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