node.h File Reference

#include <stdio.h>
#include <iostream>
#include <Eigen/Core>
#include <Eigen/Geometry>

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Classes
struct	frame_common::CamParams
class	sba::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...
Namespaces
namespace	frame_common
namespace	sba
Typedefs
typedef Eigen::Vector3d	sba::Keypoint
	Keypoints - subpixel using floats. u,v are pixel coordinates, d is disparity (if stereo).
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".
Functions
void	sba::transformF2W (Eigen::Matrix< double, 3, 4 > &m, const Eigen::Matrix< double, 4, 1 > &trans, const Eigen::Quaternion< double > &qrot)
void	sba::transformN2N (Eigen::Matrix< double, 4, 1 > &trans, Eigen::Quaternion< double > &qrot, Node &nd0, Node &nd1)
void	sba::transformW2F (Eigen::Matrix< double, 3, 4 > &m, const Eigen::Matrix< double, 4, 1 > &trans, const Eigen::Quaternion< double > &qrot)