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...

#include <proj.h>

Public Member Functions
double	calcErr (const Node &nd, const Point &pt, double huber=0.0)
	Calculates re-projection error and stores it in err. More...

void	clearCovariance ()
	Clear the covariance matrix and no longer use it. More...

double	getErrNorm ()
	Get the correct norm of the error, depending on whether the projection is monocular or stereo. More...

double	getErrSquaredNorm ()
	Get the correct squared norm of the error, depending on whether the projection is monocular or stereo. More...

	Proj ()
	Default constructor. Initializes to default values, kp = <0 0 0> and ndi = <0>. Also sets the projection to be invalid. More...

	Proj (int ci, Eigen::Vector2d &q)
	Monocular constructor. To construct a stereo projection, use other constructor. NOTE: sets the projection to be valid. More...

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. More...

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)Tcovar(err) More...

void	setJacobians (const Node &nd, const Point &pt, JacobProds *jpp)
	Sets the jacobians and hessians for the projection to use for SBA. More...

Public Attributes
Eigen::Matrix< double, 3, 3 >	covarmat
	Covariance matrix for cost calculation. More...

Eigen::Vector3d	err
	Reprojection error. More...

bool	isValid
	valid or not (could be out of bounds) More...

JacobProds *	jp
	Jacobian products. More...

Eigen::Vector3d	kp
	Keypoint, u,v,u-d vector. More...

int	ndi
	Node index, the camera node for this projection. More...

Eigen::Vector3d	plane_local_normal
	Original normal in plane_node_index coordinate's frame. More...

int	plane_node_index
	Point-plane node index in SBA. More...

Eigen::Vector3d	plane_normal
	Normal for point-plane projections. More...

Eigen::Vector3d	plane_point
	Point for point-plane projections. More...

int	plane_point_index
	Point-plane match point index in SBA. More...

bool	pointPlane
	Whether this is a point-plane match (true) or a point-point match (false). More...

bool	stereo
	Whether the projection is Stereo (True) or Monocular (False). More...

Eigen::Matrix< double, 6, 3 >	Tpc

bool	useCovar
	Use a covariance matrix? More...

Static Public Attributes
static constexpr double	qScale = 1.0

Protected Member Functions
double	calcErrMono_ (const Node &nd, const Point &pt, double huber)
	Calculate error function for stereo. More...

double	calcErrStereo_ (const Node &nd, const Point &pt, double huber)
	Calculate error function for stereo. More...

void	setJacobiansMono_ (const Node &nd, const Point &pt, JacobProds *jpp)
	Set monocular jacobians/hessians. More...

void	setJacobiansStereo_ (const Node &nd, const Point &pt, JacobProds *jpp)
	Set stereo jacobians/hessians. More...

Detailed Description

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.

Constructor & Destructor Documentation

◆ Proj() [1/3]

sba::Proj::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.

Definition at line 5 of file proj.cpp.

◆ Proj() [2/3]

sba::Proj::Proj	(	int	ci,
		Eigen::Vector2d &	q
	)

Monocular constructor. To construct a stereo projection, use other constructor. NOTE: sets the projection to be valid.

Definition at line 9 of file proj.cpp.

◆ Proj() [3/3]

sba::Proj::Proj ( )

Default constructor. Initializes to default values, kp = <0 0 0> and ndi = <0>. Also sets the projection to be invalid.

Definition at line 13 of file proj.cpp.

Member Function Documentation

◆ calcErr()

double sba::Proj::calcErr	(	const Node &	nd,
		const Point &	pt,
		double	huber = `0.0`
	)

Calculates re-projection error and stores it in err.

Definition at line 25 of file proj.cpp.

◆ calcErrMono_()

double sba::Proj::calcErrMono_	(	const Node &	nd,
		const Point &	pt,
		double	huber
	)

protected

Calculate error function for stereo.

Definition at line 143 of file proj.cpp.

◆ calcErrStereo_()

double sba::Proj::calcErrStereo_	(	const Node &	nd,
		const Point &	pt,
		double	huber
	)

protected

Calculate error function for stereo.

Definition at line 288 of file proj.cpp.

◆ clearCovariance()

void sba::Proj::clearCovariance ( )

Clear the covariance matrix and no longer use it.

Definition at line 55 of file proj.cpp.

◆ getErrNorm()

double sba::Proj::getErrNorm ( )

Get the correct norm of the error, depending on whether the projection is monocular or stereo.

Definition at line 33 of file proj.cpp.

◆ getErrSquaredNorm()

double sba::Proj::getErrSquaredNorm ( )

Get the correct squared norm of the error, depending on whether the projection is monocular or stereo.

Definition at line 41 of file proj.cpp.

◆ setCovariance()

void sba::Proj::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)

Definition at line 49 of file proj.cpp.

◆ setJacobians()

void sba::Proj::setJacobians	(	const Node &	nd,
		const Point &	pt,
		JacobProds *	jpp
	)

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.

◆ setJacobiansMono_()

void sba::Proj::setJacobiansMono_	(	const Node &	nd,
		const Point &	pt,
		JacobProds *	jpp
	)

protected

Set monocular jacobians/hessians.

jacobian with respect to frame; uses dR'/dq from Node calculation

jacobian with respect to point

Definition at line 60 of file proj.cpp.

◆ setJacobiansStereo_()

void sba::Proj::setJacobiansStereo_	(	const Node &	nd,
		const Point &	pt,
		JacobProds *	jpp
	)

protected

Set stereo jacobians/hessians.

jacobian with respect to point

jacobian with respect to frame; uses dR'/dq from Node calculation

Definition at line 190 of file proj.cpp.

Member Data Documentation

◆ covarmat

Eigen::Matrix<double,3,3> sba::Proj::covarmat

Covariance matrix for cost calculation.

Definition at line 137 of file proj.h.

◆ err

Eigen::Vector3d sba::Proj::err

Reprojection error.

Definition at line 84 of file proj.h.

◆ isValid

bool sba::Proj::isValid

valid or not (could be out of bounds)

Definition at line 127 of file proj.h.

◆ jp

JacobProds* sba::Proj::jp

Jacobian products.

Definition at line 120 of file proj.h.

◆ kp

Eigen::Vector3d sba::Proj::kp

Keypoint, u,v,u-d vector.

Definition at line 81 of file proj.h.

◆ ndi

int sba::Proj::ndi

Node index, the camera node for this projection.

Definition at line 78 of file proj.h.

◆ plane_local_normal

Eigen::Vector3d sba::Proj::plane_local_normal

Original normal in plane_node_index coordinate's frame.

Definition at line 155 of file proj.h.

◆ plane_node_index

int sba::Proj::plane_node_index

Point-plane node index in SBA.

Definition at line 152 of file proj.h.

◆ plane_normal

Eigen::Vector3d sba::Proj::plane_normal

Normal for point-plane projections.

Definition at line 143 of file proj.h.

◆ plane_point

Eigen::Vector3d sba::Proj::plane_point

Point for point-plane projections.

Definition at line 146 of file proj.h.

◆ plane_point_index

int sba::Proj::plane_point_index

Point-plane match point index in SBA.

Definition at line 149 of file proj.h.

◆ pointPlane

bool sba::Proj::pointPlane

Whether this is a point-plane match (true) or a point-point match (false).

Definition at line 140 of file proj.h.

◆ qScale

constexpr double sba::Proj::qScale = 1.0

staticconstexpr

scaling factor for quaternion derivatives relative to translational ones; not sure if this is needed, it's close to 1.0

Definition at line 131 of file proj.h.

◆ stereo

bool sba::Proj::stereo

Whether the projection is Stereo (True) or Monocular (False).

Definition at line 87 of file proj.h.

◆ Tpc

Eigen::Matrix<double,6,3> sba::Proj::Tpc

Point-to-camera matrix (HpcT*Hpp^-1) Need to save this

Definition at line 124 of file proj.h.

◆ useCovar

bool sba::Proj::useCovar

Use a covariance matrix?

Definition at line 134 of file proj.h.

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

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Proj() [1/3]

◆ Proj() [2/3]

◆ Proj() [3/3]

Member Function Documentation

◆ calcErr()

◆ calcErrMono_()

◆ calcErrStereo_()

◆ clearCovariance()

◆ getErrNorm()

◆ getErrSquaredNorm()

◆ setCovariance()

◆ setJacobians()

◆ setJacobiansMono_()

◆ setJacobiansStereo_()

Member Data Documentation

◆ covarmat

◆ err

◆ isValid

◆ jp

◆ kp

◆ ndi

◆ plane_local_normal

◆ plane_node_index

◆ plane_normal

◆ plane_point

◆ plane_point_index

◆ pointPlane

◆ qScale

◆ stereo

◆ Tpc

◆ useCovar