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| Eigen::Matrix< double, 12, 1 > | err |
| | error More...
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| Eigen::Matrix< double, 3, 6 > | Hpc |
| | temp storage for Hpc, Tpc matrices in SBA More...
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| bool | isValid |
| | valid or not (could be out of bounds) More...
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| Eigen::Matrix< double, 6, 6 > | J10 |
| | Jacobians of 0p1,0p2 with respect to global p0, p1, p2. More...
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| Eigen::Matrix< double, 6, 6 > | J11 |
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| Eigen::Matrix< double, 6, 6 > | J20 |
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| Eigen::Matrix< double, 6, 6 > | J22 |
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| Eigen::Matrix< double, 12, 1 > | mean |
| | Mean vector and precision matrix for this constraint. More...
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| int | nd1 |
| | Node indices, the constraint for this object. More...
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| int | nd2 |
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| EIGEN_MAKE_ALIGNED_OPERATOR_NEW int | ndr |
| | Reference pose index. More...
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| Eigen::Matrix< double, 12, 12 > | prec |
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| Eigen::Matrix< double, 6, 3 > | Tpc |
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CONP3P holds a constraint measurement between 3 poses. They are a repository for links between poses within a frame, with aux info such as jacobians
Definition at line 394 of file sba.h.
| void sba::ConP3P::setJacobians |
( |
std::vector< Node, Eigen::aligned_allocator< Node > > |
nodes | ) |
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dpc/dq = dR'/dq [pw-t], in homogeneous form, with q a quaternion paramdpc/dx = -R' * [1 0 0]', in homogeneous form, with x a translation paramd(px/pz)/du = [ pz dpx/du - px dpz/du ] / pz^2, works for all variables
Definition at line 411 of file spa.cpp.