MapPoint.cc
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00001 // Copyright 2008 Isis Innovation Limited
00002 #include "MapPoint.h"
00003 #include "KeyFrame.h"
00004 void MapPoint::RefreshPixelVectors()
00005 {
00006   KeyFrame &k = *pPatchSourceKF;
00007   
00008   // Find patch pos in KF camera coords
00009   // Actually this might not exactly correspond to the patch pos!
00010   // Treat it as a general point on the plane.
00011   Vector<3> v3PlanePoint_C = k.se3CfromW * v3WorldPos;
00012   
00013   // Find the height of this above the plane.
00014   // Assumes the normal is  pointing toward the camera.
00015   double dCamHeight = fabs((double)(v3PlanePoint_C * v3Normal_NC));
00016 
00017   double dPixelRate = fabs((double)(v3Center_NC * v3Normal_NC));
00018   double dOneRightRate = fabs((double)(v3OneRightFromCenter_NC * v3Normal_NC));
00019   double dOneDownRate = fabs((double)(v3OneDownFromCenter_NC * v3Normal_NC));
00020   
00021   // Find projections onto plane
00022   Vector<3> v3CenterOnPlane_C = v3Center_NC * dCamHeight / dPixelRate;
00023   Vector<3> v3OneRightOnPlane_C = v3OneRightFromCenter_NC * dCamHeight / dOneRightRate;
00024   Vector<3> v3OneDownOnPlane_C = v3OneDownFromCenter_NC * dCamHeight / dOneDownRate;
00025   
00026   // Find differences of these projections in the world frame
00027   v3PixelRight_W = k.se3CfromW.get_rotation().inverse() * (v3OneRightOnPlane_C - v3CenterOnPlane_C);
00028   v3PixelDown_W = k.se3CfromW.get_rotation().inverse() * (v3OneDownOnPlane_C - v3CenterOnPlane_C);
00029 }  


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autogenerated on Sat Jun 8 2019 20:27:23