Public Member Functions |
| void | normArot () |
| | Normalize to [-pi,+pi].
|
| void | setDr () |
| void | setTransform () |
Public Attributes |
| double | arot |
| Eigen::Matrix2d | dRdx |
| bool | isFixed |
| | For SPA, is this camera fixed or free?
|
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW int | nodeId |
| | node id - somewhat redundant, but can be useful, e.g., in KARTO links
|
| double | oldarot |
| Eigen::Matrix< double, 3, 1 > | oldtrans |
| Eigen::Matrix< double, 3, 1 > | trans |
| | 6DOF pose as a unit quaternion and translation vector
|
| Eigen::Matrix< double, 2, 3 > | w2n |
| | Resultant transform from world to node coordinates;.
|
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 89 of file spa2d.h.