eigen::Quaternion< double > &qrot)
void transformN2N (Eigen::Matrix< double, 4, 1 > &trans, Eigen::Quaternion< double > &qrot, Node &nd0, Node &nd1)
void transformW2F (Eigen::Matrix< double, 3, 4 > &m, const Eigen::Matrix< double, 4, 1 > &trans, const Eigen::Quaternion< double > &qrot)
void writeA (const char *fname, SysSBA &sba)
int writeBundlerFile (const char *filename, sba::SysSBA &sbain)
 Writes bundle adjustment data from an instance of SysSBA to a Bundler file.
int writeGraphFile (const char *filename, SysSBA &sba, bool mono=false)
 Writes out the current SBA system as an ascii graph file suitable to be read in by the Freiburg HChol system. <mono> is true if only monocular projections are desired.
void writeLourakisFile (const char *fname, SysSBA &sba)
 write out system in SBA form
void writeSparseA (const char *fname, SysSBA &sba)

Typedef Documentation

typedef ::sba::CameraNode_<std::allocator<void> > sba::CameraNode

Definition at line 176 of file CameraNode.h.

typedef boost::shared_ptr< ::sba::CameraNode const> sba::CameraNodeConstPtr

Definition at line 179 of file CameraNode.h.

typedef boost::shared_ptr< ::sba::CameraNode> sba::CameraNodePtr

Definition at line 178 of file CameraNode.h.

typedef ::sba::Frame_<std::allocator<void> > sba::Frame

Definition at line 229 of file Frame.h.

typedef boost::shared_ptr< ::sba::Frame const> sba::FrameConstPtr

Definition at line 232 of file Frame.h.

typedef boost::shared_ptr< ::sba::Frame> sba::FramePtr

Definition at line 231 of file Frame.h.

typedef Eigen::Vector3d sba::Keypoint

Keypoints - subpixel using floats. u,v are pixel coordinates, d is disparity (if stereo).

Definition at line 37 of file node.h.

typedef Eigen::Vector4d sba::Point

Point holds 3D points using in world coordinates. Currently we just represent these as 4-vectors, with a final "1.0".

Definition at line 43 of file node.h.

typedef ::sba::Projection_<std::allocator<void> > sba::Projection

Definition at line 162 of file Projection.h.

typedef boost::shared_ptr< ::sba::Projection const> sba::ProjectionConstPtr

Definition at line 165 of file Projection.h.

typedef boost::shared_ptr< ::sba::Projection> sba::ProjectionPtr

Definition at line 164 of file Projection.h.

typedef std::map<const int, Proj, std::less<int>, Eigen::aligned_allocator<Proj> > sba::ProjMap

Obnoxiously long type def for the map type that holds the point projections in tracks.

Definition at line 46 of file proj.h.

typedef ::sba::WorldPoint_<std::allocator<void> > sba::WorldPoint

Definition at line 123 of file WorldPoint.h.

typedef boost::shared_ptr< ::sba::WorldPoint const> sba::WorldPointConstPtr

Definition at line 126 of file WorldPoint.h.

typedef boost::shared_ptr< ::sba::WorldPoint> sba::WorldPointPtr

Definition at line 125 of file WorldPoint.h.

Function Documentation

void sba::drawGraph ( const SysSBA &  sba,
const ros::Publisher &  camera_pub,
const ros::Publisher &  point_pub,
int  decimation = 1,
int  bicolor = 0 
)

Definition at line 5 of file visualization.cpp.

static int sba::getind ( std::map< int, int > &  m,
int  ind 
) [inline, static]

Run the LM algorithm that computes a nonlinear SPA estimate. <window> is the number of nodes in the window, the last nodes added <niter> is the max number of iterations to perform; returns the number actually performed. <lambda> is the diagonal augmentation for LM. <useCSParse> = 0 for dense Cholesky, 1 for sparse Cholesky, 2 for sparse PCG

Definition at line 623 of file spa2d.cpp.

template<typename ContainerAllocator >
std::ostream& sba::operator<< ( std::ostream &  s,
const ::sba::WorldPoint_< ContainerAllocator > &  v 
) [inline]

Definition at line 130 of file WorldPoint.h.

template<typename ContainerAllocator >
std::ostream& sba::operator<< ( std::ostream &  s,
const ::sba::Projection_< ContainerAllocator > &  v 
) [inline]

Definition at line 169 of file Projection.h.

template<typename ContainerAllocator >
std::ostream& sba::operator<< ( std::ostream &  s,
const ::sba::Frame_< ContainerAllocator > &  v 
) [inline]

Definition at line 236 of file Frame.h.

template<typename ContainerAllocator >
std::ostream& sba::operator<< ( std::ostream &  s,
const ::sba::CameraNode_< ContainerAllocator > &  v 
) [inline]

Definition at line 183 of file CameraNode.h.

int sba::ParseBundlerFile ( const char *  fin,
std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &  camp,
std::vector< Eigen::Matrix3d, Eigen::aligned_allocator< Eigen::Matrix3d > > &  camR,
std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &  camt,
std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &  ptp,
std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > > &  ptc,
std::vector< std::vector< Eigen::Vector4d, Eigen::aligned_allocator< Eigen::Vector4d > > > &  ptt 
)

A low-level parser for bundler files.

int sba::ParseGraphFile ( const char *  fin,
std::vector< Eigen::Vector5d, Eigen::aligned_allocator< Eigen::Vector5d > > &  camps,
std::vector< Eigen::Vector4d, Eigen::aligned_allocator< Eigen::Vector4d > > &  camqs,
std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &  camts,
std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &  ptps,
std::vector< std::vector< Eigen::Vector11d, Eigen::aligned_allocator< Eigen::Vector11d > > > &  ptts 
)

A low-level parser for graph files.

int sba::ParseSPAGraphFile ( const char *  fin,
std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &  ntrans,
std::vector< Eigen::Vector4d, Eigen::aligned_allocator< Eigen::Vector4d > > &  nqrot,
std::vector< Eigen::Vector2i, Eigen::aligned_allocator< Eigen::Vector2i > > &  cind,
std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &  ctrans,
std::vector< Eigen::Vector4d, Eigen::aligned_allocator< Eigen::Vector4d > > &  cqrot,
std::vector< Eigen::Matrix< double, 6, 6 >, Eigen::aligned_allocator< Eigen::Matrix< double, 6, 6 > > > &  cvar 
)

A low-level parser for graph files.

Definition at line 996 of file sba_file_io.cpp.

bool sba::read2dP2File ( char *  fname,
SysSPA2d  spa 
)

constraint files

reads in a file of pose constraints

int sba::readBundlerFile ( const char *  filename,
sba::SysSBA &  sbaout 
)

Reads bundle adjustment data from a Bundler file to an instance of SysSBA.

Parameters:
filename The name of the bundler-formatted file to read from.
sbaout An instance of SBA that the file will be written to. It should be noted that the bundler format does not support stereo points; all points read in will be monocular. Note: documentation of the Bundler format can be found at http://phototour.cs.washington.edu/bundler/bundler-v0.3-manual.html .

Definition at line 9 of file sba_file_io.cpp.

int sba::readGraphFile ( const char *  filename,
sba::SysSBA &  sbaout 
)

Reads bundle adjustment data from a graph-type file to an instance of SysSBA.

Parameters:
filename The name of the bundler-formatted file to read from.
sbaout An instance of SBA that the file will be written to. Note: where is the documentation for this format?

Definition at line 488 of file sba_file_io.cpp.

bool sba::readP2File ( char *  fname,
SysSPA  spa 
)

constraint files

reads in a file of pose constraints

Definition at line 78 of file spa.cpp.

int sba::readSPAGraphFile ( const char *  filename,
SysSPA &  spaout 
)

Reads 3D pose graph data from a graph-type file to an instance of SysSPA.

Parameters:
filename The name of the bundler-formatted file to read from.
spaout An instance of SPA that the file will be written to. Note: where is the documentation for this format?

Definition at line 929 of file sba_file_io.cpp.

void sba::transformF2W ( Eigen::Matrix< double, 3, 4 > &  m,
const Eigen::Matrix< double, 4, 1 > &  trans,
const Eigen::Quaternion< double > &  qrot 
)

Projection matrix from Frame to World coordinates: [R t]

Definition at line 166 of file node.cpp.

void sba::transformN2N ( Eigen::Matrix< double, 4, 1 > &  trans,
Eigen::Quaternion< double > &  qrot,
Node &  nd0,
Node &  nd1 
)

Transform of one node in another's coords

Definition at line 177 of file node.cpp.

void sba::transformW2F ( Eigen::Matrix< double, 3, 4 > &  m,
const Eigen::Matrix< double, 4, 1 > &  trans,
const Eigen::Quaternion< double > &  qrot 
)

Projection matrix from World to Frame coordinates: [R' -R'*t]

Based on translation vector and unit quaternion rotation, which gives the frame's pose in world coordinates. Assumes quaternion is normalized (unit).

Definition at line 157 of file node.cpp.

void sba::writeA ( const char *  fname,
SysSBA &  sba 
)

Definition at line 401 of file sba_file_io.cpp.

int sba::writeBundlerFile ( const char *  filename,
sba::SysSBA &  sbain 
)

Writes bundle adjustment data from an instance of SysSBA to a Bundler file.

Parameters:
filename The name of the bundler-formatted file to write to. The file is created, or if it already exists, truncated.
sbain An instance of SBA that the file will be written from. It should be noted that the bundler format does not support stereo points; all points written will be monocular. Also, since SBA does not store point color information, all points will be colored white. Note: documentation of the Bundler format can be found at http://phototour.cs.washington.edu/bundler/bundler-v0.3-manual.html .

Definition at line 114 of file sba_file_io.cpp.

int sba::writeGraphFile ( const char *  filename,
SysSBA &  sba,
bool  mono = false 
)

Writes out the current SBA system as an ascii graph file suitable to be read in by the Freiburg HChol system. <mono> is true if only monocular projections are desired.

Definition at line 783 of file sba_file_io.cpp.

void sba::writeLourakisFile ( const char *  fname,
SysSBA &  sba 
)

write out system in SBA form

Definition at line 322 of file sba_file_io.cpp.

void sba::writeSparseA ( const char *  fname,
SysSBA &  sba 
)

Definition at line 418 of file sba_file_io.cpp.

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sba
Author(s): Kurt Konolige, Helen Oleynikova
autogenerated on Fri Jan 11 09:12:12 2013