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...

#include <node.h>

Public Member Functions
void	normRot ()
	Normalize quaternion to unit. Problem with global derivatives near w=0, solved by a hack for now. More...

void	normRotLocal ()
	Normalize quaternion to unit, without w=0 considerations. More...

void	project2im (Eigen::Vector2d &pi, const Point &p) const

void	projectMono (const Point &pt, Eigen::Vector3d &proj)
	Project a 3D point into the image frame as a monocular point. More...

void	projectStereo (const Point &pt, Eigen::Vector3d &proj)
	Project a 3D point into the image frame as a stereo point. More...

void	setDr (bool local=false)
	Set angle derivates. More...

void	setDri ()
	Set local angle derivatives. More...

void	setKcam (const fc::CamParams &cp)
	Sets the Kcam and baseline matrices from frame_common::CamParams. More...

void	setProjection ()

void	setTransform ()
	Sets the transform matrices of the node. More...

Static Public Member Functions
static void	initDr ()
	Sets up constant matrices for derivatives. More...

Public Attributes
double	baseline
	baseline for stereo More...

Eigen::Matrix< double, 3, 3 >	dRdx
	Derivatives of the rotation matrix transpose wrt quaternion xyz, used for calculating Jacobian wrt pose of a projection. More...

Eigen::Matrix< double, 3, 3 >	dRdy

Eigen::Matrix< double, 3, 3 >	dRdz

bool	isFixed
	For SBA, is this camera fixed or free? More...

Eigen::Matrix< double, 3, 3 >	Kcam
	Projection to frame image coordinates. pre-multiply by the frame camera matrix. More...

Eigen::Quaternion< double >	oldqrot
	Previous quaternion rotation, saved for downdating within LM. More...

Eigen::Matrix< double, 4, 1 >	oldtrans
	Previous translation, saved for downdating within LM. More...

Eigen::Quaternion< double >	qrot
	Rotation of the node expressed as a Quaternion. More...

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Matrix< double, 4, 1 >	trans
	Translation in homogeneous coordinates, last element is 1.0. More...

Eigen::Matrix< double, 3, 4 >	w2i
	The transform from world to image coordinates. More...

Eigen::Matrix< double, 3, 4 >	w2n
	Resultant transform from world to node coordinates. More...

Static Public Attributes
static Eigen::Matrix3d	dRidx
	Constant matrices for derivatives. More...

static Eigen::Matrix3d	dRidy

static Eigen::Matrix3d	dRidz

Detailed Description

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.

The pose generates a 3x4 homogenous transform, taking a point in world coordinates into the node coordinates.

Additionally a 3x4 homogenous transform is composed from the pose transform and a projection transform to the frame image coordinates.

Projections from points to features are in a list. There should also be a reverse index from features to projections and points, so that matched features can tie in to points.

Definition at line 63 of file node.h.

Member Function Documentation

◆ initDr()

void sba::Node::initDr ( )

static

Sets up constant matrices for derivatives.

Definition at line 23 of file node.cpp.

◆ normRot()

void sba::Node::normRot ( )

Normalize quaternion to unit. Problem with global derivatives near w=0, solved by a hack for now.

Definition at line 37 of file node.cpp.

◆ normRotLocal()

void sba::Node::normRotLocal ( )

Normalize quaternion to unit, without w=0 considerations.

Definition at line 122 of file node.cpp.

◆ project2im()

void sba::Node::project2im	(	Eigen::Vector2d &	pi,
		const Point &	p
	)		const

inline

Project a point into image coordinates.

Parameters

pi	The u, v projection of the point into image coordinates.
p	The 3D point in world coordinates to be projected.

Definition at line 116 of file node.h.

◆ projectMono()

void sba::Node::projectMono	(	const Point &	pt,
		Eigen::Vector3d &	proj
	)

Project a 3D point into the image frame as a monocular point.

Definition at line 134 of file node.cpp.

◆ projectStereo()

void sba::Node::projectStereo	(	const Point &	pt,
		Eigen::Vector3d &	proj
	)

Project a 3D point into the image frame as a stereo point.

Definition at line 142 of file node.cpp.

◆ setDr()

void sba::Node::setDr ( bool local = false )

Set angle derivates.

Definition at line 56 of file node.cpp.

◆ setDri()

void sba::Node::setDri ( )

Set local angle derivatives.

Definition at line 14 of file node.cpp.

◆ setKcam()

void sba::Node::setKcam ( const fc::CamParams & cp )

inline

Sets the Kcam and baseline matrices from frame_common::CamParams.

Parameters

cp	The camera parameters from camera calibration.

Definition at line 98 of file node.h.

◆ setProjection()

void sba::Node::setProjection ( )

inline

Set up world-to-image projection matrix (w2i), assumes camera parameters are filled.

Definition at line 121 of file node.h.

◆ setTransform()

void sba::Node::setTransform ( )

Sets the transform matrices of the node.

Definition at line 8 of file node.cpp.

Member Data Documentation

◆ baseline

double sba::Node::baseline

baseline for stereo

Definition at line 93 of file node.h.

◆ dRdx

Eigen::Matrix<double,3,3> sba::Node::dRdx

Derivatives of the rotation matrix transpose wrt quaternion xyz, used for calculating Jacobian wrt pose of a projection.

Definition at line 126 of file node.h.

◆ dRdy

Eigen::Matrix<double,3,3> sba::Node::dRdy

Definition at line 126 of file node.h.

◆ dRdz

Eigen::Matrix<double,3,3> sba::Node::dRdz

Definition at line 126 of file node.h.

◆ dRidx

Eigen::Matrix3d sba::Node::dRidx

static

Constant matrices for derivatives.

Definition at line 129 of file node.h.

◆ dRidy

Eigen::Matrix3d sba::Node::dRidy

static

Definition at line 129 of file node.h.

◆ dRidz

Eigen::Matrix3d sba::Node::dRidz

static

Definition at line 129 of file node.h.

◆ isFixed

bool sba::Node::isFixed

For SBA, is this camera fixed or free?

Definition at line 141 of file node.h.

◆ Kcam

Eigen::Matrix<double,3,3> sba::Node::Kcam

Projection to frame image coordinates. pre-multiply by the frame camera matrix.

Definition at line 92 of file node.h.

◆ oldqrot

Eigen::Quaternion<double> sba::Node::oldqrot

Previous quaternion rotation, saved for downdating within LM.

Definition at line 147 of file node.h.

◆ oldtrans

Eigen::Matrix<double,4,1> sba::Node::oldtrans

Previous translation, saved for downdating within LM.

Definition at line 144 of file node.h.

◆ qrot

Eigen::Quaternion<double> sba::Node::qrot

Rotation of the node expressed as a Quaternion.

Definition at line 70 of file node.h.

◆ trans

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Matrix<double,4,1> sba::Node::trans

Translation in homogeneous coordinates, last element is 1.0.

Definition at line 69 of file node.h.

◆ w2i

Eigen::Matrix<double,3,4> sba::Node::w2i

The transform from world to image coordinates.

Definition at line 111 of file node.h.

◆ w2n

Eigen::Matrix<double,3,4> sba::Node::w2n

Resultant transform from world to node coordinates.

Definition at line 80 of file node.h.

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

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Member Function Documentation

◆ initDr()

◆ normRot()

◆ normRotLocal()

◆ project2im()

◆ projectMono()

◆ projectStereo()

◆ setDr()

◆ setDri()

◆ setKcam()

◆ setProjection()

◆ setTransform()

Member Data Documentation

◆ baseline

◆ dRdx

◆ dRdy

◆ dRdz

◆ dRidx

◆ dRidy

◆ dRidz

◆ isFixed

◆ Kcam

◆ oldqrot

◆ oldtrans

◆ qrot

◆ trans

◆ w2i

◆ w2n