An abstract interface for backends. More...

#include <VioBackendInterface.hpp>

Inheritance diagram for okvis::VioBackendInterface:

Public Types
enum	InitializationStatus { InitializationStatus::NotStarted = 0, InitializationStatus::Ongoing = 1, InitializationStatus::Complete = 2 }
	Enum to define the status of initialization. More...

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	VioBackendInterface ()
	Default constructor. More...

virtual	~VioBackendInterface ()

virtual bool	addStates (okvis::MultiFramePtr multiFrame, const okvis::ImuMeasurementDeque &imuMeasurements, bool asKeyframe)=0
	Add a pose to the state. More...

virtual bool	addLandmark (uint64_t landmarkId, const Eigen::Vector4d &landmark)=0
	Add a landmark. More...

virtual bool	removeObservation (uint64_t landmarkId, uint64_t poseId, size_t camIdx, size_t keypointIdx)=0
	Remove an observation from a landmark, if available. More...

virtual void	optimize (size_t numIter, size_t numThreads=1, bool verbose=false)=0
	Start optimization. More...

virtual bool	setOptimizationTimeLimit (double timeLimit, int minIterations)=0
	Set a time limit for the optimization process. More...

virtual bool	isLandmarkAdded (uint64_t landmarkId) const =0
	Checks whether the landmark is added to the estimator. More...

virtual bool	isLandmarkInitialized (uint64_t landmarkId) const =0
	Checks whether the landmark is initialized. More...

virtual bool	isKeyframe (uint64_t frameId) const =0
	Checks if a particular frame is a keyframe. More...

Sensor configuration related
virtual int	addCamera (const ExtrinsicsEstimationParameters &extrinsicsEstimationParameters)=0
	Add a camera to the configuration. Sensors can only be added and never removed. More...

virtual int	addImu (const ImuParameters &imuParameters)=0
	Add an IMU to the configuration. More...

virtual void	clearCameras ()=0
	Remove all cameras from the configuration. More...

virtual void	clearImus ()=0
	Remove all IMUs from the configuration. More...

Getters
virtual bool	getLandmark (uint64_t landmarkId, MapPoint &mapPoint) const =0
	Get a specific landmark. More...

virtual size_t	getLandmarks (PointMap &landmarks) const =0
	Get a copy of all the landmarks as a PointMap. More...

virtual okvis::MultiFramePtr	multiFrame (uint64_t frameId) const =0
	Get a multiframe. More...

virtual bool	get_T_WS (uint64_t poseId, okvis::kinematics::Transformation &T_WS) const =0
	Get pose for a given pose ID. More...

virtual bool	getSpeedAndBias (uint64_t poseId, uint64_t imuIdx, okvis::SpeedAndBias &speedAndBias) const =0
	Get speeds and IMU biases for a given pose ID. More...

virtual bool	getCameraSensorStates (uint64_t poseId, size_t cameraIdx, okvis::kinematics::Transformation &T_SCi) const =0
	Get camera states for a given pose ID. More...

virtual size_t	numFrames () const =0
	Get the number of states/frames in the estimator. More...

virtual size_t	numLandmarks () const =0
	Get the number of landmarks in the backend. More...

virtual uint64_t	currentFrameId () const =0
	Get the ID of the newest frame added to the state. More...

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

virtual okvis::Time	timestamp (uint64_t frameId) const =0
	Get the timestamp for a particular frame. 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...

Setters
virtual bool	set_T_WS (uint64_t poseId, const okvis::kinematics::Transformation &T_WS)=0
	Set pose for a given pose ID. More...

virtual bool	setSpeedAndBias (uint64_t poseId, size_t imuIdx, const okvis::SpeedAndBias &speedAndBias)=0
	Set the speeds and IMU biases for a given pose ID. More...

virtual bool	setCameraSensorStates (uint64_t poseId, size_t cameraIdx, const okvis::kinematics::Transformation &T_SCi)=0
	Set the transformation from sensor to camera frame for a given pose ID. More...

virtual bool	setLandmark (uint64_t landmarkId, const Eigen::Vector4d &landmark)=0
	Set the homogeneous coordinates for a landmark. More...

virtual void	setLandmarkInitialized (uint64_t landmarkId, bool initialized)=0
	Set the landmark initialization state. More...

virtual void	setKeyframe (uint64_t frameId, bool isKeyframe)=0
	Set whether a frame is a keyframe or not. More...

virtual void	setMap (std::shared_ptr< okvis::ceres::Map > mapPtr)=0
	Set ceres map. More...

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

Detailed Description

An abstract interface for backends.

Member Enumeration Documentation

enum okvis::VioBackendInterface::InitializationStatus

strong

Enum to define the status of initialization.

Enumerator
NotStarted	Initialization not started.
Ongoing	Initialization ongoing.
Complete	Initialization complete.

Constructor & Destructor Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW okvis::VioBackendInterface::VioBackendInterface ( )

inline

Default constructor.

virtual okvis::VioBackendInterface::~VioBackendInterface ( )

inlinevirtual

Member Function Documentation

virtual int okvis::VioBackendInterface::addCamera ( const ExtrinsicsEstimationParameters & extrinsicsEstimationParameters )

pure 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.

Implemented in okvis::Estimator.

virtual int okvis::VioBackendInterface::addImu ( const ImuParameters & imuParameters )

pure virtual

Add an IMU to the configuration.

Warning: Currently there is only one IMU supported.

Parameters

imuParameters The IMU parameters.

Returns: index of IMU.

Implemented in okvis::Estimator.

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

pure virtual

Add a landmark.

Parameters

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

Returns: True if successful.

Implemented in okvis::Estimator.

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

pure 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.

Implemented in okvis::Estimator.

virtual void okvis::VioBackendInterface::clearCameras ( )

pure virtual

Remove all cameras from the configuration.

Implemented in okvis::Estimator.

virtual void okvis::VioBackendInterface::clearImus ( )

pure virtual

Remove all IMUs from the configuration.

Implemented in okvis::Estimator.

virtual uint64_t okvis::VioBackendInterface::currentFrameId ( ) const

pure virtual

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

Returns: The ID of the current frame.

Implemented in okvis::Estimator.

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

pure 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.

Implemented in okvis::Estimator.

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

pure virtual

Get camera states for a given pose ID.

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.

Implemented in okvis::Estimator.

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

pure 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.

Implemented in okvis::Estimator.

virtual size_t okvis::VioBackendInterface::getLandmarks ( PointMap & landmarks ) const

pure virtual

Get a copy of all the landmarks as a PointMap.

Parameters

[out] landmarks The landmarks.

Returns: number of landmarks.

Implemented in okvis::Estimator.

virtual bool okvis::VioBackendInterface::getPoseUncertainty ( Eigen::Matrix< double, 6, 6 > & ) const

inlinevirtual

Get the current frame pose uncertainty. param[out] P_T_WS Current pose uncertainty w.r.t. [r_WS,delta_alpha_WS].

Returns: True on success.

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

pure virtual

Get speeds and IMU biases for a given pose ID.

Parameters

[in]	poseId	ID of pose to get speeds and biases for.
[in]	imuIdx	index of IMU to get biases for.
[out]	speedAndBias	Speed And bias requested.

Returns: True if successful.

Implemented in okvis::Estimator.

virtual bool okvis::VioBackendInterface::getStateUncertainty ( Eigen::Matrix< double, 15, 15 > & ) const

inlinevirtual

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].

Returns: True on success.

virtual InitializationStatus okvis::VioBackendInterface::initializationStatus ( ) const

inlinevirtual

Obtain the initialization status.

virtual bool okvis::VioBackendInterface::isKeyframe ( uint64_t frameId ) const

pure virtual

Checks if a particular frame is a keyframe.

Parameters

[in] frameId ID of frame to check.

Returns: True if the frame is a keyframe.

Implemented in okvis::Estimator.

virtual bool okvis::VioBackendInterface::isLandmarkAdded ( uint64_t landmarkId ) const

pure virtual

Checks whether the landmark is added to the estimator.

Parameters

landmarkId The ID.

Returns: True if added.

Implemented in okvis::Estimator.

virtual bool okvis::VioBackendInterface::isLandmarkInitialized ( uint64_t landmarkId ) const

pure virtual

Checks whether the landmark is initialized.

Parameters

landmarkId The ID.

Returns: True if initialised.

Implemented in okvis::Estimator.

virtual okvis::MultiFramePtr okvis::VioBackendInterface::multiFrame ( uint64_t frameId ) const

pure virtual

Get a multiframe.

Parameters

frameId ID of desired multiframe.

Returns: Shared pointer to multiframe.

Implemented in okvis::Estimator.

virtual size_t okvis::VioBackendInterface::numFrames ( ) const

pure virtual

Get the number of states/frames in the estimator.

Returns: The number of frames.

Implemented in okvis::Estimator.

virtual size_t okvis::VioBackendInterface::numLandmarks ( ) const

pure virtual

Get the number of landmarks in the backend.

Returns: The number of landmarks.

Implemented in okvis::Estimator.

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

pure virtual

Start optimization.

Parameters

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

Implemented in okvis::Estimator.

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

pure 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.

Implemented in okvis::Estimator.

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

pure virtual

Set pose for a given pose ID.

Parameters

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

Returns: True if successful.

Implemented in okvis::Estimator.

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

pure virtual

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

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.

Implemented in okvis::Estimator.

virtual void okvis::VioBackendInterface::setComputeUncertainty ( bool )

inlinevirtual

Request computation of uncertainties. param[in] computeUncertainty True, if uncertainties should be computed.

virtual void okvis::VioBackendInterface::setKeyframe	(	uint64_t	frameId,
		bool	isKeyframe
	)

pure virtual

Set whether a frame is a keyframe or not.

Parameters

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

Implemented in okvis::Estimator.

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

pure 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.

Implemented in okvis::Estimator.

virtual void okvis::VioBackendInterface::setLandmarkInitialized	(	uint64_t	landmarkId,
		bool	initialized
	)

pure virtual

Set the landmark initialization state.

Parameters

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

Implemented in okvis::Estimator.

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

pure virtual

Set ceres map.

Parameters

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

Implemented in okvis::Estimator.

virtual bool okvis::VioBackendInterface::setOptimizationTimeLimit	(	double	timeLimit,
		int	minIterations
	)

pure 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.

Implemented in okvis::Estimator.

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

pure virtual

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

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.

Implemented in okvis::Estimator.

virtual okvis::Time okvis::VioBackendInterface::timestamp ( uint64_t frameId ) const

pure virtual

Get the timestamp for a particular frame.

Parameters

[in] frameId ID of frame.

Returns: Timestamp of frame.

Implemented in okvis::Estimator.

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

okvis_common/include/okvis/VioBackendInterface.hpp

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation