The estimator class. More...

#include <Estimator.hpp>

Inheritance diagram for okvis::Estimator:

Classes
struct	StateInfo
	StateInfo This configures the state vector ordering. More...

struct	States
	States This summarizes all the possible states – i.e. their ids: More...

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Estimator ()
	The default constructor. More...

	Estimator (std::shared_ptr< okvis::ceres::Map > mapPtr)
	Constructor if a ceres map is already available. More...

virtual	~Estimator ()

bool	addStates (okvis::MultiFramePtr multiFrame, const okvis::ImuMeasurementDeque &imuMeasurements, bool asKeyframe)
	Add a pose to the state. More...

void	printStates (uint64_t poseId, std::ostream &buffer) const
	Prints state information to buffer. More...

bool	addLandmark (uint64_t landmarkId, const Eigen::Vector4d &landmark)
	Add a landmark. More...

template<class GEOMETRY_TYPE >
::ceres::ResidualBlockId	addObservation (uint64_t landmarkId, uint64_t poseId, size_t camIdx, size_t keypointIdx)
	Add an observation to a landmark. More...

bool	removeObservation (uint64_t landmarkId, uint64_t poseId, size_t camIdx, size_t keypointIdx)
	Remove an observation from a landmark, if available. More...

bool	applyMarginalizationStrategy (size_t numKeyframes, size_t numImuFrames, okvis::MapPointVector &removedLandmarks)
	Applies the dropping/marginalization strategy according to the RSS'13/IJRR'14 paper. The new number of frames in the window will be numKeyframes+numImuFrames. More...

void	optimize (size_t numIter, size_t numThreads=1, bool verbose=false)
	Start ceres optimization. More...

bool	setOptimizationTimeLimit (double timeLimit, int minIterations)
	Set a time limit for the optimization process. More...

bool	isLandmarkAdded (uint64_t landmarkId) const
	Checks whether the landmark is added to the estimator. More...

bool	isLandmarkInitialized (uint64_t landmarkId) const
	Checks whether the landmark is initialized. More...

bool	isKeyframe (uint64_t frameId) const
	Checks if a particular frame is a keyframe. More...

bool	isInImuWindow (uint64_t frameId) const
	Checks if a particular frame is still in the IMU window. More...

template<class GEOMETRY_TYPE >
::ceres::ResidualBlockId	addObservation (uint64_t landmarkId, uint64_t poseId, size_t camIdx, size_t keypointIdx)

Sensor configuration related
int	addCamera (const okvis::ExtrinsicsEstimationParameters &extrinsicsEstimationParameters)
	Add a camera to the configuration. Sensors can only be added and never removed. More...

int	addImu (const okvis::ImuParameters &imuParameters)
	Add an IMU to the configuration. More...

void	clearCameras ()
	Remove all cameras from the configuration. More...

void	clearImus ()
	Remove all IMUs from the configuration. More...

Getters
bool	getLandmark (uint64_t landmarkId, okvis::MapPoint &mapPoint) const
	Get a specific landmark. More...

size_t	getLandmarks (okvis::PointMap &landmarks) const
	Get a copy of all the landmarks as a PointMap. More...

size_t	getLandmarks (okvis::MapPointVector &landmarks) const
	Get a copy of all the landmark in a MapPointVector. This is for legacy support. Use getLandmarks(okvis::PointMap&) if possible. More...

okvis::MultiFramePtr	multiFrame (uint64_t frameId) const
	Get a multiframe. More...

bool	get_T_WS (uint64_t poseId, okvis::kinematics::Transformation &T_WS) const
	Get pose for a given pose ID. More...

bool	getSpeedAndBias (uint64_t poseId, uint64_t imuIdx, okvis::SpeedAndBias &speedAndBias) const
	Get speeds and IMU biases for a given pose ID. More...

bool	getCameraSensorStates (uint64_t poseId, size_t cameraIdx, okvis::kinematics::Transformation &T_SCi) const
	Get camera states for a given pose ID. More...

size_t	numFrames () const
	Get the number of states/frames in the estimator. More...

size_t	numLandmarks () const
	Get the number of landmarks in the estimator. More...

uint64_t	currentKeyframeId () const
	Get the ID of the current keyframe. More...

uint64_t	frameIdByAge (size_t age) const
	Get the ID of an older frame. More...

uint64_t	currentFrameId () const
	Get the ID of the newest frame added to the state. More...

okvis::Time	timestamp (uint64_t frameId) const
	Get the timestamp for a particular frame. More...

Setters
bool	set_T_WS (uint64_t poseId, const okvis::kinematics::Transformation &T_WS)
	Set pose for a given pose ID. More...

bool	setSpeedAndBias (uint64_t poseId, size_t imuIdx, const okvis::SpeedAndBias &speedAndBias)
	Set the speeds and IMU biases for a given pose ID. More...

bool	setCameraSensorStates (uint64_t poseId, size_t cameraIdx, const okvis::kinematics::Transformation &T_SCi)
	Set the transformation from sensor to camera frame for a given pose ID. More...

bool	setLandmark (uint64_t landmarkId, const Eigen::Vector4d &landmark)
	Set the homogeneous coordinates for a landmark. More...

void	setLandmarkInitialized (uint64_t landmarkId, bool initialized)
	Set the landmark initialization state. More...

void	setKeyframe (uint64_t frameId, bool isKeyframe)
	Set whether a frame is a keyframe or not. More...

void	setMap (std::shared_ptr< okvis::ceres::Map > mapPtr)
	set ceres map More...

Public Member Functions inherited from okvis::VioBackendInterface
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	VioBackendInterface ()
	Default constructor. More...

virtual	~VioBackendInterface ()

virtual InitializationStatus	initializationStatus () const
	Obtain the initialization status. More...

virtual bool	getPoseUncertainty (Eigen::Matrix< double, 6, 6 > &) const
	Get the current frame pose uncertainty. param[out] P_T_WS Current pose uncertainty w.r.t. [r_WS,delta_alpha_WS]. More...

virtual bool	getStateUncertainty (Eigen::Matrix< double, 15, 15 > &) const
	Get the current frame state uncertainty. param[out] P_T_WS Current pose uncertainty w.r.t. [r_WS,delta_alpha_WS,v_W,b_g,b_a]. More...

virtual void	setComputeUncertainty (bool)
	Request computation of uncertainties. param[in] computeUncertainty True, if uncertainties should be computed. More...

Static Public Member Functions
static bool	initPoseFromImu (const okvis::ImuMeasurementDeque &imuMeasurements, okvis::kinematics::Transformation &T_WS)
	Initialise pose from IMU measurements. For convenience as static. More...

Private Types
enum	GlobalStates { T_WS = 0, MagneticZBias = 1, Qff = 2, T_GW = 3 }
	GlobalStates The global states enumerated. More...

enum	SensorStates { Camera = 0, Imu = 1, Position = 2, Gps = 3, Magnetometer = 4, StaticPressure = 5, DynamicPressure = 6 }
	SensorStates The sensor-internal states enumerated. More...

enum	CameraSensorStates { T_SCi = 0, Intrinsics = 1 }
	CameraSensorStates The camera-internal states enumerated. More...

enum	ImuSensorStates { SpeedAndBias = 0 }
	ImuSensorStates The IMU-internal states enumerated. More...

enum	PositionSensorStates { T_PiW = 0, PositionSensorB_t_BA = 1 }
	PositionSensorStates, currently unused. More...

enum	GpsSensorStates { GpsB_t_BA = 0 }
	GpsSensorStates, currently unused. More...

enum	MagnetometerSensorStates { MagnetometerBias = 0 }
	MagnetometerSensorStates, currently unused. More...

enum	StaticPressureSensorStates { StaticPressureBias = 0 }
	GpsSensorStates, currently unused. More...

enum	DynamicPressureSensorStates { DynamicPressureBias = 0 }
	GpsSensorStates, currently unused. More...

typedef std::array< StateInfo, 6 >	GlobalStatesContainer
	Container for global states. More...

typedef std::vector< StateInfo >	SpecificSensorStatesContainer
	Container for sensor states. The dimension can vary from sensor to sensor... More...

typedef std::array < std::vector < SpecificSensorStatesContainer >, 7 >	AllSensorStatesContainer
	Union of all sensor states. More...

Private Member Functions
bool	removeObservation (::ceres::ResidualBlockId residualBlockId)
	Remove an observation from a landmark. More...

bool	getGlobalStateParameterBlockPtr (uint64_t poseId, int stateType, std::shared_ptr< ceres::ParameterBlock > &stateParameterBlockPtr) const

template<class PARAMETER_BLOCK_T >
bool	getGlobalStateParameterBlockAs (uint64_t poseId, int stateType, PARAMETER_BLOCK_T &stateParameterBlock) const

template<class PARAMETER_BLOCK_T >
bool	getGlobalStateEstimateAs (uint64_t poseId, int stateType, typename PARAMETER_BLOCK_T::estimate_t &state) const

bool	getSensorStateParameterBlockPtr (uint64_t poseId, int sensorIdx, int sensorType, int stateType, std::shared_ptr< ceres::ParameterBlock > &stateParameterBlockPtr) const

template<class PARAMETER_BLOCK_T >
bool	getSensorStateParameterBlockAs (uint64_t poseId, int sensorIdx, int sensorType, int stateType, PARAMETER_BLOCK_T &stateParameterBlock) const

template<class PARAMETER_BLOCK_T >
bool	getSensorStateEstimateAs (uint64_t poseId, int sensorIdx, int sensorType, int stateType, typename PARAMETER_BLOCK_T::estimate_t &state) const

template<class PARAMETER_BLOCK_T >
bool	setGlobalStateEstimateAs (uint64_t poseId, int stateType, const typename PARAMETER_BLOCK_T::estimate_t &state)

template<class PARAMETER_BLOCK_T >
bool	setSensorStateEstimateAs (uint64_t poseId, int sensorIdx, int sensorType, int stateType, const typename PARAMETER_BLOCK_T::estimate_t &state)

Private Attributes
std::map< uint64_t, States >	statesMap_
	Buffer for currently considered states. More...

std::map< uint64_t, okvis::MultiFramePtr >	multiFramePtrMap_
	remember all needed okvis::MultiFrame. More...

std::shared_ptr < okvis::ceres::Map >	mapPtr_
	The underlying okvis::Map. More...

uint64_t	referencePoseId_
	The pose ID of the reference (currently not changing) More...

okvis::PointMap	landmarksMap_
	Contains all the current landmarks (synched after optimisation). More...

std::mutex	statesMutex_
	Regulate access of landmarksMap_. More...

std::vector < okvis::ExtrinsicsEstimationParameters, Eigen::aligned_allocator < okvis::ExtrinsicsEstimationParameters > >	extrinsicsEstimationParametersVec_
	Extrinsics parameters. More...

std::vector < okvis::ImuParameters, Eigen::aligned_allocator < okvis::ImuParameters > >	imuParametersVec_
	IMU parameters. More...

std::shared_ptr < ::ceres::LossFunction >	cauchyLossFunctionPtr_
	Cauchy loss. More...

std::shared_ptr < ::ceres::LossFunction >	huberLossFunctionPtr_
	Huber loss. More...

std::shared_ptr < ceres::MarginalizationError >	marginalizationErrorPtr_
	The marginalisation class. More...

::ceres::ResidualBlockId	marginalizationResidualId_
	Remembers the marginalisation object's Id. More...

std::unique_ptr < okvis::ceres::CeresIterationCallback >	ceresCallback_
	Maybe there was a callback registered, store it here. More...

Additional Inherited Members
Public Types inherited from okvis::VioBackendInterface
enum	InitializationStatus { InitializationStatus::NotStarted = 0, InitializationStatus::Ongoing = 1, InitializationStatus::Complete = 2 }
	Enum to define the status of initialization. More...

Detailed Description

The estimator class.

The estimator class. This does all the backend work. Frames: W: World B: Body C: Camera S: Sensor (IMU)

Member Typedef Documentation

typedef std::array<std::vector<SpecificSensorStatesContainer>, 7> okvis::Estimator::AllSensorStatesContainer

private

Union of all sensor states.

typedef std::array<StateInfo, 6> okvis::Estimator::GlobalStatesContainer

private

Container for global states.

typedef std::vector<StateInfo> okvis::Estimator::SpecificSensorStatesContainer

private

Container for sensor states. The dimension can vary from sensor to sensor...

Member Enumeration Documentation

enum okvis::Estimator::CameraSensorStates

private

CameraSensorStates The camera-internal states enumerated.

Enumerator
T_SCi	Extrinsics as T_SC.
Intrinsics	Intrinsics.

enum okvis::Estimator::DynamicPressureSensorStates

private

GpsSensorStates, currently unused.

Enumerator
DynamicPressureBias	currently unused

enum okvis::Estimator::GlobalStates

private

GlobalStates The global states enumerated.

Enumerator
T_WS	Pose.
MagneticZBias	Magnetometer z-bias, currently unused.
Qff	QFF (pressure at sea level), currently unused.
T_GW	Alignment of global frame, currently unused.

enum okvis::Estimator::GpsSensorStates

private

GpsSensorStates, currently unused.

Enumerator
GpsB_t_BA	antenna offset, currently unused

enum okvis::Estimator::ImuSensorStates

private

ImuSensorStates The IMU-internal states enumerated.

Warning: This is slightly inconsistent, since the velocity should be global.

Enumerator
SpeedAndBias	Speed and biases as v in S-frame, then b_g and b_a.

enum okvis::Estimator::MagnetometerSensorStates

private

MagnetometerSensorStates, currently unused.

Enumerator
MagnetometerBias	currently unused

enum okvis::Estimator::PositionSensorStates

private

PositionSensorStates, currently unused.

Enumerator
T_PiW	position sensor frame to world, currently unused
PositionSensorB_t_BA	antenna offset, currently unused

enum okvis::Estimator::SensorStates

private

SensorStates The sensor-internal states enumerated.

Enumerator
Camera	Camera.
Imu	IMU.
Position	Position, currently unused.
Gps	GPS, currently unused.
Magnetometer	Magnetometer, currently unused.
StaticPressure	Static pressure, currently unused.
DynamicPressure	Dynamic pressure, currently unused.

enum okvis::Estimator::StaticPressureSensorStates

private

GpsSensorStates, currently unused.

Enumerator
StaticPressureBias	currently unused

Constructor & Destructor Documentation

okvis::Estimator::Estimator ( )

The default constructor.

okvis::Estimator::Estimator ( std::shared_ptr< okvis::ceres::Map > mapPtr )

Constructor if a ceres map is already available.

Parameters

mapPtr Shared pointer to ceres map.

okvis::Estimator::~Estimator ( )

virtual

Member Function Documentation

int okvis::Estimator::addCamera ( const okvis::ExtrinsicsEstimationParameters & extrinsicsEstimationParameters )

virtual

Add a camera to the configuration. Sensors can only be added and never removed.

Parameters

extrinsicsEstimationParameters The parameters that tell how to estimate extrinsics.

Returns: Index of new camera.

Implements okvis::VioBackendInterface.

int okvis::Estimator::addImu ( const okvis::ImuParameters & imuParameters )

virtual

Add an IMU to the configuration.

Warning: Currently there is only one IMU supported.

Parameters

imuParameters The IMU parameters.

Returns: index of IMU.

Implements okvis::VioBackendInterface.

bool okvis::Estimator::addLandmark	(	uint64_t	landmarkId,
		const Eigen::Vector4d &	landmark
	)

virtual

Add a landmark.

Parameters

landmarkId	ID of the new landmark.
landmark	Homogeneous coordinates of landmark in W-frame.

Returns: True if successful.

Implements okvis::VioBackendInterface.

template<class GEOMETRY_TYPE >

::ceres::ResidualBlockId okvis::Estimator::addObservation	(	uint64_t	landmarkId,
		uint64_t	poseId,
		size_t	camIdx,
		size_t	keypointIdx
	)

template<class GEOMETRY_TYPE >

::ceres::ResidualBlockId okvis::Estimator::addObservation	(	uint64_t	landmarkId,
		uint64_t	poseId,
		size_t	camIdx,
		size_t	keypointIdx
	)

Add an observation to a landmark.

Template Parameters

GEOMETRY_TYPE The camera geometry type for this observation.

Parameters

landmarkId	ID of landmark.
poseId	ID of pose where the landmark was observed.
camIdx	ID of camera frame where the landmark was observed.
keypointIdx	ID of keypoint corresponding to the landmark.

Returns: Residual block ID for that observation.

bool okvis::Estimator::addStates	(	okvis::MultiFramePtr	multiFrame,
		const okvis::ImuMeasurementDeque &	imuMeasurements,
		bool	asKeyframe
	)

virtual

Add a pose to the state.

Parameters

multiFrame	Matched multiFrame.
imuMeasurements	IMU measurements from last state to new one.
asKeyframe	Is this new frame a keyframe?

Returns: True if successful.

Implements okvis::VioBackendInterface.

bool okvis::Estimator::applyMarginalizationStrategy	(	size_t	numKeyframes,
		size_t	numImuFrames,
		okvis::MapPointVector &	removedLandmarks
	)

Applies the dropping/marginalization strategy according to the RSS'13/IJRR'14 paper. The new number of frames in the window will be numKeyframes+numImuFrames.

Parameters

numKeyframes	Number of keyframes.
numImuFrames	Number of frames in IMU window.
removedLandmarks	Get the landmarks that were removed by this operation.

Returns: True if successful.

void okvis::Estimator::clearCameras ( )

virtual

Remove all cameras from the configuration.

Implements okvis::VioBackendInterface.

void okvis::Estimator::clearImus ( )

virtual

Remove all IMUs from the configuration.

Implements okvis::VioBackendInterface.

uint64_t okvis::Estimator::currentFrameId ( ) const

virtual

Get the ID of the newest frame added to the state.

Returns: The ID of the current frame.

Implements okvis::VioBackendInterface.

uint64_t okvis::Estimator::currentKeyframeId ( ) const

Get the ID of the current keyframe.

Returns: The ID of the current keyframe.

uint64_t okvis::Estimator::frameIdByAge ( size_t age ) const

Get the ID of an older frame.

Parameters

[in] age age of desired frame. 0 would be the newest frame added to the state.

Returns: ID of the desired frame or 0 if parameter age was out of range.

bool okvis::Estimator::get_T_WS	(	uint64_t	poseId,
		okvis::kinematics::Transformation &	T_WS
	)		const

virtual

Get pose for a given pose ID.

Parameters

[in]	poseId	ID of desired pose.
[out]	T_WS	Homogeneous transformation of this pose.

Returns: True if successful.

Implements okvis::VioBackendInterface.

bool okvis::Estimator::getCameraSensorStates	(	uint64_t	poseId,
		size_t	cameraIdx,
		okvis::kinematics::Transformation &	T_SCi
	)		const

virtual

Get camera states for a given pose ID.

Warning: This accesses the optimization graph, so not very fast.

Parameters

[in]	poseId	ID of pose to get camera state for.
[in]	cameraIdx	index of camera to get state for.
[out]	T_SCi	Homogeneous transformation from sensor (IMU) frame to camera frame.

Returns: True if successful.

Implements okvis::VioBackendInterface.

template<class PARAMETER_BLOCK_T >

bool okvis::Estimator::getGlobalStateEstimateAs	(	uint64_t	poseId,
		int	stateType,
		typename PARAMETER_BLOCK_T::estimate_t &	state
	)		const

private

template<class PARAMETER_BLOCK_T >

bool okvis::Estimator::getGlobalStateParameterBlockAs	(	uint64_t	poseId,
		int	stateType,
		PARAMETER_BLOCK_T &	stateParameterBlock
	)		const

private

bool okvis::Estimator::getGlobalStateParameterBlockPtr	(	uint64_t	poseId,
		int	stateType,
		std::shared_ptr< ceres::ParameterBlock > &	stateParameterBlockPtr
	)		const

private

bool okvis::Estimator::getLandmark	(	uint64_t	landmarkId,
		okvis::MapPoint &	mapPoint
	)		const

virtual

Get a specific landmark.

Parameters

[in]	landmarkId	ID of desired landmark.
[out]	mapPoint	Landmark information, such as quality, coordinates etc.

Returns: True if successful.

Implements okvis::VioBackendInterface.

size_t okvis::Estimator::getLandmarks ( okvis::PointMap & landmarks ) const

virtual

Get a copy of all the landmarks as a PointMap.

Parameters

[out] landmarks The landmarks.

Returns: number of landmarks.

Implements okvis::VioBackendInterface.

size_t okvis::Estimator::getLandmarks ( okvis::MapPointVector & landmarks ) const

Get a copy of all the landmark in a MapPointVector. This is for legacy support. Use getLandmarks(okvis::PointMap&) if possible.

Parameters

[out] landmarks A vector of all landmarks.

See Also: getLandmarks().

Returns: number of landmarks.

template<class PARAMETER_BLOCK_T >

bool okvis::Estimator::getSensorStateEstimateAs	(	uint64_t	poseId,
		int	sensorIdx,
		int	sensorType,
		int	stateType,
		typename PARAMETER_BLOCK_T::estimate_t &	state
	)		const

private

template<class PARAMETER_BLOCK_T >

bool okvis::Estimator::getSensorStateParameterBlockAs	(	uint64_t	poseId,
		int	sensorIdx,
		int	sensorType,
		int	stateType,
		PARAMETER_BLOCK_T &	stateParameterBlock
	)		const

private

bool okvis::Estimator::getSensorStateParameterBlockPtr	(	uint64_t	poseId,
		int	sensorIdx,
		int	sensorType,
		int	stateType,
		std::shared_ptr< ceres::ParameterBlock > &	stateParameterBlockPtr
	)		const

private

bool okvis::Estimator::getSpeedAndBias	(	uint64_t	poseId,
		uint64_t	imuIdx,
		okvis::SpeedAndBias &	speedAndBias
	)		const

virtual

Get speeds and IMU biases for a given pose ID.

Warning: This accesses the optimization graph, so not very fast.

Parameters

[in]	poseId	ID of pose to get speeds and biases for.
[in]	imuIdx	index of IMU to get biases for. As only one IMU is supported this is always 0.
[out]	speedAndBias	Speed And bias requested.

Returns: True if successful.

Implements okvis::VioBackendInterface.

bool okvis::Estimator::initPoseFromImu	(	const okvis::ImuMeasurementDeque &	imuMeasurements,
		okvis::kinematics::Transformation &	T_WS
	)

static

Initialise pose from IMU measurements. For convenience as static.

Parameters

[in]	imuMeasurements	The IMU measurements to be used for this.
[out]	T_WS	initialised pose.

Returns: True if successful.

bool okvis::Estimator::isInImuWindow ( uint64_t frameId ) const

Checks if a particular frame is still in the IMU window.

Parameters

[in] frameId ID of frame to check.

Returns: True if the frame is in IMU window.

bool okvis::Estimator::isKeyframe ( uint64_t frameId ) const

inlinevirtual

Checks if a particular frame is a keyframe.

Parameters

[in] frameId ID of frame to check.

Returns: True if the frame is a keyframe.

Implements okvis::VioBackendInterface.

bool okvis::Estimator::isLandmarkAdded ( uint64_t landmarkId ) const

inlinevirtual

Checks whether the landmark is added to the estimator.

Parameters

landmarkId The ID.

Returns: True if added.

Implements okvis::VioBackendInterface.

bool okvis::Estimator::isLandmarkInitialized ( uint64_t landmarkId ) const

virtual

Checks whether the landmark is initialized.

Parameters

landmarkId The ID.

Returns: True if initialised.

Implements okvis::VioBackendInterface.

okvis::MultiFramePtr okvis::Estimator::multiFrame ( uint64_t frameId ) const

inlinevirtual

Get a multiframe.

Parameters

frameId ID of desired multiframe.

Returns: Shared pointer to multiframe.

Implements okvis::VioBackendInterface.

size_t okvis::Estimator::numFrames ( ) const

inlinevirtual

Get the number of states/frames in the estimator.

Returns: The number of frames.

Implements okvis::VioBackendInterface.

size_t okvis::Estimator::numLandmarks ( ) const

inlinevirtual

Get the number of landmarks in the estimator.

Returns: The number of landmarks.

Implements okvis::VioBackendInterface.

void okvis::Estimator::optimize	(	size_t	numIter,
		size_t	numThreads = `1`,
		bool	verbose = `false`
	)

virtual

Start ceres optimization.

Parameters

[in]	numIter	Maximum number of iterations.
[in]	numThreads	Number of threads.
[in]	verbose	Print out optimization progress and result, if true.

Implements okvis::VioBackendInterface.

void okvis::Estimator::printStates	(	uint64_t	poseId,
		std::ostream &	buffer
	)		const

Prints state information to buffer.

Parameters

poseId	The pose Id for which to print.
buffer	The puffer to print into.

bool okvis::Estimator::removeObservation	(	uint64_t	landmarkId,
		uint64_t	poseId,
		size_t	camIdx,
		size_t	keypointIdx
	)

virtual

Remove an observation from a landmark, if available.

Parameters

landmarkId	ID of landmark.
poseId	ID of pose where the landmark was observed.
camIdx	ID of camera frame where the landmark was observed.
keypointIdx	ID of keypoint corresponding to the landmark.

Returns: True if observation was present and successfully removed.

Implements okvis::VioBackendInterface.

bool okvis::Estimator::removeObservation ( ::ceres::ResidualBlockId residualBlockId )

private

Remove an observation from a landmark.

Parameters

residualBlockId Residual ID for this landmark.

Returns: True if successful.

bool okvis::Estimator::set_T_WS	(	uint64_t	poseId,
		const okvis::kinematics::Transformation &	T_WS
	)

virtual

Set pose for a given pose ID.

Warning: This accesses the optimization graph, so not very fast.

Parameters

[in]	poseId	ID of the pose that should be changed.
[in]	T_WS	new homogeneous transformation.

Returns: True if successful.

Implements okvis::VioBackendInterface.

bool okvis::Estimator::setCameraSensorStates	(	uint64_t	poseId,
		size_t	cameraIdx,
		const okvis::kinematics::Transformation &	T_SCi
	)

virtual

Set the transformation from sensor to camera frame for a given pose ID.

Warning: This accesses the optimization graph, so not very fast.

Parameters

[in]	poseId	ID of the pose to change corresponding camera states for.
[in]	cameraIdx	Index of camera to set state for.
[in]	T_SCi	new homogeneous transformation from sensor (IMU) to camera frame.

Returns: True if successful.

Implements okvis::VioBackendInterface.

template<class PARAMETER_BLOCK_T >

bool okvis::Estimator::setGlobalStateEstimateAs	(	uint64_t	poseId,
		int	stateType,
		const typename PARAMETER_BLOCK_T::estimate_t &	state
	)

private

void okvis::Estimator::setKeyframe	(	uint64_t	frameId,
		bool	isKeyframe
	)

inlinevirtual

Set whether a frame is a keyframe or not.

Parameters

[in]	frameId	The frame ID.
[in]	isKeyframe	Whether or not keyrame.

Implements okvis::VioBackendInterface.

bool okvis::Estimator::setLandmark	(	uint64_t	landmarkId,
		const Eigen::Vector4d &	landmark
	)

virtual

Set the homogeneous coordinates for a landmark.

Parameters

[in]	landmarkId	The landmark ID.
[in]	landmark	Homogeneous coordinates of landmark in W-frame.

Returns: True if successful.

Implements okvis::VioBackendInterface.

void okvis::Estimator::setLandmarkInitialized	(	uint64_t	landmarkId,
		bool	initialized
	)

virtual

Set the landmark initialization state.

Parameters

[in]	landmarkId	The landmark ID.
[in]	initialized	Whether or not initialised.

Implements okvis::VioBackendInterface.

void okvis::Estimator::setMap ( std::shared_ptr< okvis::ceres::Map > mapPtr )

inlinevirtual

set ceres map

Parameters

[in] mapPtr The pointer to the okvis::ceres::Map.

Implements okvis::VioBackendInterface.

bool okvis::Estimator::setOptimizationTimeLimit	(	double	timeLimit,
		int	minIterations
	)

virtual

Set a time limit for the optimization process.

Parameters

[in]	timeLimit	Time limit in seconds. If timeLimit < 0 the time limit is removed.
[in]	minIterations	minimum iterations the optimization process should do disregarding the time limit.

Returns: True if successful.

Implements okvis::VioBackendInterface.

template<class PARAMETER_BLOCK_T >

bool okvis::Estimator::setSensorStateEstimateAs	(	uint64_t	poseId,
		int	sensorIdx,
		int	sensorType,
		int	stateType,
		const typename PARAMETER_BLOCK_T::estimate_t &	state
	)

private

bool okvis::Estimator::setSpeedAndBias	(	uint64_t	poseId,
		size_t	imuIdx,
		const okvis::SpeedAndBias &	speedAndBias
	)

virtual

Set the speeds and IMU biases for a given pose ID.

Warning: This accesses the optimization graph, so not very fast.

Parameters

[in]	poseId	ID of the pose to change corresponding speeds and biases for.
[in]	imuIdx	index of IMU to get biases for. As only one IMU is supported this is always 0.
[in]	speedAndBias	new speeds and biases.

Returns: True if successful.

Implements okvis::VioBackendInterface.

okvis::Time okvis::Estimator::timestamp ( uint64_t frameId ) const

inlinevirtual

Get the timestamp for a particular frame.

Parameters

[in] frameId ID of frame.

Returns: Timestamp of frame.

Implements okvis::VioBackendInterface.

Member Data Documentation

std::shared_ptr< ::ceres::LossFunction> okvis::Estimator::cauchyLossFunctionPtr_

private

Cauchy loss.

std::unique_ptr<okvis::ceres::CeresIterationCallback> okvis::Estimator::ceresCallback_

private

Maybe there was a callback registered, store it here.

std::vector<okvis::ExtrinsicsEstimationParameters, Eigen::aligned_allocator<okvis::ExtrinsicsEstimationParameters> > okvis::Estimator::extrinsicsEstimationParametersVec_

private

Extrinsics parameters.

std::shared_ptr< ::ceres::LossFunction> okvis::Estimator::huberLossFunctionPtr_

private

Huber loss.

std::vector<okvis::ImuParameters, Eigen::aligned_allocator<okvis::ImuParameters> > okvis::Estimator::imuParametersVec_

private

IMU parameters.

okvis::PointMap okvis::Estimator::landmarksMap_

private

Contains all the current landmarks (synched after optimisation).

std::shared_ptr<okvis::ceres::Map> okvis::Estimator::mapPtr_

private

The underlying okvis::Map.

std::shared_ptr<ceres::MarginalizationError> okvis::Estimator::marginalizationErrorPtr_

private

The marginalisation class.

::ceres::ResidualBlockId okvis::Estimator::marginalizationResidualId_

private

Remembers the marginalisation object's Id.

std::map<uint64_t, okvis::MultiFramePtr> okvis::Estimator::multiFramePtrMap_

private

remember all needed okvis::MultiFrame.

uint64_t okvis::Estimator::referencePoseId_

private

The pose ID of the reference (currently not changing)

std::map<uint64_t, States> okvis::Estimator::statesMap_

private

Buffer for currently considered states.

std::mutex okvis::Estimator::statesMutex_

mutableprivate

Regulate access of landmarksMap_.

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

okvis_ceres/include/okvis/Estimator.hpp
okvis_ceres/src/Estimator.cpp

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