Public Member Functions | Public Attributes | List of all members
sba::Node2d Class Reference

#include <spa2d.h>

Public Member Functions

void normArot ()
 Normalize to [-pi,+pi]. More...
 
void setDr ()
 
void setTransform ()
 

Public Attributes

double arot
 
Eigen::Matrix2d dRdx
 
bool isFixed
 For SPA, is this camera fixed or free? More...
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW int nodeId
 node id - somewhat redundant, but can be useful, e.g., in KARTO links More...
 
double oldarot
 
Eigen::Matrix< double, 3, 1 > oldtrans
 
Eigen::Matrix< double, 3, 1 > trans
 6DOF pose as a unit quaternion and translation vector More...
 
Eigen::Matrix< double, 2, 3 > w2n
 Resultant transform from world to node coordinates;. More...
 

Detailed Description

NODE2d holds graph nodes corresponding to frames, for use in sparse bundle adjustment
type double must be <double> or <float>

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 94 of file spa2d.h.

Member Function Documentation

◆ normArot()

void sba::Node2d::normArot ( )
inline

Normalize to [-pi,+pi].

Definition at line 106 of file spa2d.h.

◆ setDr()

void sba::Node2d::setDr ( )

Definition at line 76 of file spa2d.cpp.

◆ setTransform()

void sba::Node2d::setTransform ( )

Definition at line 63 of file spa2d.cpp.

Member Data Documentation

◆ arot

double sba::Node2d::arot

Definition at line 104 of file spa2d.h.

◆ dRdx

Eigen::Matrix2d sba::Node2d::dRdx

Covariance matrix, 3x3. Variables are [trans,rot], with the rotational part being the x parameter of the unit quaternion Derivatives of the rotation matrix transpose wrt quaternion xyz, used for calculating Jacobian wrt pose of a projection.

Definition at line 123 of file spa2d.h.

◆ isFixed

bool sba::Node2d::isFixed

For SPA, is this camera fixed or free?

Definition at line 128 of file spa2d.h.

◆ nodeId

EIGEN_MAKE_ALIGNED_OPERATOR_NEW int sba::Node2d::nodeId

node id - somewhat redundant, but can be useful, e.g., in KARTO links

Definition at line 100 of file spa2d.h.

◆ oldarot

double sba::Node2d::oldarot

Definition at line 133 of file spa2d.h.

◆ oldtrans

Eigen::Matrix<double,3,1> sba::Node2d::oldtrans

3DOF pose as a unit quaternion and translation vector, saving for LM step

Definition at line 132 of file spa2d.h.

◆ trans

Eigen::Matrix<double,3,1> sba::Node2d::trans

6DOF pose as a unit quaternion and translation vector

Definition at line 103 of file spa2d.h.

◆ w2n

Eigen::Matrix<double,2,3> sba::Node2d::w2n

Resultant transform from world to node coordinates;.

Definition at line 113 of file spa2d.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