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Class Hierarchy
This inheritance list is sorted roughly, but not completely, alphabetically:
[detail level 1234]
oCAbsoluteAdapterBase
oCAbsolutePoseSacProblem
oCokvis::BarometerParametersBarometer parameters
oCokvis::BarometerReadingBarometer measurement
oCokvis::cameras::CameraBaseBase class for all camera models
oCokvis::VioParametersReader::CameraCalibrationStruct that contains all the camera calibration information
oCokvis::CameraDataCamera measurement
oCCentralRelativePoseSacProblem
oCCostFunction
oCokvis::DenseMatcherThis class matches keypoints from two frames in parallel
oCokvis::DepthCameraDataDepth camera measurements. For now assume they are synchronized:
oCokvis::DifferentialPressureReadingDifferential pressure sensor measurement
oCokvis::DifferentialPressureSensorParametersDifferential pressure sensor parameters
oCokvis::cameras::DistortionBaseBase class for all distortion models
oCokvis::timing::DummyTimer
oCokvis::DurationBase< T >Base class for Duration implementations. Provides storage, common functions and operator overloads. This should not need to be used directly
oCokvis::DurationBase< Duration >
oCokvis::DurationBase< WallDuration >
oCokvis::ceres::ErrorInterfaceSimple interface class the errors implemented here should inherit from
oCokvis::ExtrinsicsEstimationParametersStruct to define the behavior of the camera extrinsics
oCokvis::FrameA single camera frame equipped with keypoint detector / extractor
oCokvis::FrameDataFrame measurement
oCokvis::FrameSynchronizerThis class combines multiple frames with the same or similar timestamp into one multiframe
oCokvis::GpsParametersGPS parameters
oCokvis::GpsPositionReadingGPS position measurement
oCokvis::ImuFrameSynchronizerThis 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
oCokvis::ImuParametersIMU parameters
oCokvis::ImuSensorReadingsIMU measurements. For now assume they are synchronized:
oCokvis::IdProvider::instance
oCIterationCallback
oCokvis::KeypointDataKeypoint measurement
oCokvis::KeypointIdentifierUnique identifier for a keypoint
oCLocalParameterization
oCokvis::ceres::LocalParamizationAdditionalInterfacesProvides some additional interfaces to ceres' LocalParamization than are needed in the generic marginalisation okvis::ceres::MarginalizationError
oCokvis::MagneticEnuZParametersMagnetic ENU z bias
oCokvis::MagnetometerParametersMagnetometer parameters
oCokvis::MagnetometerReadingMagnetometer measurement
oCokvis::ceres::MapThe Map class. This keeps track of how parameter blocks are connected to residual blocks. In essence, it encapsulates the ceres::Problem. This way, we can easily manipulate the optimisation problem. You could argue why not use cere's internal mechanisms to do that. We found that our implementation was faster..
oCokvis::MapPointA type to store information about a point in the world map
oCokvis::MatchType to store the result of matching
oCokvis::MatchingAlgorithmInterface for 1-1 matching between lists of things
oCokvis::DenseMatcher::MatchJobA data struct for the worker thread
oCokvis::Measurement< MEASUREMENT_T >Generic measurements
oCokvis::MockVioFrontendInterface
oCokvis::MultiFrameA multi camera frame that uses okvis::Frame underneath
oCokvis::cameras::NCameraSystemA class that assembles multiple cameras into a system of (potentially different) cameras
oCokvis::ObservationFor convenience to pass associations - also contains the 3d points
oCokvis::OptimizationParameters for optimization and related things (detection)
oCokvis::ThreadedKFVio::OptimizationResultsThis struct contains the results of the optimization for ease of publication. It is also used for publishing poses that have been propagated with the IMU measurements
oCokvis::DenseMatcher::PairingA struct to save an index and distance pair
oCokvis::ceres::ParameterBlockBase class providing the interface for parameter blocks
oCokvis::ceres::MarginalizationError::ParameterBlockInfoBook-keeping of the ordering
oCPinholeCamera< DISTORTION_T >This implements a standard pinhole camera projection model
oCPoseViewer
oCokvis::PositionReadingPosition measurement
oCokvis::PositionSensorParametersPosition sensor parameters
oCokvis::triangulation::ProbabilisticStereoTriangulator< CAMERA_GEOMETRY_T >The ProbabilisticStereoTriangulator class
oCokvis::triangulation::ProbabilisticStereoTriangulator< camera_geometry_t >
oCProjectionStatusIndicates what happened when applying any of the project functions
oCokvis::PublisherThis class handles the publishing to either ROS topics or files
oCokvis::PublishingParametersSome publishing parameters
oCokvis::QffParametersQFF parameters
oCRelativeAdapterBase
oCokvis::ceres::Map::ResidualBlockSpecStruct to store some infos about a residual
oCRotationOnlySacProblem
oCruntime_error
oCokvis::SensorsInformationInformation on camera and IMU setup
oCSizedCostFunction
oCokvis::source_file_pos
oCokvis::Estimator::StateInfoStateInfo This configures the state vector ordering
oCokvis::Estimator::StatesStates This summarizes all the possible states – i.e. their ids:
oCokvis::SubscriberThis class handles all the buffering of incoming data
oCTest
oCokvis::TestDataGenerator
oCokvis::ThreadPoolThis class manages multiple threads and fills them with work
oCokvis::threadsafe::ThreadSafeQueue< QueueType >Class that implements a threadsafe FIFO queue
oCokvis::threadsafe::ThreadSafeQueue< okvis::okvis::Measurement >
oCokvis::threadsafe::ThreadSafeQueue< okvis::ThreadedKFVio::OptimizationResults >
oCokvis::threadsafe::ThreadSafeQueue< okvis::VioVisualizer::VisualizationData::Ptr >
oCokvis::threadsafe::ThreadSafeQueue< std::shared_ptr< okvis::okvis::MultiFrame > >
oCokvis::threadsafe::ThreadSafeQueue< std::vector< cv::Mat > >
oCokvis::threadsafe::ThreadSafeQueueBase
oCokvis::TimeBase< T, D >Base class for Time implementations. Provides storage, common functions and operator overloads. This should not need to be used directly
oCokvis::TimeBase< Time, Duration >
oCokvis::TimeBase< WallTime, WallDuration >
oCokvis::timing::Timer
oCokvis::timing::TimerMapValue
oCokvis::timing::Timing
oCokvis::kinematics::TransformationA class that does homogeneous transformations. This relates a frame A and B: T_AB; it consists of translation r_AB (represented in frame A) and Quaternion q_AB (as an Eigen Quaternion). see also the RSS'13 / IJRR'14 paper or the Thesis. Follows some of the functionality of the SchweizerMesser library by Paul Furgale, but uses Eigen quaternions underneath
oCokvis::VioBackendInterfaceAn abstract interface for backends
oCokvis::VioFrontendInterfaceInterface for frontends
oCokvis::VioInterfaceAn abstract base class for interfaces between Front- and Backend
oCokvis::VioParametersStruct to combine all parameters and settings
oCokvis::VioParametersReaderThis class reads and parses config file
oCokvis::VioVisualizerThis class is responsible to visualize the matching results
oCokvis::VisualizationSome visualization settings
oCokvis::VioVisualizer::VisualizationDataThis struct contains the relevant data for visualizing
\Cokvis::WindParametersWind parameters