okvis::VioInterface Class Reference

An abstract base class for interfaces between Front- and Backend. More...

#include <VioInterface.hpp>

Inheritance diagram for okvis::VioInterface:

Public Types
typedef std::function< void(const okvis::Time &, const okvis::kinematics::Transformation &)>	StateCallback
typedef std::function< void(const okvis::Time &, const okvis::kinematics::Transformation &, const Eigen::Matrix< double, 9, 1 > &, const Eigen::Matrix < double, 3, 1 > &)>	FullStateCallback
typedef std::function< void(const okvis::Time &, const okvis::kinematics::Transformation &, const Eigen::Matrix< double, 9, 1 > &, const Eigen::Matrix < double, 3, 1 > &, const std::vector < okvis::kinematics::Transformation, Eigen::aligned_allocator < okvis::kinematics::Transformation > > &)>	FullStateCallbackWithExtrinsics
typedef Eigen::Matrix < unsigned char, Eigen::Dynamic, Eigen::Dynamic >	EigenImage
typedef std::function< void(const okvis::Time &, const okvis::MapPointVector &, const okvis::MapPointVector &)>	LandmarksCallback

Public Member Functions
	VioInterface ()
virtual	~VioInterface ()
Setters
bool	setImuCsvFile (std::fstream &csvFile)
	Set a CVS file where the IMU data will be saved to. More...
bool	setImuCsvFile (const std::string &csvFileName)
	Set a CVS file where the IMU data will be saved to. More...
bool	setTracksCsvFile (size_t cameraId, std::fstream &csvFile)
	Set a CVS file where the tracks (data associations) will be saved to. More...
bool	setTracksCsvFile (size_t cameraId, const std::string &csvFileName)
	Set a CVS file where the tracks (data associations) will be saved to. More...
bool	setPosCsvFile (std::fstream &csvFile)
	Set a CVS file where the position measurements will be saved to. More...
bool	setPosCsvFile (const std::string &csvFileName)
	Set a CVS file where the position measurements will be saved to. More...
bool	setMagCsvFile (std::fstream &csvFile)
	Set a CVS file where the magnetometer measurements will be saved to. More...
bool	setMagCsvFile (const std::string &csvFileName)
	Set a CVS file where the magnetometer measurements will be saved to. More...
virtual void	setStateCallback (const StateCallback &stateCallback)
	Set the stateCallback to be called every time a new state is estimated. When an implementing class has an estimate, they can call: stateCallback_( stamp, T_w_vk ); where stamp is the timestamp and T_w_vk is the transformation (and uncertainty) that transforms points from the vehicle frame to the world frame. More...
virtual void	setFullStateCallback (const FullStateCallback &fullStateCallback)
	Set the fullStateCallback to be called every time a new state is estimated. When an implementing class has an estimate, they can call: _fullStateCallback( stamp, T_w_vk, speedAndBiases, omega_S); where stamp is the timestamp and T_w_vk is the transformation (and uncertainty) that transforms points from the vehicle frame to the world frame. speedAndBiases contain speed in world frame followed by gyro and acc biases. finally, omega_S is the rotation speed. More...
virtual void	setFullStateCallbackWithExtrinsics (const FullStateCallbackWithExtrinsics &fullStateCallbackWithExtrinsics)
	Set the fullStateCallbackWithExtrinsics to be called every time a new state is estimated. When an implementing class has an estimate, they can call: _fullStateCallbackWithEctrinsics( stamp, T_w_vk, speedAndBiases, omega_S, vector_of_T_SCi); where stamp is the timestamp and T_w_vk is the transformation (and uncertainty) that transforms points from the vehicle frame to the world frame. speedAndBiases contain speed in world frame followed by gyro and acc biases. omega_S is the rotation speed vector_of_T_SCi contains the (uncertain) transformations of extrinsics T_SCi. More...
virtual void	setLandmarksCallback (const LandmarksCallback &landmarksCallback)
	Set the landmarksCallback to be called every time a new state is estimated. When an implementing class has an estimate, they can call: landmarksCallback_( stamp, landmarksVector ); where stamp is the timestamp landmarksVector contains all 3D-landmarks with id. More...
virtual void	setBlocking (bool blocking)
	Set the blocking variable that indicates whether the addMeasurement() functions should return immediately (blocking=false), or only when the processing is complete. More...
Add measurements to the algorithm
virtual bool	addImage (const okvis::Time &stamp, size_t cameraIndex, const cv::Mat &image, const std::vector< cv::KeyPoint > *keypoints=0, bool *asKeyframe=0)=0
	Add a new image. More...
virtual bool	addKeypoints (const okvis::Time &stamp, size_t cameraIndex, const std::vector< cv::KeyPoint > &keypoints, const std::vector< uint64_t > &landmarkIds, const cv::Mat &descriptors=cv::Mat(), bool *asKeyframe=0)=0
	Add an abstracted image observation. More...
virtual bool	addImuMeasurement (const okvis::Time &stamp, const Eigen::Vector3d &alpha, const Eigen::Vector3d &omega)=0
	Add an IMU measurement. More...
virtual void	addPositionMeasurement (const okvis::Time &, const Eigen::Vector3d &, const Eigen::Vector3d &, const Eigen::Matrix3d &)
	Add a position measurement. More...
virtual void	addGpsMeasurement (const okvis::Time &, double, double, double, const Eigen::Vector3d &, const Eigen::Matrix3d &)
	Add a position measurement. More...
virtual void	addMagnetometerMeasurement (const okvis::Time &, const Eigen::Vector3d &, double)
	Add a magnetometer measurement. More...
virtual void	addBarometerMeasurement (const okvis::Time &, double, double)
	Add a static pressure measurement. More...
virtual void	addDifferentialPressureMeasurement (const okvis::Time &, double, double)
	Add a differential pressure measurement. More...
bool	addEigenImage (const okvis::Time &stamp, size_t cameraIndex, const EigenImage &image)
	This is just handy for the python interface. More...

Protected Types
typedef std::map< size_t, std::shared_ptr< std::fstream > >	FilePtrMap

Protected Member Functions
bool	writeImuCsvDescription ()
	Write first line of IMU CSV file to describe columns. More...
bool	writePosCsvDescription ()
	Write first line of position CSV file to describe columns. More...
bool	writeMagCsvDescription ()
	Write first line of magnetometer CSV file to describe columns. More...
bool	writeTracksCsvDescription (size_t cameraId)
	Write first line of tracks (data associations) CSV file to describe columns. More...

Protected Attributes
StateCallback	stateCallback_
	State callback function. More...
FullStateCallback	fullStateCallback_
	Full state callback function. More...
FullStateCallbackWithExtrinsics	fullStateCallbackWithExtrinsics_
	Full state and extrinsics callback function. More...
LandmarksCallback	landmarksCallback_
	Landmarks callback function. More...
std::shared_ptr< std::fstream >	csvImuFile_
	IMU CSV file. More...
std::shared_ptr< std::fstream >	csvPosFile_
	Position CSV File. More...
std::shared_ptr< std::fstream >	csvMagFile_
	Magnetometer CSV File. More...
FilePtrMap	csvTracksFiles_
	Tracks CSV Files. More...
bool	blocking_
	Blocking option. Whether the addMeasurement() functions should wait until proccessing is complete. More...

Detailed Description

An abstract base class for interfaces between Front- and Backend.

Member Typedef Documentation

typedef Eigen::Matrix<unsigned char, Eigen::Dynamic, Eigen::Dynamic> okvis::VioInterface::EigenImage

typedef std::map<size_t, std::shared_ptr<std::fstream> > okvis::VioInterface::FilePtrMap

protected

typedef std::function< void(const okvis::Time &, const okvis::kinematics::Transformation &, const Eigen::Matrix<double, 9, 1> &, const Eigen::Matrix<double, 3, 1> &)> okvis::VioInterface::FullStateCallback

typedef std::function< void( const okvis::Time &, const okvis::kinematics::Transformation &, const Eigen::Matrix<double, 9, 1> &, const Eigen::Matrix<double, 3, 1> &, const std::vector<okvis::kinematics::Transformation, Eigen::aligned_allocator<okvis::kinematics::Transformation> >&)> okvis::VioInterface::FullStateCallbackWithExtrinsics

typedef std::function< void(const okvis::Time &, const okvis::MapPointVector &, const okvis::MapPointVector &)> okvis::VioInterface::LandmarksCallback

typedef std::function< void(const okvis::Time &, const okvis::kinematics::Transformation &)> okvis::VioInterface::StateCallback

Constructor & Destructor Documentation

okvis::VioInterface::VioInterface

(

)

okvis::VioInterface::~VioInterface ( )

virtual

Member Function Documentation

virtual void okvis::VioInterface::addBarometerMeasurement ( const okvis::Time &  , double  , double    )

inlinevirtual

Add a static pressure measurement.

Warning

Not Implemented.

Reimplemented in okvis::ThreadedKFVio.

virtual void okvis::VioInterface::addDifferentialPressureMeasurement ( const okvis::Time &  , double  , double    )

inlinevirtual

Add a differential pressure measurement.

Warning

Not Implemented.

Reimplemented in okvis::ThreadedKFVio.

bool okvis::VioInterface::addEigenImage	(	const okvis::Time &	stamp,
		size_t	cameraIndex,
		const EigenImage &	image
	)

This is just handy for the python interface.

Parameters

stamp	The image timestamp
cameraIndex	The index of the camera that the image originates from.
image	The image.

Returns

Returns true normally. False, if the previous one has not been processed yet.

virtual void okvis::VioInterface::addGpsMeasurement ( const okvis::Time &  , double  , double  , double  , const Eigen::Vector3d &  , const Eigen::Matrix3d &    )

inlinevirtual

Add a position measurement.

Warning

Not Implemented.

Reimplemented in okvis::ThreadedKFVio.

virtual bool okvis::VioInterface::addImage ( const okvis::Time &  stamp, size_t  cameraIndex, const cv::Mat &  image, const std::vector< cv::KeyPoint > *  keypoints = 0, bool *  asKeyframe = 0  )

pure virtual

Add a new image.

Parameters

stamp	The image timestamp.
cameraIndex	The index of the camera that the image originates from.
image	The image.
keypoints	Optionally aready pass keypoints. This will skip the detection part.
asKeyframe	Use the new image as keyframe. Not implemented.

Warning

The frame consumer loop does not support using existing keypoints yet.

Already specifying whether this frame should be a keyframe is not implemented yet.

Returns

Returns true normally. False, if the previous one has not been processed yet.

Implemented in okvis::ThreadedKFVio.

virtual bool okvis::VioInterface::addImuMeasurement ( const okvis::Time &  stamp, const Eigen::Vector3d &  alpha, const Eigen::Vector3d &  omega  )

pure virtual

Add an IMU measurement.

Parameters

stamp	The measurement timestamp.
alpha	The acceleration measured at this time.
omega	The angular velocity measured at this time.

Implemented in okvis::ThreadedKFVio.

virtual bool okvis::VioInterface::addKeypoints ( const okvis::Time &  stamp, size_t  cameraIndex, const std::vector< cv::KeyPoint > &  keypoints, const std::vector< uint64_t > &  landmarkIds, const cv::Mat &  descriptors = cv::Mat(), bool *  asKeyframe = 0  )

pure virtual

Add an abstracted image observation.

Parameters

stamp	The timestamp for the start of integration time for the image.
cameraIndex	The index of the camera.
keypoints	A vector where each entry represents a [u,v] keypoint measurement. Also set the size field.
landmarkIds	A vector of landmark ids for each keypoint measurement.
descriptors	A matrix containing the descriptors for each keypoint.
asKeyframe	Optionally force keyframe or not.

Returns

Returns true normally. False, if the previous one has not been processed yet.

Implemented in okvis::ThreadedKFVio.

virtual void okvis::VioInterface::addMagnetometerMeasurement ( const okvis::Time &  , const Eigen::Vector3d &  , double    )

inlinevirtual

Add a magnetometer measurement.

Warning

Not Implemented.

Returns

Returns true normally. False, if the previous one has not been processed yet.

Reimplemented in okvis::ThreadedKFVio.

virtual void okvis::VioInterface::addPositionMeasurement ( const okvis::Time &  , const Eigen::Vector3d &  , const Eigen::Vector3d &  , const Eigen::Matrix3d &    )

inlinevirtual

Add a position measurement.

Warning

Not Implemented.

Reimplemented in okvis::ThreadedKFVio.

void okvis::VioInterface::setBlocking ( bool  blocking )

virtual

Set the blocking variable that indicates whether the addMeasurement() functions should return immediately (blocking=false), or only when the processing is complete.

Reimplemented in okvis::ThreadedKFVio.

void okvis::VioInterface::setFullStateCallback ( const FullStateCallback &  fullStateCallback )

virtual

Set the fullStateCallback to be called every time a new state is estimated. When an implementing class has an estimate, they can call: _fullStateCallback( stamp, T_w_vk, speedAndBiases, omega_S); where stamp is the timestamp and T_w_vk is the transformation (and uncertainty) that transforms points from the vehicle frame to the world frame. speedAndBiases contain speed in world frame followed by gyro and acc biases. finally, omega_S is the rotation speed.

void okvis::VioInterface::setFullStateCallbackWithExtrinsics ( const FullStateCallbackWithExtrinsics &  fullStateCallbackWithExtrinsics )

virtual

Set the fullStateCallbackWithExtrinsics to be called every time a new state is estimated. When an implementing class has an estimate, they can call: _fullStateCallbackWithEctrinsics( stamp, T_w_vk, speedAndBiases, omega_S, vector_of_T_SCi); where stamp is the timestamp and T_w_vk is the transformation (and uncertainty) that transforms points from the vehicle frame to the world frame. speedAndBiases contain speed in world frame followed by gyro and acc biases. omega_S is the rotation speed vector_of_T_SCi contains the (uncertain) transformations of extrinsics T_SCi.

bool okvis::VioInterface::setImuCsvFile

(

std::fstream &

csvFile

)

Set a CVS file where the IMU data will be saved to.

Parameters

csvFile

The file.

bool okvis::VioInterface::setImuCsvFile

(

const std::string &

csvFileName

)

Set a CVS file where the IMU data will be saved to.

Parameters

csvFileName

The filename of a new file.

void okvis::VioInterface::setLandmarksCallback ( const LandmarksCallback &  landmarksCallback )

virtual

Set the landmarksCallback to be called every time a new state is estimated. When an implementing class has an estimate, they can call: landmarksCallback_( stamp, landmarksVector ); where stamp is the timestamp landmarksVector contains all 3D-landmarks with id.

bool okvis::VioInterface::setMagCsvFile

(

std::fstream &

csvFile

)

Set a CVS file where the magnetometer measurements will be saved to.

Parameters

csvFile

The file.

bool okvis::VioInterface::setMagCsvFile

(

const std::string &

csvFileName

)

Set a CVS file where the magnetometer measurements will be saved to.

Parameters

csvFileName

The filename of a new file.

bool okvis::VioInterface::setPosCsvFile

(

std::fstream &

csvFile

)

Set a CVS file where the position measurements will be saved to.

Parameters

csvFile

The file.

bool okvis::VioInterface::setPosCsvFile

(

const std::string &

csvFileName

)

Set a CVS file where the position measurements will be saved to.

Parameters

csvFileName

The filename of a new file.

void okvis::VioInterface::setStateCallback ( const StateCallback &  stateCallback )

virtual

Set the stateCallback to be called every time a new state is estimated. When an implementing class has an estimate, they can call: stateCallback_( stamp, T_w_vk ); where stamp is the timestamp and T_w_vk is the transformation (and uncertainty) that transforms points from the vehicle frame to the world frame.

bool okvis::VioInterface::setTracksCsvFile	(	size_t	cameraId,
		std::fstream &	csvFile
	)

Set a CVS file where the tracks (data associations) will be saved to.

Parameters

cameraId	The camera ID.
csvFile	The file.

bool okvis::VioInterface::setTracksCsvFile	(	size_t	cameraId,
		const std::string &	csvFileName
	)

Set a CVS file where the tracks (data associations) will be saved to.

Parameters

cameraId	The camera ID.
csvFileName	The filename of a new file.

bool okvis::VioInterface::writeImuCsvDescription ( )

protected

Write first line of IMU CSV file to describe columns.

bool okvis::VioInterface::writeMagCsvDescription ( )

protected

Write first line of magnetometer CSV file to describe columns.

bool okvis::VioInterface::writePosCsvDescription ( )

protected

Write first line of position CSV file to describe columns.

bool okvis::VioInterface::writeTracksCsvDescription ( size_t  cameraId )

protected

Write first line of tracks (data associations) CSV file to describe columns.

Member Data Documentation

bool okvis::VioInterface::blocking_

protected

Blocking option. Whether the addMeasurement() functions should wait until proccessing is complete.

std::shared_ptr<std::fstream> okvis::VioInterface::csvImuFile_

protected

IMU CSV file.

std::shared_ptr<std::fstream> okvis::VioInterface::csvMagFile_

protected

Magnetometer CSV File.

std::shared_ptr<std::fstream> okvis::VioInterface::csvPosFile_

protected

Position CSV File.

FilePtrMap okvis::VioInterface::csvTracksFiles_

protected

Tracks CSV Files.

FullStateCallback okvis::VioInterface::fullStateCallback_

protected

Full state callback function.

FullStateCallbackWithExtrinsics okvis::VioInterface::fullStateCallbackWithExtrinsics_

protected

Full state and extrinsics callback function.

LandmarksCallback okvis::VioInterface::landmarksCallback_

protected

Landmarks callback function.

StateCallback okvis::VioInterface::stateCallback_

protected

State callback function.

---

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

• okvis/okvis_common/include/okvis/VioInterface.hpp
• okvis/okvis_common/src/VioInterface.cpp