Public Member Functions | Public Attributes | List of all members
sba::ConP3P Class Reference

#include <sba.h>

Public Member Functions

Eigen::Matrix< double, 12, 1 > calcErr (const Node &nd, const Point &pt)
 calculates projection error and stores it in <err> More...
 
void setJacobians (std::vector< Node, Eigen::aligned_allocator< Node > > nodes)
 

Public Attributes

Eigen::Matrix< double, 12, 1 > err
 error More...
 
Eigen::Matrix< double, 3, 6 > Hpc
 temp storage for Hpc, Tpc matrices in SBA More...
 
bool isValid
 valid or not (could be out of bounds) More...
 
Eigen::Matrix< double, 6, 6 > J10
 Jacobians of 0p1,0p2 with respect to global p0, p1, p2. More...
 
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. More...
 
int nd1
 Node indices, the constraint for this object.
More...
 
int nd2
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW int ndr
 Reference pose index. More...
 
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

◆ calcErr()

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

calculates projection error and stores it in <err>

◆ setJacobians()

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 408 of file spa.cpp.

Member Data Documentation

◆ err

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

error

Definition at line 410 of file sba.h.

◆ Hpc

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

temp storage for Hpc, Tpc matrices in SBA

Definition at line 429 of file sba.h.

◆ isValid

bool sba::ConP3P::isValid

valid or not (could be out of bounds)

Definition at line 433 of file sba.h.

◆ J10

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.

◆ J11

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

Definition at line 415 of file sba.h.

◆ J20

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

Definition at line 415 of file sba.h.

◆ J22

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

Definition at line 415 of file sba.h.

◆ mean

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

Mean vector and precision matrix for this constraint.

Definition at line 406 of file sba.h.

◆ nd1

int sba::ConP3P::nd1

Node indices, the constraint for this object.

Definition at line 403 of file sba.h.

◆ nd2

int sba::ConP3P::nd2

Definition at line 403 of file sba.h.

◆ ndr

EIGEN_MAKE_ALIGNED_OPERATOR_NEW int sba::ConP3P::ndr

Reference pose index.

Definition at line 400 of file sba.h.

◆ prec

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

Definition at line 407 of file sba.h.

◆ Tpc

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 Mar 2 2022 01:03:04