Public Member Functions |
| double | calcErr (const Node &nd, const Point &pt, double huber=0.0) |
| | Calculates re-projection error and stores it in err.
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| void | clearCovariance () |
| | Clear the covariance matrix and no longer use it.
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| double | getErrNorm () |
| | Get the correct norm of the error, depending on whether the projection is monocular or stereo.
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| double | getErrSquaredNorm () |
| | Get the correct squared norm of the error, depending on whether the projection is monocular or stereo.
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| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | Proj (int ci, Eigen::Vector3d &q, bool stereo=true) |
| | General & stereo constructor. To construct a monocular projection, either use stereo = false or the other constructor. NOTE: sets the projection to be valid.
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| | Proj (int ci, Eigen::Vector2d &q) |
| | Monocular constructor. To construct a stereo projection, use other constructor. NOTE: sets the projection to be valid.
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| | Proj () |
| | Default constructor. Initializes to default values, kp = <0 0 0> and ndi = <0>. Also sets the projection to be invalid.
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| void | setCovariance (const Eigen::Matrix3d &covar) |
| | Set the covariance matrix to use for cost calculation. Without the covariance matrix, cost is calculated by: cost = ||err|| With a covariance matrix, the cost is calculated by: cost = (err)T*covar*(err)
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| void | setJacobians (const Node &nd, const Point &pt, JacobProds *jpp) |
| | Sets the jacobians and hessians for the projection to use for SBA.
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Public Attributes |
| Eigen::Matrix< double, 3, 3 > | covarmat |
| | Covariance matrix for cost calculation.
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| Eigen::Vector3d | err |
| | Reprojection error.
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| bool | isValid |
| | valid or not (could be out of bounds)
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| JacobProds * | jp |
| | Jacobian products.
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| Eigen::Vector3d | kp |
| | Keypoint, u,v,u-d vector.
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| int | ndi |
| | Node index, the camera node for this projection.
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| Eigen::Vector3d | plane_local_normal |
| | Original normal in plane_node_index coordinate's frame.
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| int | plane_node_index |
| | Point-plane node index in SBA.
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| Eigen::Vector3d | plane_normal |
| | Normal for point-plane projections.
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| Eigen::Vector3d | plane_point |
| | Point for point-plane projections.
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| int | plane_point_index |
| | Point-plane match point index in SBA.
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| bool | pointPlane |
| | Whether this is a point-plane match (true) or a point-point match (false).
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| bool | stereo |
| | Whether the projection is Stereo (True) or Monocular (False).
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| Eigen::Matrix< double, 6, 3 > | Tpc |
| bool | useCovar |
| | Use a covariance matrix?
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Static Public Attributes |
| static const double | qScale = 1.0 |
Protected Member Functions |
| double | calcErrMono_ (const Node &nd, const Point &pt, double huber) |
| | Calculate error function for stereo.
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| double | calcErrStereo_ (const Node &nd, const Point &pt, double huber) |
| | Calculate error function for stereo.
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| void | setJacobiansMono_ (const Node &nd, const Point &pt, JacobProds *jpp) |
| | Set monocular jacobians/hessians.
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| void | setJacobiansStereo_ (const Node &nd, const Point &pt, JacobProds *jpp) |
| | Set stereo jacobians/hessians.
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Proj holds a projection measurement of a point onto a frame. They are a repository for the link between the frame and the point, with auxillary info such as Jacobians.
Definition at line 57 of file proj.h.
Sets the jacobians and hessians for the projection to use for SBA.
Monocular:
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
Stereo: pc = R'[pw-t] => left cam pc = R'[pw-t] + [b 0 0]' => right cam px only
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 only change for right cam is px += b
Definition at line 17 of file proj.cpp.