sba::ConP3P Class Reference

#include <sba.h>

List of all members.

Public Member Functions
Eigen::Matrix< double, 12, 1 >	calcErr (const Node &nd, const Point &pt)
	calculates projection error and stores it in <err>
void	setJacobians (std::vector< Node, Eigen::aligned_allocator< Node > > nodes)
Public Attributes
Eigen::Matrix< double, 12, 1 >	err
	error
Eigen::Matrix< double, 3, 6 >	Hpc
	temp storage for Hpc, Tpc matrices in SBA
bool	isValid
	valid or not (could be out of bounds)
Eigen::Matrix< double, 6, 6 >	J10
	Jacobians of 0p1,0p2 with respect to global p0, p1, p2.
Eigen::Matrix< double, 6, 6 >	J11
Eigen::Matrix< double, 6, 6 >	J20
Eigen::Matrix< double, 6, 6 >	J22
Eigen::Matrix< double, 12, 1 >	mean
	Mean vector and precision matrix for this constraint.
int	nd1
	Node indices, the constraint for this object.
int	nd2
EIGEN_MAKE_ALIGNED_OPERATOR_NEW int	ndr
	Reference pose index.
Eigen::Matrix< double, 12, 12 >	prec
Eigen::Matrix< double, 6, 3 >	Tpc

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Detailed Description

CONP3P holds a constraint measurement between 3 poses. They are a repository for links between poses within a frame, with aux info such as jacobians

Definition at line 394 of file sba.h.

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Member Function Documentation

Eigen::Matrix<double,12,1> sba::ConP3P::calcErr	(	const Node &	nd,
		const Point &	pt
	)

calculates projection error and stores it in <err>

void sba::ConP3P::setJacobians

(

std::vector< Node, Eigen::aligned_allocator< Node > >

nodes

)

dpc/dq = dR'/dq [pw-t], in homogeneous form, with q a quaternion param dpc/dx = -R' * [1 0 0]', in homogeneous form, with x a translation param d(px/pz)/du = [ pz dpx/du - px dpz/du ] / pz^2, works for all variables

Definition at line 411 of file spa.cpp.

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Member Data Documentation

Eigen::Matrix<double,12,1> sba::ConP3P::err

error

Definition at line 410 of file sba.h.

Eigen::Matrix<double,3,6> sba::ConP3P::Hpc

temp storage for Hpc, Tpc matrices in SBA

Definition at line 429 of file sba.h.

bool sba::ConP3P::isValid

valid or not (could be out of bounds)

Definition at line 433 of file sba.h.

Eigen::Matrix<double,6,6> sba::ConP3P::J10

Jacobians of 0p1,0p2 with respect to global p0, p1, p2.

Definition at line 415 of file sba.h.

Eigen::Matrix<double,6,6> sba::ConP3P::J11

Definition at line 415 of file sba.h.

Eigen::Matrix<double,6,6> sba::ConP3P::J20

Definition at line 415 of file sba.h.

Eigen::Matrix<double,6,6> sba::ConP3P::J22

Definition at line 415 of file sba.h.

Eigen::Matrix<double,12,1> sba::ConP3P::mean

Mean vector and precision matrix for this constraint.

Definition at line 406 of file sba.h.

int sba::ConP3P::nd1

Node indices, the constraint for this object.

Definition at line 403 of file sba.h.

int sba::ConP3P::nd2

Definition at line 403 of file sba.h.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW int sba::ConP3P::ndr

Reference pose index.

Definition at line 400 of file sba.h.

Eigen::Matrix<double,12,12> sba::ConP3P::prec

Definition at line 407 of file sba.h.

Eigen::Matrix<double,6,3> sba::ConP3P::Tpc

Definition at line 430 of file sba.h.

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The documentation for this class was generated from the following files:

• sba.h
• spa.cpp