SRBA: Sparser Relative Bundle Adjustment
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srba::landmarks::Euclidean3D Struct Reference

Detailed Description

A parameterization of landmark positions in Euclidean coordinates (3D)

Definition at line 25 of file landmarks.h.

#include <landmarks.h>

List of all members.

Public Types

typedef
srba::landmark_rendering_as_point 
render_mode_t

Static Public Member Functions

template<class VECTOR >
static void relativeEuclideanLocation (const VECTOR &posParams, mrpt::math::TPoint3D &posEuclidean)
template<class POSE , class VECTOR >
static void composePosePoint (VECTOR &pt, const POSE &pose)
template<class POSE , class VECTOR >
static void inverseComposePosePoint (const VECTOR &lm_global, VECTOR &lm_local, const POSE &pose)

Static Public Attributes

static const size_t LM_DIMS = 3
 The number of parameters in each LM parameterization relative to its base KF: (x,y,z)
static const
landmark_jacob_family_t 
jacob_family = jacob_point_landmark
 Specify the kind of Jacobian to be used for compute_jacobian_dAepsDx_deps<>

Member Function Documentation

template<class POSE , class VECTOR >
static void srba::landmarks::Euclidean3D::composePosePoint ( VECTOR &  pt,
const POSE &  pose 
) [inline, static]

Evaluates pt = pose (+) pt

Parameters:
[in,out]ptA vector with the landmark parameterization values
[in]poseThe relative pose

Definition at line 44 of file landmarks.h.

template<class POSE , class VECTOR >
static void srba::landmarks::Euclidean3D::inverseComposePosePoint ( const VECTOR &  lm_global,
VECTOR &  lm_local,
const POSE &  pose 
) [inline, static]

Evaluates lm_local = lm_global (-) pose

Parameters:
[in]lm_globalA vector with the landmark parameterization values in "global" coordinates
[out]lm_localA vector with the landmark parameterization values in "local" coordinates, as seen from "pose"
[in]poseThe relative pose

Definition at line 52 of file landmarks.h.

template<class VECTOR >
static void srba::landmarks::Euclidean3D::relativeEuclideanLocation ( const VECTOR &  posParams,
mrpt::math::TPoint3D posEuclidean 
) [inline, static]

Converts the landmark parameterization into 3D Eucliden coordinates (used for OpenGL rendering, etc.)

Definition at line 33 of file landmarks.h.


The documentation for this struct was generated from the following file:
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