Public Member Functions | Public Attributes
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

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.


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.


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.

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.

Node indices, the constraint for this object.

Definition at line 403 of file sba.h.

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.


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


sparse_bundle_adjustment
Author(s):
autogenerated on Wed Aug 24 2016 03:37:37