Classes
class	Con2dP2

class	ConP2

class	ConP3P

class	ConScale

class	CSparse

class	CSparse2d

class	jacobiBPCG
	Let's try templated versions. More...

class	JacobProds

class	Node
	NODE holds graph nodes corresponding to frames, for use in sparse bundle adjustment. Each node has a 6DOF pose, encoded as a translation vector and rotation unit quaternion (Eigen classes). These represent the pose of the node in the world frame. More...

class	Node2d

class	Proj
	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. More...

class	SysSBA
	SysSBA holds a set of nodes and points for sparse bundle adjustment. More...

class	SysSPA
	SysSPA holds a set of nodes and constraints for sparse pose adjustment. More...

class	SysSPA2d
	SysSPA2d holds a set of nodes and constraints for sparse pose adjustment. More...

class	Track

Typedefs
typedef Eigen::Vector3d	Keypoint
	Keypoints - subpixel using floats. u,v are pixel coordinates, d is disparity (if stereo) More...

typedef Eigen::Vector4d	Point
	Point holds 3D points using in world coordinates. Currently we just represent these as 4-vectors, with a final "1.0". More...

typedef std::map< const int, Proj, std::less< int >, Eigen::aligned_allocator< Proj > >	ProjMap

Functions
void	drawGraph (const SysSBA &sba, const ros::Publisher &camera_pub, const ros::Publisher &point_pub, int decimation=1, int bicolor=0)

static int	getind (std::map< int, int > &m, int ind)

int	ParseBundlerFile (const char *fin, std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &camp, std::vector< Eigen::Matrix3d, Eigen::aligned_allocator< Eigen::Matrix3d > > &camR, std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &camt, std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &ptp, std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > > &ptc, std::vector< std::vector< Eigen::Vector4d, Eigen::aligned_allocator< Eigen::Vector4d > > > &ptt)
	A low-level parser for bundler files. More...

int	ParseGraphFile (const char *fin, std::vector< Eigen::Vector5d, Eigen::aligned_allocator< Eigen::Vector5d > > &camps, std::vector< Eigen::Vector4d, Eigen::aligned_allocator< Eigen::Vector4d > > &camqs, std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &camts, std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &ptps, std::vector< std::vector< Eigen::Vector11d, Eigen::aligned_allocator< Eigen::Vector11d > > > &ptts)
	A low-level parser for graph files. More...

int	ParseSPAGraphFile (const char *fin, std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &ntrans, std::vector< Eigen::Vector4d, Eigen::aligned_allocator< Eigen::Vector4d > > &nqrot, std::vector< Eigen::Vector2i, Eigen::aligned_allocator< Eigen::Vector2i > > &cind, std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &ctrans, std::vector< Eigen::Vector4d, Eigen::aligned_allocator< Eigen::Vector4d > > &cqrot, std::vector< Eigen::Matrix< double, 6, 6 >, Eigen::aligned_allocator< Eigen::Matrix< double, 6, 6 > > > &cvar)
	A low-level parser for graph files. More...

bool	read2dP2File (char *fname, SysSPA2d spa)
	constraint files More...

int	readBundlerFile (const char *filename, sba::SysSBA &sbaout)
	Reads bundle adjustment data from a Bundler file to an instance of SysSBA. More...

int	readGraphFile (const char *filename, sba::SysSBA &sbaout)
	Reads bundle adjustment data from a graph-type file to an instance of SysSBA. More...

bool	readP2File (char *fname, SysSPA spa)
	constraint files More...

int	readSPAGraphFile (const char *filename, SysSPA &spaout)
	Reads 3D pose graph data from a graph-type file to an instance of SysSPA. More...

void	transformF2W (Eigen::Matrix< double, 3, 4 > &m, const Eigen::Matrix< double, 4, 1 > &trans, const Eigen::Quaternion< double > &qrot)

void	transformN2N (Eigen::Matrix< double, 4, 1 > &trans, Eigen::Quaternion< double > &qrot, Node &nd0, Node &nd1)

void	transformW2F (Eigen::Matrix< double, 3, 4 > &m, const Eigen::Matrix< double, 4, 1 > &trans, const Eigen::Quaternion< double > &qrot)

void	writeA (const char *fname, SysSBA &sba)

int	writeBundlerFile (const char *filename, sba::SysSBA &sbain)
	Writes bundle adjustment data from an instance of SysSBA to a Bundler file. More...

int	writeGraphFile (const char *filename, SysSBA &sba, bool mono=false)
	Writes out the current SBA system as an ascii graph file suitable to be read in by the Freiburg HChol system. <mono> is true if only monocular projections are desired. More...

void	writeLourakisFile (const char *fname, SysSBA &sba)
	write out system in SBA form More...

void	writeSparseA (const char *fname, SysSBA &sba)

Typedef Documentation

typedef Eigen::Vector3d sba::Keypoint

Keypoints - subpixel using floats. u,v are pixel coordinates, d is disparity (if stereo)

Definition at line 37 of file node.h.

typedef Eigen::Vector4d sba::Point

Point holds 3D points using in world coordinates. Currently we just represent these as 4-vectors, with a final "1.0".

Definition at line 43 of file node.h.

typedef std::map<const int, Proj, std::less<int>, Eigen::aligned_allocator<Proj> > sba::ProjMap

Obnoxiously long type def for the map type that holds the point projections in tracks.

Definition at line 48 of file proj.h.

Function Documentation

void sba::drawGraph	(	const SysSBA &	sba,
		const ros::Publisher &	camera_pub,
		const ros::Publisher &	point_pub,
		int	decimation = `1`,
		int	bicolor = `0`
	)

Definition at line 5 of file visualization.cpp.

static int sba::getind	(	std::map< int, int > &	m,
		int	ind
	)

inlinestatic

Run the LM algorithm that computes a nonlinear SPA estimate. <window> is the number of nodes in the window, the last nodes added <niter> is the max number of iterations to perform; returns the number actually performed. <lambda> is the diagonal augmentation for LM. <useCSParse> = 0 for dense Cholesky, 1 for sparse Cholesky, 2 for sparse PCG

Definition at line 623 of file spa2d.cpp.

int sba::ParseBundlerFile	(	const char *	fin,
		std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &	camp,
		std::vector< Eigen::Matrix3d, Eigen::aligned_allocator< Eigen::Matrix3d > > &	camR,
		std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &	camt,
		std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &	ptp,
		std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > > &	ptc,
		std::vector< std::vector< Eigen::Vector4d, Eigen::aligned_allocator< Eigen::Vector4d > > > &	ptt
	)

A low-level parser for bundler files.

int sba::ParseGraphFile	(	const char *	fin,
		std::vector< Eigen::Vector5d, Eigen::aligned_allocator< Eigen::Vector5d > > &	camps,
		std::vector< Eigen::Vector4d, Eigen::aligned_allocator< Eigen::Vector4d > > &	camqs,
		std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &	camts,
		std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &	ptps,
		std::vector< std::vector< Eigen::Vector11d, Eigen::aligned_allocator< Eigen::Vector11d > > > &	ptts
	)

A low-level parser for graph files.

int sba::ParseSPAGraphFile	(	const char *	fin,
		std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &	ntrans,
		std::vector< Eigen::Vector4d, Eigen::aligned_allocator< Eigen::Vector4d > > &	nqrot,
		std::vector< Eigen::Vector2i, Eigen::aligned_allocator< Eigen::Vector2i > > &	cind,
		std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &	ctrans,
		std::vector< Eigen::Vector4d, Eigen::aligned_allocator< Eigen::Vector4d > > &	cqrot,
		std::vector< Eigen::Matrix< double, 6, 6 >, Eigen::aligned_allocator< Eigen::Matrix< double, 6, 6 > > > &	cvar
	)

A low-level parser for graph files.

Definition at line 996 of file sba_file_io.cpp.

bool sba::read2dP2File	(	char *	fname,
		SysSPA2d	spa
	)

constraint files

reads in a file of pose constraints

int sba::readBundlerFile	(	const char *	filename,
		sba::SysSBA &	sbaout
	)

Reads bundle adjustment data from a Bundler file to an instance of SysSBA.

Parameters

filename	The name of the bundler-formatted file to read from.
sbaout	An instance of SBA that the file will be written to. It should be noted that the bundler format does not support stereo points; all points read in will be monocular. Note: documentation of the Bundler format can be found at http://phototour.cs.washington.edu/bundler/bundler-v0.3-manual.html .

Definition at line 9 of file sba_file_io.cpp.

int sba::readGraphFile	(	const char *	filename,
		sba::SysSBA &	sbaout
	)

Reads bundle adjustment data from a graph-type file to an instance of SysSBA.

Parameters

filename	The name of the bundler-formatted file to read from.
sbaout	An instance of SBA that the file will be written to. Note: where is the documentation for this format?

Definition at line 488 of file sba_file_io.cpp.

bool sba::readP2File	(	char *	fname,
		SysSPA	spa
	)

constraint files

reads in a file of pose constraints

Definition at line 79 of file spa.cpp.

int sba::readSPAGraphFile	(	const char *	filename,
		SysSPA &	spaout
	)

Reads 3D pose graph data from a graph-type file to an instance of SysSPA.

Parameters

filename	The name of the bundler-formatted file to read from.
spaout	An instance of SPA that the file will be written to. Note: where is the documentation for this format?

Definition at line 929 of file sba_file_io.cpp.

void sba::transformF2W	(	Eigen::Matrix< double, 3, 4 > &	m,
		const Eigen::Matrix< double, 4, 1 > &	trans,
		const Eigen::Quaternion< double > &	qrot
	)

Projection matrix from Frame to World coordinates: [R t]

Definition at line 166 of file node.cpp.

void sba::transformN2N	(	Eigen::Matrix< double, 4, 1 > &	trans,
		Eigen::Quaternion< double > &	qrot,
		Node &	nd0,
		Node &	nd1
	)

Transform of one node in another's coords

Definition at line 177 of file node.cpp.

void sba::transformW2F	(	Eigen::Matrix< double, 3, 4 > &	m,
		const Eigen::Matrix< double, 4, 1 > &	trans,
		const Eigen::Quaternion< double > &	qrot
	)

Projection matrix from World to Frame coordinates: [R' -R'*t]

Based on translation vector and unit quaternion rotation, which gives the frame's pose in world coordinates. Assumes quaternion is normalized (unit).

Definition at line 157 of file node.cpp.

void sba::writeA	(	const char *	fname,
		SysSBA &	sba
	)

Definition at line 401 of file sba_file_io.cpp.

int sba::writeBundlerFile	(	const char *	filename,
		sba::SysSBA &	sbain
	)

Writes bundle adjustment data from an instance of SysSBA to a Bundler file.

Parameters

filename	The name of the bundler-formatted file to write to. The file is created, or if it already exists, truncated.
sbain	An instance of SBA that the file will be written from. It should be noted that the bundler format does not support stereo points; all points written will be monocular. Also, since SBA does not store point color information, all points will be colored white. Note: documentation of the Bundler format can be found at http://phototour.cs.washington.edu/bundler/bundler-v0.3-manual.html .

Definition at line 114 of file sba_file_io.cpp.

int sba::writeGraphFile	(	const char *	filename,
		SysSBA &	sba,
		bool	mono = `false`
	)

Writes out the current SBA system as an ascii graph file suitable to be read in by the Freiburg HChol system. <mono> is true if only monocular projections are desired.

Definition at line 783 of file sba_file_io.cpp.

void sba::writeLourakisFile	(	const char *	fname,
		SysSBA &	sba
	)

write out system in SBA form

Definition at line 322 of file sba_file_io.cpp.

void sba::writeSparseA	(	const char *	fname,
		SysSBA &	sba
	)

Definition at line 418 of file sba_file_io.cpp.

Classes

Typedefs

Functions

Typedef Documentation

Function Documentation