Public Member Functions |
| double | calcErr (const Node &nd0, const Node &nd1) |
| | calculates projection error and stores it in <err>
|
| double | calcErrDist (const Node &nd0, const Node &nd1) |
| | calculate error in distance only, no weighting
|
| void | setJacobians (std::vector< Node, Eigen::aligned_allocator< Node > > &nodes) |
Public Attributes |
| Eigen::Matrix< double, 6, 1 > | err |
| | error
|
| bool | isValid |
| | valid or not (could be out of bounds)
|
| Eigen::Matrix< double, 6, 6 > | J0 |
| | jacobian with respect to frames; uses dR'/dq from Node calculation
|
| Eigen::Matrix< double, 6, 6 > | J0t |
| Eigen::Matrix< double, 6, 6 > | J1 |
| Eigen::Matrix< double, 6, 6 > | J1t |
| int | nd1 |
| | Node index for the second node.
|
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW int | ndr |
| | Reference pose index.
|
| Eigen::Matrix< double, 6, 6 > | prec |
| Eigen::Quaternion< double > | qpmean |
| Eigen::Vector3d | tmean |
| | Mean vector, quaternion (inverse) and precision matrix for this constraint.
|
Static Public Attributes |
| static const double | qScale = 1.0 |
CONP2 holds a constraint measurement of a pose to a pose. They are a repository for links between poses within a frame, with aux info such as jacobians
Definition at line 297 of file sba.h.