Public Member Functions | Public Attributes
sba::Node2d Class Reference

#include <spa2d.h>

List of all members.

Public Member Functions

void normArot ()
 Normalize to [-pi,+pi].
void setDr ()
void setTransform ()

Public Attributes

double arot
Eigen::Matrix2d dRdx
bool isFixed
 For SPA, is this camera fixed or free?
EIGEN_MAKE_ALIGNED_OPERATOR_NEW int nodeId
 node id - somewhat redundant, but can be useful, e.g., in KARTO links
double oldarot
Eigen::Matrix< double, 3, 1 > oldtrans
Eigen::Matrix< double, 3, 1 > trans
 6DOF pose as a unit quaternion and translation vector
Eigen::Matrix< double, 2, 3 > w2n
 Resultant transform from world to node coordinates;.

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 ( ) [inline]

Normalize to [-pi,+pi].

Definition at line 106 of file spa2d.h.

Definition at line 80 of file spa2d.cpp.

Definition at line 67 of file spa2d.cpp.


Member Data Documentation

Definition at line 104 of file spa2d.h.

Eigen::Matrix2d sba::Node2d::dRdx

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.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW int sba::Node2d::nodeId

node id - somewhat redundant, but can be useful, e.g., in KARTO links

Definition at line 100 of file spa2d.h.

Definition at line 133 of file spa2d.h.

Eigen::Matrix<double,3,1> sba::Node2d::oldtrans

3DOF pose as a unit quaternion and translation vector, saving for LM step

Definition at line 132 of file spa2d.h.

Eigen::Matrix<double,3,1> sba::Node2d::trans

6DOF pose as a unit quaternion and translation vector

Definition at line 103 of file spa2d.h.

Eigen::Matrix<double,2,3> sba::Node2d::w2n

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:


sba
Author(s): Kurt Konolige, Helen Oleynikova
autogenerated on Thu Jan 2 2014 12:12:09