okvis Namespace Reference

okvis Main namespace of this package. More...

Namespaces
	cameras
	cameras Namespace for camera-related functionality.
	ceres
	ceres Namespace for ceres-related functionality implemented in okvis.
	detail
	IdProvider
	Provides IDs.
	kinematics
	kinematics Namespace for kinematics functionality, i.e. transformations and stuff.
	threadsafe
	Namespace for helper classes for threadsafe operation.
	timing
	triangulation
	triangulation A namespace for operations related to triangulation.

Classes
class	Estimator
	The estimator class. More...
struct	KeypointIdentifier
	Unique identifier for a keypoint. More...
struct	Match
	Type to store the result of matching. More...
struct	MapPoint
	A type to store information about a point in the world map. More...
struct	Observation
	For convenience to pass associations - also contains the 3d points. More...
struct	Measurement
	Generic measurements. More...
struct	ImuSensorReadings
	IMU measurements. For now assume they are synchronized: More...
struct	DepthCameraData
	Depth camera measurements. For now assume they are synchronized: More...
struct	PositionReading
	Position measurement. More...
struct	GpsPositionReading
	GPS position measurement. More...
struct	MagnetometerReading
	Magnetometer measurement. More...
struct	BarometerReading
	Barometer measurement. More...
struct	DifferentialPressureReading
	Differential pressure sensor measurement. More...
struct	CameraData
	Camera measurement. More...
struct	KeypointData
	Keypoint measurement. More...
struct	FrameData
	Frame measurement. More...
struct	ExtrinsicsEstimationParameters
	Struct to define the behavior of the camera extrinsics. More...
struct	ImuParameters
	IMU parameters. More...
struct	MagnetometerParameters
	Magnetometer parameters. More...
struct	GpsParameters
	GPS parameters. More...
struct	PositionSensorParameters
	Position sensor parameters. More...
struct	MagneticEnuZParameters
	Magnetic ENU z bias. More...
struct	BarometerParameters
	Barometer parameters. More...
struct	QffParameters
	QFF parameters. More...
struct	DifferentialPressureSensorParameters
	Differential pressure sensor parameters. More...
struct	WindParameters
	Wind parameters. More...
struct	Optimization
	Parameters for optimization and related things (detection). More...
struct	SensorsInformation
	Information on camera and IMU setup. More...
struct	Visualization
	Some visualization settings. More...
struct	PublishingParameters
	Some publishing parameters. More...
struct	VioParameters
	Struct to combine all parameters and settings. More...
class	VioBackendInterface
	An abstract interface for backends. More...
class	VioFrontendInterface
	The VioFrontendInterface class is an interface for frontends. More...
class	VioInterface
	An abstract base class for interfaces between Front- and Backend. More...
class	VioParametersReader
	This class reads and parses config file. More...
class	Frame
	A single camera frame equipped with keypoint detector / extractor. More...
class	MultiFrame
	A multi camera frame that uses okvis::Frame underneath. More...
class	Frontend
	A frontend using BRISK features. More...
class	VioKeyframeWindowMatchingAlgorithm
	A MatchingAlgorithm implementation. More...
class	DenseMatcher
	This class matches keypoints from two frames in parallel. More...
class	MatchingAlgorithm
	an interface for 1-1 matching between lists of things. More...
class	ThreadPool
	This class manages multiple threads and fills them with work. More...
class	FrameSynchronizer
	This class combines multiple frames with the same or similar timestamp into one multiframe. More...
class	ImuFrameSynchronizer
	This class is to safely notify different threads whether IMU measurements up to a timestamp (e.g. the one of a camera frame) have already been registered. More...
class	ThreadedKFVio
	This class manages the complete data flow in and out of the algorithm, as well as between the processing threads. More...
class	VioVisualizer
	This class is responsible to visualize the matching results. More...
class	MockVioBackendInterface
class	MockVioFrontendInterface
class	TestDataGenerator
class	DurationBase
	Base class for Duration implementations. Provides storage, common functions and operator overloads. This should not need to be used directly. More...
class	Duration
	Duration representation for use with the Time class. More...
class	WallDuration
	Duration representation for use with the WallTime class. More...
class	NoHighPerformanceTimersException
	Thrown if windoze high perf. timestamping is unavailable. More...
class	TimeBase
	Base class for Time implementations. Provides storage, common functions and operator overloads. This should not need to be used directly. More...
class	Time
	Time representation. May either represent wall clock time or ROS clock time. More...
class	WallTime
	Time representation. Always wall-clock time. More...
class	source_file_pos

Typedefs
typedef std::vector< Match >	Matches
typedef std::vector< MapPoint, Eigen::aligned_allocator < MapPoint > >	MapPointVector
typedef std::map< uint64_t, MapPoint, std::less< uint64_t > , Eigen::aligned_allocator < MapPoint > >	PointMap
typedef std::map< uint64_t, okvis::kinematics::Transformation, std::less< uint64_t > , Eigen::aligned_allocator < okvis::kinematics::Transformation > >	TransformationMap
typedef std::vector < Observation, Eigen::aligned_allocator < Observation > >	ObservationVector
typedef Eigen::Matrix< double, 9, 1 >	SpeedAndBiases
typedef Eigen::Matrix< double, 9, 1 >	SpeedAndBias
typedef Measurement < ImuSensorReadings >	ImuMeasurement
typedef std::deque < ImuMeasurement, Eigen::aligned_allocator < ImuMeasurement > >	ImuMeasurementDeque
typedef Measurement< CameraData >	CameraMeasurement
typedef Measurement< FrameData >	FrameMeasurement
typedef Measurement < DepthCameraData >	DepthCameraMeasurement
typedef Measurement < PositionReading >	PositionMeasurement
typedef std::deque < PositionMeasurement, Eigen::aligned_allocator < PositionMeasurement > >	PositionMeasurementDeque
typedef Measurement < GpsPositionReading >	GpsPositionMeasurement
typedef std::deque < GpsPositionMeasurement, Eigen::aligned_allocator < GpsPositionMeasurement > >	GpsPositionMeasurementDeque
typedef Measurement < MagnetometerReading >	MagnetometerMeasurement
typedef std::deque < MagnetometerMeasurement, Eigen::aligned_allocator < MagnetometerMeasurement > >	MagnetometerMeasurementDeque
typedef Measurement < BarometerReading >	BarometerMeasurement
typedef Measurement < DifferentialPressureReading >	DifferentialPressureMeasurement
typedef Eigen::Matrix< double, 3, 1 >	Speed
typedef Eigen::Matrix< double, 3, 1 >	GyroBias
typedef Eigen::Matrix< double, 3, 1 >	AccBias
typedef Eigen::Matrix< double, 6, 1 >	ImuBias
typedef Eigen::Matrix< double, 3, 1 >	MagnetometerBias
typedef Eigen::Matrix< double, 1, 1 >	MagnetometerWorldZBias
typedef Eigen::Matrix< double, 3, 1 >	Wind
typedef Eigen::Matrix< double, 1, 1 >	Qff
typedef std::shared_ptr < MultiFrame >	MultiFramePtr
	For convenience. More...

Enumerations
enum	FrameName { FrameName::B, FrameName::S, FrameName::W, FrameName::Wc }

Functions
template<class T >
bool	vectorContains (const std::vector< T > &vector, const T &query)
	Does a vector contain a certain element. More...
void	normalizeSecNSecSigned (int64_t &sec, int64_t &nsec)
void	normalizeSecNSecSigned (int32_t &sec, int32_t &nsec)
std::ostream &	operator<< (std::ostream &os, const Duration &rhs)
std::ostream &	operator<< (std::ostream &os, const WallDuration &rhs)
void	normalizeSecNSec (uint64_t &sec, uint64_t &nsec)
void	normalizeSecNSec (uint32_t &sec, uint32_t &nsec)
void	normalizeSecNSecUnsigned (int64_t &sec, int64_t &nsec)
std::ostream &	operator<< (std::ostream &os, const Time &rhs)
std::ostream &	operator<< (std::ostream &os, const WallTime &rhs)
const Duration	DURATION_MAX (std::numeric_limits< int32_t >::max(), 999999999)
const Duration	DURATION_MIN (std::numeric_limits< int32_t >::min(), 0)
const Time	TIME_MAX (std::numeric_limits< uint32_t >::max(), 999999999)
const Time	TIME_MIN (0, 1)
void	okvis_walltime (uint32_t &sec, uint32_t &nsec) throw (NoHighPerformanceTimersException)
int	okvis_nanosleep (const uint32_t &sec, const uint32_t &nsec)
	Simple representation of the rt library nanosleep function. More...
bool	okvis_wallsleep (uint32_t sec, uint32_t nsec)
	Go to the wall! More...
template<typename OKVIS_EXCEPTION_T >
void	okvis_assert_throw (bool assert_condition, std::string message, okvis::source_file_pos sfp)

Variables
const Duration	DURATION_MAX
const Duration	DURATION_MIN
const Time	TIME_MAX
const Time	TIME_MIN

Detailed Description

okvis Main namespace of this package.

Typedef Documentation

typedef Eigen::Matrix<double,3,1> okvis::AccBias

typedef Measurement<BarometerReading> okvis::BarometerMeasurement

typedef Measurement<CameraData> okvis::CameraMeasurement

typedef Measurement<DepthCameraData> okvis::DepthCameraMeasurement

typedef Measurement<DifferentialPressureReading> okvis::DifferentialPressureMeasurement

typedef Measurement<FrameData> okvis::FrameMeasurement

typedef Measurement<GpsPositionReading> okvis::GpsPositionMeasurement

typedef std::deque<GpsPositionMeasurement, Eigen::aligned_allocator<GpsPositionMeasurement> > okvis::GpsPositionMeasurementDeque

typedef Eigen::Matrix<double,3,1> okvis::GyroBias

typedef Eigen::Matrix<double,6,1> okvis::ImuBias

typedef Measurement<ImuSensorReadings> okvis::ImuMeasurement

typedef std::deque<ImuMeasurement, Eigen::aligned_allocator<ImuMeasurement> > okvis::ImuMeasurementDeque

typedef Eigen::Matrix<double,3,1> okvis::MagnetometerBias

typedef Measurement<MagnetometerReading> okvis::MagnetometerMeasurement

typedef std::deque<MagnetometerMeasurement, Eigen::aligned_allocator<MagnetometerMeasurement> > okvis::MagnetometerMeasurementDeque

typedef Eigen::Matrix<double,1,1> okvis::MagnetometerWorldZBias

typedef std::vector<MapPoint, Eigen::aligned_allocator<MapPoint> > okvis::MapPointVector

typedef std::vector<Match> okvis::Matches

typedef std::shared_ptr<MultiFrame> okvis::MultiFramePtr

For convenience.

typedef std::vector<Observation, Eigen::aligned_allocator<Observation> > okvis::ObservationVector

typedef std::map<uint64_t, MapPoint, std::less<uint64_t>, Eigen::aligned_allocator<MapPoint> > okvis::PointMap

typedef Measurement<PositionReading> okvis::PositionMeasurement

typedef std::deque<PositionMeasurement, Eigen::aligned_allocator<PositionMeasurement> > okvis::PositionMeasurementDeque

typedef Eigen::Matrix<double,1,1> okvis::Qff

typedef Eigen::Matrix<double,3,1> okvis::Speed

typedef Eigen::Matrix< double, 9, 1 > okvis::SpeedAndBias

typedef Eigen::Matrix<double, 9, 1> okvis::SpeedAndBiases

typedef std::map<uint64_t, okvis::kinematics::Transformation, std::less<uint64_t>, Eigen::aligned_allocator<okvis::kinematics::Transformation> > okvis::TransformationMap

typedef Eigen::Matrix<double,3,1> okvis::Wind

Enumeration Type Documentation

enum okvis::FrameName

strong

Enumerator
B
S
W
Wc

Function Documentation

const Duration okvis::DURATION_MAX	(	std::numeric_limits< int32_t >::	max(),
		999999999
	)

const Duration okvis::DURATION_MIN	(	std::numeric_limits< int32_t >::	min(),
		0
	)

void okvis::normalizeSecNSec	(	uint64_t &	sec,
		uint64_t &	nsec
	)

void okvis::normalizeSecNSec	(	uint32_t &	sec,
		uint32_t &	nsec
	)

void okvis::normalizeSecNSecSigned	(	int64_t &	sec,
		int64_t &	nsec
	)

void okvis::normalizeSecNSecSigned	(	int32_t &	sec,
		int32_t &	nsec
	)

void okvis::normalizeSecNSecUnsigned	(	int64_t &	sec,
		int64_t &	nsec
	)

template<typename OKVIS_EXCEPTION_T >

void okvis::okvis_assert_throw ( bool  assert_condition, std::string  message, okvis::source_file_pos  sfp  )

inline

int okvis::okvis_nanosleep	(	const uint32_t &	sec,
		const uint32_t &	nsec
	)

Simple representation of the rt library nanosleep function.

bool okvis::okvis_wallsleep	(	uint32_t	sec,
		uint32_t	nsec
	)

Go to the wall!

Todo:

Fully implement the win32 parts, currently just like a regular sleep.

void okvis::okvis_walltime	(	uint32_t &	sec,
		uint32_t &	nsec
	)
throw	(	NoHighPerformanceTimersException
	)

std::ostream & okvis::operator<<	(	std::ostream &	os,
		const Duration &	rhs
	)

std::ostream & okvis::operator<<	(	std::ostream &	os,
		const WallDuration &	rhs
	)

std::ostream & okvis::operator<<	(	std::ostream &	os,
		const Time &	rhs
	)

std::ostream & okvis::operator<<	(	std::ostream &	os,
		const WallTime &	rhs
	)

const Time okvis::TIME_MAX	(	std::numeric_limits< uint32_t >::	max(),
		999999999
	)

const Time okvis::TIME_MIN	(	0	,
		1
	)

template<class T >

bool okvis::vectorContains	(	const std::vector< T > &	vector,
		const T &	query
	)

Does a vector contain a certain element.

Template Parameters

Class

of a vector element.

Parameters

vector	Vector to search element in.
query	Element to search for.

Returns

True if query is an element of vector.

Variable Documentation

const Duration okvis::DURATION_MAX

const Duration okvis::DURATION_MIN

const Time okvis::TIME_MAX

const Time okvis::TIME_MIN(0, 1)