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MSCEqF 1.0 +
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Multi State Constraint Equivariant Filter for visual inertial navigation
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Class List
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Here are the classes, structs, unions and interfaces with brief descriptions:
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[detail level 12]
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 ▼Nmsceqf
 CBiasStateThis struct represent the IMU bias state of the system
 CCamera
 CCameraExtrinsicStateThis struct represent the camera extrinsics state of the system
 CCameraIntrinsicStateThis struct represent the camera intrinsics state of the system
 CCameraOptions
 CCheckerSimple class to perform various checks
 CCheckerOptions
 CEquidistantCamera
 CExtendedPoseStateThis struct represent the extended pose state of the system
 CFastOptions
 CFeatHelperFeatHelper struct. This struct implements a helper structure holding all the information related to a single feature measurement to be used in the computation of the C matrix, Cf matrix and residual delta, for the MSCEqF update
 CFeatures(Cache friendly) Features struct. Define a set of features detected/tracked
 CFeatureStateThis struct represent a single persistent feature state of the system
 CGFTTOptions
 CImuStruct for one IMU reading. It includes timestamp, angular velocity and linear acceleration. -1 indicates an invalid timestamp
 CInitializerOptions
 CMSCEqF
 CMSCEqFInStateThis struct represent the Intrinsic state of the MSCEqF
 CMSCEqFOptions
 CMSCEqFSDBStateThis struct represent the Semi Direct bias state of the MSCEqF
 CMSCEqFSE3StateThis struct represent the Special Euclidean Group of dimension 3 state of the MSCEqF
 CMSCEqFSOT3StateThis struct represent the Scaled Orthogonal Transforms state of the MSCEqF
 CMSCEqFStateThis class represent the state of the MSCEqF. This includes the state of the lifted system (element of the symmetry group) and the covariance
 CMSCEqFStateElementThis class represent the base class for a general element of the MSCEqF state. This include the index of the variable (index in the residual, and in the covariance), and the degrees of freedom
 COptionParser
 CPinholeCameraThis class represnt the base class for any pinhole camera type
 CProjectionHelperProjectionHelper interface. This class provides an interface to the implementation of the projection function as well as its differential
 CProjectionHelperS2ProjectionHelperS2 class. This class provides an implementation of the projection on the unit sphere as well as its differential
 CProjectionHelperZ1ProjectionHelperZ1 class. This class provides an implementation of the projection on the unit plane as well as its differential
 CPropagator
 CPropagatorOptions
 CRadtanCameraThis class represent a pinhole camera with radtan distortion model
 CStateOptions
 CStaticInitializer
 CSymmetry
 CSystemStateRepresent the state of the system posed on the Homogenous space
 CSystemStateElementThis struct represent the base struct for a general element of the system state
 CTrack(Cache friendly) Track struct. Define a feature (labeled via a feature id) detected/tracked at different points in time
 CTrackerThis class implement the feature tracker module based on Lucas-Kanade optical flow. The tracker tracks feature temporally in subsequent images and produces a set of matches
 CTrackerOptions
 CTrackManagerThis class manages the multiple tracks of feature traked in time
 CTrackManagerOptions
 CTriangulatedFeatures
 CUpdaterUpdater class. This class implements the Multi State Constraint update step of the MSCEqF filter
 CUpdaterHelperUpdater helper struct. This structs implements common helper methods for MSCEqF update
 CUpdaterOptions
 CVisualizer
 CZeroVelocityUpdaterZero velocity updater class. This class implements the Equivariant Zero Velocity Update (ZVU) of the MSCEqF filter
 CZeroVelocityUpdaterOptions
 ▼Nutils
 CInsertionOrderedMapThis calss define a map that keeps the insertion order
 Cis_streamable
 Cis_streamable< S, C, decltype(void(std::declval< S & >()<< std::declval< C const & >()))>
 CLoggerLogger
 CMSCEqFRos
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+ + + + diff --git a/annotated_dup.js b/annotated_dup.js new file mode 100644 index 0000000..bf09218 --- /dev/null +++ b/annotated_dup.js @@ -0,0 +1,61 @@ +var annotated_dup = +[ + [ "msceqf", null, [ + [ "BiasState", "structmsceqf_1_1_bias_state.html", "structmsceqf_1_1_bias_state" ], + [ "Camera", "structmsceqf_1_1_camera.html", "structmsceqf_1_1_camera" ], + [ "CameraExtrinsicState", "structmsceqf_1_1_camera_extrinsic_state.html", "structmsceqf_1_1_camera_extrinsic_state" ], + [ "CameraIntrinsicState", "structmsceqf_1_1_camera_intrinsic_state.html", "structmsceqf_1_1_camera_intrinsic_state" ], + [ "CameraOptions", "structmsceqf_1_1_camera_options.html", "structmsceqf_1_1_camera_options" ], + [ "Checker", "classmsceqf_1_1_checker.html", "classmsceqf_1_1_checker" ], + [ "CheckerOptions", "structmsceqf_1_1_checker_options.html", "structmsceqf_1_1_checker_options" ], + [ "EquidistantCamera", "structmsceqf_1_1_equidistant_camera.html", "structmsceqf_1_1_equidistant_camera" ], + [ "ExtendedPoseState", "structmsceqf_1_1_extended_pose_state.html", "structmsceqf_1_1_extended_pose_state" ], + [ "FastOptions", "structmsceqf_1_1_fast_options.html", "structmsceqf_1_1_fast_options" ], + [ "FeatHelper", "structmsceqf_1_1_feat_helper.html", "structmsceqf_1_1_feat_helper" ], + [ "Features", "structmsceqf_1_1_features.html", "structmsceqf_1_1_features" ], + [ "FeatureState", "structmsceqf_1_1_feature_state.html", "structmsceqf_1_1_feature_state" ], + [ "GFTTOptions", "structmsceqf_1_1_g_f_t_t_options.html", "structmsceqf_1_1_g_f_t_t_options" ], + [ "Imu", "structmsceqf_1_1_imu.html", "structmsceqf_1_1_imu" ], + [ "InitializerOptions", "structmsceqf_1_1_initializer_options.html", "structmsceqf_1_1_initializer_options" ], + [ "MSCEqF", "classmsceqf_1_1_m_s_c_eq_f.html", "classmsceqf_1_1_m_s_c_eq_f" ], + [ "MSCEqFInState", "structmsceqf_1_1_m_s_c_eq_f_in_state.html", "structmsceqf_1_1_m_s_c_eq_f_in_state" ], + [ "MSCEqFOptions", "structmsceqf_1_1_m_s_c_eq_f_options.html", "structmsceqf_1_1_m_s_c_eq_f_options" ], + [ "MSCEqFSDBState", "structmsceqf_1_1_m_s_c_eq_f_s_d_b_state.html", "structmsceqf_1_1_m_s_c_eq_f_s_d_b_state" ], + [ "MSCEqFSE3State", "structmsceqf_1_1_m_s_c_eq_f_s_e3_state.html", "structmsceqf_1_1_m_s_c_eq_f_s_e3_state" ], + [ "MSCEqFSOT3State", "structmsceqf_1_1_m_s_c_eq_f_s_o_t3_state.html", "structmsceqf_1_1_m_s_c_eq_f_s_o_t3_state" ], + [ "MSCEqFState", "classmsceqf_1_1_m_s_c_eq_f_state.html", "classmsceqf_1_1_m_s_c_eq_f_state" ], + [ "MSCEqFStateElement", "classmsceqf_1_1_m_s_c_eq_f_state_element.html", "classmsceqf_1_1_m_s_c_eq_f_state_element" ], + [ "OptionParser", "classmsceqf_1_1_option_parser.html", "classmsceqf_1_1_option_parser" ], + [ "PinholeCamera", "classmsceqf_1_1_pinhole_camera.html", "classmsceqf_1_1_pinhole_camera" ], + [ "ProjectionHelper", "classmsceqf_1_1_projection_helper.html", "classmsceqf_1_1_projection_helper" ], + [ "ProjectionHelperS2", "classmsceqf_1_1_projection_helper_s2.html", "classmsceqf_1_1_projection_helper_s2" ], + [ "ProjectionHelperZ1", "classmsceqf_1_1_projection_helper_z1.html", "classmsceqf_1_1_projection_helper_z1" ], + [ "Propagator", "classmsceqf_1_1_propagator.html", "classmsceqf_1_1_propagator" ], + [ "PropagatorOptions", "structmsceqf_1_1_propagator_options.html", "structmsceqf_1_1_propagator_options" ], + [ "RadtanCamera", "structmsceqf_1_1_radtan_camera.html", "structmsceqf_1_1_radtan_camera" ], + [ "StateOptions", "structmsceqf_1_1_state_options.html", "structmsceqf_1_1_state_options" ], + [ "StaticInitializer", "classmsceqf_1_1_static_initializer.html", "classmsceqf_1_1_static_initializer" ], + [ "Symmetry", "classmsceqf_1_1_symmetry.html", null ], + [ "SystemState", "classmsceqf_1_1_system_state.html", "classmsceqf_1_1_system_state" ], + [ "SystemStateElement", "classmsceqf_1_1_system_state_element.html", "classmsceqf_1_1_system_state_element" ], + [ "Track", "structmsceqf_1_1_track.html", "structmsceqf_1_1_track" ], + [ "Tracker", "classmsceqf_1_1_tracker.html", "classmsceqf_1_1_tracker" ], + [ "TrackerOptions", "structmsceqf_1_1_tracker_options.html", "structmsceqf_1_1_tracker_options" ], + [ "TrackManager", "classmsceqf_1_1_track_manager.html", "classmsceqf_1_1_track_manager" ], + [ "TrackManagerOptions", "structmsceqf_1_1_track_manager_options.html", "structmsceqf_1_1_track_manager_options" ], + [ "TriangulatedFeatures", "structmsceqf_1_1_triangulated_features.html", "structmsceqf_1_1_triangulated_features" ], + [ "Updater", "classmsceqf_1_1_updater.html", "classmsceqf_1_1_updater" ], + [ "UpdaterHelper", "structmsceqf_1_1_updater_helper.html", null ], + [ "UpdaterOptions", "structmsceqf_1_1_updater_options.html", "structmsceqf_1_1_updater_options" ], + [ "Visualizer", "classmsceqf_1_1_visualizer.html", "classmsceqf_1_1_visualizer" ], + [ "ZeroVelocityUpdater", "classmsceqf_1_1_zero_velocity_updater.html", "classmsceqf_1_1_zero_velocity_updater" ], + [ "ZeroVelocityUpdaterOptions", "structmsceqf_1_1_zero_velocity_updater_options.html", "structmsceqf_1_1_zero_velocity_updater_options" ] + ] ], + [ "utils", null, [ + [ "InsertionOrderedMap", "classutils_1_1_insertion_ordered_map.html", "classutils_1_1_insertion_ordered_map" ], + [ "is_streamable", "structutils_1_1is__streamable.html", null ], + [ "is_streamable< S, C, decltype(void(std::declval< S & >()<< std::declval< C const & >()))>", "structutils_1_1is__streamable_3_01_s_00_01_c_00_01decltype_07void_07std_1_1declval_3_01_s_01_6_0f58e90958705880955bd917882569c69.html", null ], + [ "Logger", "classutils_1_1_logger.html", null ] + ] ], + [ "MSCEqFRos", "class_m_s_c_eq_f_ros.html", "class_m_s_c_eq_f_ros" ] +]; \ No newline at end of file diff --git a/bc_s.png b/bc_s.png new file mode 100644 index 0000000000000000000000000000000000000000..224b29aa9847d5a4b3902efd602b7ddf7d33e6c2 GIT binary patch literal 676 zcmV;V0$crwP)y__>=_9%My z{n931IS})GlGUF8K#6VIbs%684A^L3@%PlP2>_sk`UWPq@f;rU*V%rPy_ekbhXT&s 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+
+ + + + + + + +
+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
+
+
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camera.hpp
+
+
+
1// Copyright (C) 2023 Alessandro Fornasier.
+
2// Control of Networked Systems, University of Klagenfurt, Austria.
+
3//
+
4// All rights reserved.
+
5//
+
6// This software is licensed under the terms of the BSD-2-Clause-License with
+
7// no commercial use allowed, the full terms of which are made available
+
8// in the LICENSE file. No license in patents is granted.
+
9//
+
10// You can contact the authors at <alessandro.fornasier@ieee.org>
+
11
+
12#ifndef CAMERA_HPP
+
13#define CAMERA_HPP
+
14
+
15#include <memory>
+
16#include <opencv2/opencv.hpp>
+
17
+
18#include "msceqf/options/msceqf_options.hpp"
+
19#include "types/fptypes.hpp"
+
20
+
21namespace msceqf
+
22{
+
+
27class PinholeCamera
+
28{
+
29 public:
+
30 virtual ~PinholeCamera() = default;
+
31
+
38 void undistort(std::vector<Eigen::Vector2f>& uv, const bool& normalize = false);
+
39
+
46 virtual void undistort(std::vector<cv::Point2f>& uv_cv, const bool& normalize = false) = 0;
+
47
+
54 virtual void undistortImage(const cv::Mat& image, cv::Mat& image_undistorted) = 0;
+
55
+
61 void normalize(std::vector<Eigen::Vector2f>& uv);
+
62
+
68 void normalize(std::vector<cv::Point2f>& uv);
+
69
+
75 void normalize(Eigen::Vector2f& uv);
+
76
+
82 void normalize(cv::Point2f& uv);
+
83
+
89 void denormalize(std::vector<Eigen::Vector2f>& uv);
+
90
+
96 void denormalize(std::vector<cv::Point2f>& uv);
+
97
+
103 void denormalize(Eigen::Vector2f& uv);
+
104
+
110 void denormalize(cv::Point2f& uv);
+
111
+
117 void setIntrinsics(const Vector4& intrinsics);
+
118
+
124 const Vector4& intrinsics() const;
+
125
+
131 const VectorX& distortionCoefficients() const;
+
132
+
133 protected:
+
134 PinholeCamera(const VectorX& distortion_coefficients,
+
135 const Vector4 instrinsics,
+
136 const uint& width,
+
137 const uint& height);
+
138
+
140 PinholeCamera() = delete;
+
141 PinholeCamera(const PinholeCamera&) = delete;
+
142 PinholeCamera(PinholeCamera&&) = delete;
+
143 PinholeCamera& operator=(const PinholeCamera&) = delete;
+
144 PinholeCamera& operator=(PinholeCamera&&) = delete;
+
145
+
146 VectorX distortion_coefficients_;
+
147 Vector4 intrinsics_;
+
148 uint width_;
+
149 uint height_;
+
150};
+
+
151
+
+
156struct RadtanCamera final : public PinholeCamera
+
157{
+
158 RadtanCamera(const CameraOptions& opts, const Vector4& intrinsics);
+
159
+
166 void undistort(std::vector<cv::Point2f>& uv_cv, const bool& normalize) override;
+
167
+
174 void undistortImage(const cv::Mat& image, cv::Mat& image_undistorted) override;
+
175};
+
+
176
+
+
177struct EquidistantCamera final : public PinholeCamera
+
178{
+
179 EquidistantCamera(const CameraOptions& opts, const Vector4& intrinsics);
+
180
+
187 void undistort(std::vector<cv::Point2f>& uv_cv, const bool& normalize) override;
+
188
+
195 void undistortImage(const cv::Mat& image, cv::Mat& image_undistorted) override;
+
196};
+
+
197
+
198using PinholeCameraSharedPtr = std::shared_ptr<PinholeCamera>;
+
199using PinholeCameraUniquePtr = std::unique_ptr<PinholeCamera>;
+
200using RadtanCameraSharedPtr = std::shared_ptr<RadtanCamera>;
+
201using RadtanCameraUniquePtr = std::unique_ptr<RadtanCamera>;
+
202using EquidistantCameraSharedPtr = std::shared_ptr<EquidistantCamera>;
+
203using EquidistantCameraUniquePtr = std::unique_ptr<EquidistantCamera>;
+
204
+
213template <typename T>
+
214[[nodiscard]] static PinholeCameraUniquePtr createCamera(const CameraOptions& opts, const Vector4& intrinsics)
+
215{
+
216 if constexpr (std::is_base_of_v<PinholeCamera, T>)
+
217 {
+
218 return std::make_unique<T>(opts, intrinsics);
+
219 }
+
220 else
+
221 {
+
222 return nullptr;
+
223 }
+
224}
+
225
+
226} // namespace msceqf
+
227
+
228#endif // CAMERA_HPP
+
msceqf::PinholeCamera
This class represnt the base class for any pinhole camera type.
Definition camera.hpp:28
+
msceqf::PinholeCamera::undistort
virtual void undistort(std::vector< cv::Point2f > &uv_cv, const bool &normalize=false)=0
Undistort given distorted point in OpenCV format (std::vector<cv::Point2f>)
+
msceqf::PinholeCamera::normalize
void normalize(cv::Point2f &uv)
Normalize multiple features uv coordinates in OpenCV format (cv::Point2f)
+
msceqf::PinholeCamera::setIntrinsics
void setIntrinsics(const Vector4 &intrinsics)
Set the value of the intrinsic parameters.
+
msceqf::PinholeCamera::intrinsics
const Vector4 & intrinsics() const
Get camera intrinsics parameter (fx, fy, cx, cy) as a 4 vector.
+
msceqf::PinholeCamera::height_
uint height_
Image height.
Definition camera.hpp:149
+
msceqf::PinholeCamera::denormalize
void denormalize(std::vector< cv::Point2f > &uv)
Denormalize multiple features uv coordinates in OpenCV format (std::vector<cv::Point2f>)
+
msceqf::PinholeCamera::distortionCoefficients
const VectorX & distortionCoefficients() const
Get camera distortion coefficients (k1, k2, p1, p2, ...) as a vector.
+
msceqf::PinholeCamera::normalize
void normalize(std::vector< Eigen::Vector2f > &uv)
Normalize multiple features uv coordinates in Eigen format (std::vector<Eigen::Vector2f>)
+
msceqf::PinholeCamera::PinholeCamera
PinholeCamera()=delete
Rule of Five.
+
msceqf::PinholeCamera::undistortImage
virtual void undistortImage(const cv::Mat &image, cv::Mat &image_undistorted)=0
Undistort given image in openCV format (cv::Mat)
+
msceqf::PinholeCamera::width_
uint width_
Image width.
Definition camera.hpp:148
+
msceqf::PinholeCamera::normalize
void normalize(std::vector< cv::Point2f > &uv)
Normalize multiple features uv coordinates in OpenCV format (std::vector<cv::Point2f>)
+
msceqf::PinholeCamera::denormalize
void denormalize(std::vector< Eigen::Vector2f > &uv)
Denormalize multiple features uv coordinates in Eigen format (std::vector<Eigen::Vector2f>)
+
msceqf::PinholeCamera::normalize
void normalize(Eigen::Vector2f &uv)
Normalize a single feature uv coordinates in Eigen format (Eigen::Vector2f)
+
msceqf::PinholeCamera::undistort
void undistort(std::vector< Eigen::Vector2f > &uv, const bool &normalize=false)
Undistort given distorted point in Eigen format (std::vector<Eigen::Vector2f>)
+
msceqf::PinholeCamera::denormalize
void denormalize(Eigen::Vector2f &uv)
Denormalize a single feature uv coordinates in Eigen format (Eigen::Vector2f)
+
msceqf::PinholeCamera::intrinsics_
Vector4 intrinsics_
Vector of intrinsic paramater (fx, fy, cx, cy)
Definition camera.hpp:147
+
msceqf::PinholeCamera::denormalize
void denormalize(cv::Point2f &uv)
Denormalize multiple features uv coordinates in OpenCV format (cv::Point2f)
+
msceqf::PinholeCamera::distortion_coefficients_
VectorX distortion_coefficients_
Vector of distortion coefficients (k1, k2, p1, p2, ...)
Definition camera.hpp:146
+
msceqf::CameraOptions
Definition msceqf_options.hpp:161
+
msceqf::EquidistantCamera
Definition camera.hpp:178
+
msceqf::EquidistantCamera::undistortImage
void undistortImage(const cv::Mat &image, cv::Mat &image_undistorted) override
Undistort given image in openCV format (cv::Mat)
+
msceqf::EquidistantCamera::undistort
void undistort(std::vector< cv::Point2f > &uv_cv, const bool &normalize) override
Undistort given distorted point in OpenCV format (std::vector<cv::Point2f>)
+
msceqf::RadtanCamera
This class represent a pinhole camera with radtan distortion model.
Definition camera.hpp:157
+
msceqf::RadtanCamera::undistortImage
void undistortImage(const cv::Mat &image, cv::Mat &image_undistorted) override
Undistort given image in openCV format (cv::Mat)
+
msceqf::RadtanCamera::undistort
void undistort(std::vector< cv::Point2f > &uv_cv, const bool &normalize) override
Undistort given distorted point in OpenCV format (std::vector<cv::Point2f>)
+
+
+ + + + diff --git a/checker_8hpp_source.html b/checker_8hpp_source.html new file mode 100644 index 0000000..89d71c0 --- /dev/null +++ b/checker_8hpp_source.html @@ -0,0 +1,155 @@ + + + + + + + +MSCEqF: include/msceqf/filter/checker/checker.hpp Source File + + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
+
+
+ + + + + + + + +
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checker.hpp
+
+
+
1// Copyright (C) 2023 Alessandro Fornasier.
+
2// Control of Networked Systems, University of Klagenfurt, Austria.
+
3//
+
4// All rights reserved.
+
5//
+
6// This software is licensed under the terms of the BSD-2-Clause-License with
+
7// no commercial use allowed, the full terms of which are made available
+
8// in the LICENSE file. No license in patents is granted.
+
9//
+
10// You can contact the authors at <alessandro.fornasier@ieee.org>
+
11
+
12#ifndef CHECKER_HPP
+
13#define CHECKER_HPP
+
14
+
15#include "msceqf/options/msceqf_options.hpp"
+
16#include "types/fptypes.hpp"
+
17#include "utils/tools.hpp"
+
18#include "vision/track.hpp"
+
19
+
20namespace msceqf
+
21{
+
+
26class Checker
+
27{
+
28 public:
+
34 Checker(const CheckerOptions& opts);
+
35
+
47 [[nodiscard]] bool disparityCheck(const Tracks& tracks) const;
+
48
+
49 private:
+
50 CheckerOptions opts_;
+
51};
+
+
52
+
53} // namespace msceqf
+
54
+
55#endif // CHECKER_HPP
+
msceqf::Checker
Simple class to perform various checks.
Definition checker.hpp:27
+
msceqf::Checker::Checker
Checker(const CheckerOptions &opts)
Checker constructor.
+
msceqf::Checker::disparityCheck
bool disparityCheck(const Tracks &tracks) const
Perform disparity check on given tracks.
+
msceqf::CheckerOptions
Definition msceqf_options.hpp:155
+
+
+ + + + diff --git a/class_m_s_c_eq_f_ros-members.html b/class_m_s_c_eq_f_ros-members.html new file mode 100644 index 0000000..2e4b4f3 --- /dev/null +++ b/class_m_s_c_eq_f_ros-members.html @@ -0,0 +1,119 @@ + + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
+
+ + + + + + + +
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MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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MSCEqFRos Member List
+
+
+ +

This is the complete list of members for MSCEqFRos, including all inherited members.

+ + + + +
callback_image(const sensor_msgs::Image::ConstPtr &msg)MSCEqFRos
callback_imu(const sensor_msgs::Imu::ConstPtr &msg)MSCEqFRos
MSCEqFRos(const ros::NodeHandle &nh, const std::string &msceqf_config_filepath, const std::string &imu_topic, const std::string &cam_topic, const std::string &pose_topic, const std::string &path_topic, const std::string &image_topic, const std::string &extrinsics_topic, const std::string &intrinsics_topic, const std::string &origin_topic, const bool &record, const std::string &bagfile)MSCEqFRos
+
+ + + + diff --git a/class_m_s_c_eq_f_ros.html b/class_m_s_c_eq_f_ros.html new file mode 100644 index 0000000..1b7e2bd --- /dev/null +++ b/class_m_s_c_eq_f_ros.html @@ -0,0 +1,274 @@ + + + + + + + +MSCEqF: MSCEqFRos Class Reference + + + + + + + + + + + + + + + +
+
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MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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MSCEqFRos Class Reference
+
+
+ + + + + + + + + + + +

+Public Member Functions

 MSCEqFRos (const ros::NodeHandle &nh, const std::string &msceqf_config_filepath, const std::string &imu_topic, const std::string &cam_topic, const std::string &pose_topic, const std::string &path_topic, const std::string &image_topic, const std::string &extrinsics_topic, const std::string &intrinsics_topic, const std::string &origin_topic, const bool &record, const std::string &bagfile)
 Constructor.
 
void callback_image (const sensor_msgs::Image::ConstPtr &msg)
 Image callback.
 
void callback_imu (const sensor_msgs::Imu::ConstPtr &msg)
 IMU callback.
 
+

Constructor & Destructor Documentation

+ +

◆ MSCEqFRos()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
MSCEqFRos::MSCEqFRos (const ros::NodeHandle & nh,
const std::string & msceqf_config_filepath,
const std::string & imu_topic,
const std::string & cam_topic,
const std::string & pose_topic,
const std::string & path_topic,
const std::string & image_topic,
const std::string & extrinsics_topic,
const std::string & intrinsics_topic,
const std::string & origin_topic,
const bool & record,
const std::string & bagfile )
+
+ +

Constructor.

+
Parameters
+ + + + + + + + + + + + +
RosROS node handle
msceqf_config_filepathPath of configuration yaml file for the msceqf
imu_topicIMU topic
cam_topicCamera topic
pose_topicPose topic
path_topicPath topic
image_topicImage topic
extrinsics_topicExtrinsics topic
intrinsics_topicIntrinsics topic
recordFlag to decide wether record a bagfile or not
bagfileBagfile name
+
+
+ +
+
+

Member Function Documentation

+ +

◆ callback_image()

+ +
+
+ + + + + + + +
void MSCEqFRos::callback_image (const sensor_msgs::Image::ConstPtr & msg)
+
+ +

Image callback.

+
Parameters
+ + +
Messagemessage constant pointer
+
+
+ +
+
+ +

◆ callback_imu()

+ +
+
+ + + + + + + +
void MSCEqFRos::callback_imu (const sensor_msgs::Imu::ConstPtr & msg)
+
+ +

IMU callback.

+
Parameters
+ + +
Messagemessage constant pointer
+
+
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/class_m_s_c_eq_f_ros.js b/class_m_s_c_eq_f_ros.js new file mode 100644 index 0000000..6d56246 --- /dev/null +++ b/class_m_s_c_eq_f_ros.js @@ -0,0 +1,6 @@ +var class_m_s_c_eq_f_ros = +[ + [ "MSCEqFRos", "class_m_s_c_eq_f_ros.html#a982967b357cb43548ab7a2e78536daa4", null ], + [ "callback_image", "class_m_s_c_eq_f_ros.html#abab3928b6c09f7a3c580c30c5eef0d45", null ], + [ "callback_imu", "class_m_s_c_eq_f_ros.html#aa2340b07b206b75ffd4e4fdeee562942", null ] +]; \ No newline at end of file diff --git a/classes.html b/classes.html new file mode 100644 index 0000000..6aa3a70 --- /dev/null +++ b/classes.html @@ -0,0 +1,164 @@ + + + + + + + +MSCEqF: Class Index + + + + + + + + + + + + + + + +
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MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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Class Index
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B | C | E | F | G | I | L | M | O | P | R | S | T | U | V | Z
+
+
+
B
+
BiasState (msceqf)
+
+
C
+
Camera (msceqf)
CameraExtrinsicState (msceqf)
CameraIntrinsicState (msceqf)
CameraOptions (msceqf)
Checker (msceqf)
CheckerOptions (msceqf)
+
+
E
+
EquidistantCamera (msceqf)
ExtendedPoseState (msceqf)
+
+
F
+
FastOptions (msceqf)
FeatHelper (msceqf)
Features (msceqf)
FeatureState (msceqf)
+
+
G
+
GFTTOptions (msceqf)
+
+
I
+
Imu (msceqf)
InitializerOptions (msceqf)
InsertionOrderedMap (utils)
is_streamable (utils)
is_streamable< S, C, decltype(void(std::declval< S & >()<< std::declval< C const & >()))> (utils)
+
+
L
+
Logger (utils)
+
+
M
+
MSCEqF (msceqf)
MSCEqFInState (msceqf)
MSCEqFOptions (msceqf)
MSCEqFRos
MSCEqFSDBState (msceqf)
MSCEqFSE3State (msceqf)
MSCEqFSOT3State (msceqf)
MSCEqFState (msceqf)
MSCEqFStateElement (msceqf)
+
+
O
+
OptionParser (msceqf)
+
+
P
+
PinholeCamera (msceqf)
ProjectionHelper (msceqf)
ProjectionHelperS2 (msceqf)
ProjectionHelperZ1 (msceqf)
Propagator (msceqf)
PropagatorOptions (msceqf)
+
+
R
+
RadtanCamera (msceqf)
+
+
S
+
StateOptions (msceqf)
StaticInitializer (msceqf)
Symmetry (msceqf)
SystemState (msceqf)
SystemStateElement (msceqf)
+
+
T
+
Track (msceqf)
Tracker (msceqf)
TrackerOptions (msceqf)
TrackManager (msceqf)
TrackManagerOptions (msceqf)
TriangulatedFeatures (msceqf)
+
+
U
+
Updater (msceqf)
UpdaterHelper (msceqf)
UpdaterOptions (msceqf)
+
+
V
+
Visualizer (msceqf)
+
+
Z
+
ZeroVelocityUpdater (msceqf)
ZeroVelocityUpdaterOptions (msceqf)
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+
+
+ + + + diff --git a/classmsceqf_1_1_checker-members.html b/classmsceqf_1_1_checker-members.html new file mode 100644 index 0000000..0ee5a03 --- /dev/null +++ b/classmsceqf_1_1_checker-members.html @@ -0,0 +1,118 @@ + + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
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MSCEqF 1.0 +
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Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::Checker Member List
+
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+ +

This is the complete list of members for msceqf::Checker, including all inherited members.

+ + + +
Checker(const CheckerOptions &opts)msceqf::Checker
disparityCheck(const Tracks &tracks) constmsceqf::Checker
+
+ + + + diff --git a/classmsceqf_1_1_checker.html b/classmsceqf_1_1_checker.html new file mode 100644 index 0000000..618479d --- /dev/null +++ b/classmsceqf_1_1_checker.html @@ -0,0 +1,199 @@ + + + + + + + +MSCEqF: msceqf::Checker Class Reference + + + + + + + + + + + + + + + +
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MSCEqF 1.0 +
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Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::Checker Class Reference
+
+
+ +

Simple class to perform various checks. + More...

+ +

#include <checker.hpp>

+ + + + + + + + +

+Public Member Functions

 Checker (const CheckerOptions &opts)
 Checker constructor.
 
bool disparityCheck (const Tracks &tracks) const
 Perform disparity check on given tracks.
 
+

Detailed Description

+

Simple class to perform various checks.

+

Constructor & Destructor Documentation

+ +

◆ Checker()

+ +
+
+ + + + + + + +
msceqf::Checker::Checker (const CheckerOptions & opts)
+
+ +

Checker constructor.

+
Parameters
+ + +
optschecker options
+
+
+ +
+
+

Member Function Documentation

+ +

◆ disparityCheck()

+ +
+
+ + + + + +
+ + + + + + + +
bool msceqf::Checker::disparityCheck (const Tracks & tracks) const
+ 		+nodiscard
+
+ +

Perform disparity check on given tracks.

+
Parameters
+ + +
trackstracks up to date used for disparity check
+
+
+
Returns
true if disparity check succeed (diparity above threshold), false if no disparity is detected (disparity below threshold)
+
Note
This method checks only tracks that are as long as the first track. This ideally should avoid to use newly detected/tracked features corresponding to temporary objects moving in front of the camera
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/classmsceqf_1_1_checker.js b/classmsceqf_1_1_checker.js new file mode 100644 index 0000000..ca14619 --- /dev/null +++ b/classmsceqf_1_1_checker.js @@ -0,0 +1,5 @@ +var classmsceqf_1_1_checker = +[ + [ "Checker", "classmsceqf_1_1_checker.html#a7b5b818584c855a09faed1cde6f78a6c", null ], + [ "disparityCheck", "classmsceqf_1_1_checker.html#ae352383ab698870d55cd3244f2f1e031", null ] +]; \ No newline at end of file diff --git a/classmsceqf_1_1_m_s_c_eq_f-members.html b/classmsceqf_1_1_m_s_c_eq_f-members.html new file mode 100644 index 0000000..7e20810 --- /dev/null +++ b/classmsceqf_1_1_m_s_c_eq_f-members.html @@ -0,0 +1,131 @@ + + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
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MSCEqF 1.0 +
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Multi State Constraint Equivariant Filter for visual inertial navigation
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This is the complete list of members for msceqf::MSCEqF, including all inherited members.

+ + + + + + + + + + + + + + + + +
coreCovariance() constmsceqf::MSCEqF
covariance() constmsceqf::MSCEqF
imageWithTracks(const Camera &cam) constmsceqf::MSCEqF
isInit() constmsceqf::MSCEqF
MSCEqF(const std::string &params_filepath)msceqf::MSCEqF
options() constmsceqf::MSCEqF
processMeasurement(const Imu &meas)msceqf::MSCEqFinline
processMeasurement(Camera &meas)msceqf::MSCEqFinline
processMeasurement(TriangulatedFeatures &meas)msceqf::MSCEqFinline
setGivenOrigin(const SE23 &T0, const Vector6 &b0, const fp &timestamp)msceqf::MSCEqF
stateEstimate() constmsceqf::MSCEqF
stateOptions() constmsceqf::MSCEqF
stateOrigin() constmsceqf::MSCEqF
visualizeImageWithTracks(const Camera &cam) constmsceqf::MSCEqF
zvuPerformed() constmsceqf::MSCEqF
+
+ + + + diff --git a/classmsceqf_1_1_m_s_c_eq_f.html b/classmsceqf_1_1_m_s_c_eq_f.html new file mode 100644 index 0000000..432b6a7 --- /dev/null +++ b/classmsceqf_1_1_m_s_c_eq_f.html @@ -0,0 +1,572 @@ + + + + + + + +MSCEqF: msceqf::MSCEqF Class Reference + + + + + + + + + + + + + + + +
+
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+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::MSCEqF Class Reference
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+Public Member Functions

 MSCEqF (const std::string &params_filepath)
 MSCEqF Constructor.
 
void processMeasurement (const Imu &meas)
 Process IMU measurement.
 
void processMeasurement (Camera &meas)
 Process camera measurement.
 
void processMeasurement (TriangulatedFeatures &meas)
 Process triangulated features measurement.
 
const MSCEqFOptions & options () const
 Get a constant reference to the MSCEqF options.
 
const StateOptions & stateOptions () const
 Get a constant reference to the MSCEqF state options.
 
const MatrixX & covariance () const
 Get a constant reference to the covariance matrix of the MSCEqF state.
 
const MatrixX coreCovariance () const
 Get the covariance of the navigation states (D, delta)
 
const SystemState & stateEstimate () const
 Get a constant reference to the estimated state.
 
const SystemState & stateOrigin () const
 Get a constant reference to the origin state.
 
void setGivenOrigin (const SE23 &T0, const Vector6 &b0, const fp &timestamp)
 Set origin xi0 with given state programatically.
 
const cv::Mat3b imageWithTracks (const Camera &cam) const
 Get the processed image with overlayed tracks.
 
void visualizeImageWithTracks (const Camera &cam) const
 Visualize the processed image with overlayed tracks.
 
const bool & isInit () const
 Check if the filter is initialized.
 
const bool & zvuPerformed () const
 Check if a zero velocity update has been performed.
 
+

Constructor & Destructor Documentation

+ +

◆ MSCEqF()

+ +
+
+ + + + + + + +
msceqf::MSCEqF::MSCEqF (const std::string & params_filepath)
+
+ +

MSCEqF Constructor.

+
Parameters
+ + +
params_filepathfilepath of the parameter file to be parsed
+
+
+ +
+
+

Member Function Documentation

+ +

◆ coreCovariance()

+ +
+
+ + + + + + + +
const MatrixX msceqf::MSCEqF::coreCovariance () const
+
+ +

Get the covariance of the navigation states (D, delta)

+
Returns
Covariance matrix of the navigation states
+ +
+
+ +

◆ covariance()

+ +
+
+ + + + + + + +
const MatrixX & msceqf::MSCEqF::covariance () const
+
+ +

Get a constant reference to the covariance matrix of the MSCEqF state.

+
Returns
Covariance matrix
+ +
+
+ +

◆ imageWithTracks()

+ +
+
+ + + + + + + +
const cv::Mat3b msceqf::MSCEqF::imageWithTracks (const Camera & cam) const
+
+ +

Get the processed image with overlayed tracks.

+
Returns
OpenCV matrix representing the image with overlayed tracks
+ +
+
+ +

◆ isInit()

+ +
+
+ + + + + +
+ + + + + + + +
const bool & msceqf::MSCEqF::isInit () const
+ 		+nodiscard
+
+ +

Check if the filter is initialized.

+
Returns
true if the filter is initialized, false otherwise
+ +
+
+ +

◆ options()

+ +
+
+ + + + + + + +
const MSCEqFOptions & msceqf::MSCEqF::options () const
+
+ +

Get a constant reference to the MSCEqF options.

+
Returns
Options
+ +
+
+ +

◆ processMeasurement() [1/3]

+ +
+
+ + + + + +
+ + + + + + + +
void msceqf::MSCEqF::processMeasurement (Camera & meas)
+ 		+inline
+
+ +

Process camera measurement.

+
Parameters
+ + +
measCamera measurement
+
+
+ +
+
+ +

◆ processMeasurement() [2/3]

+ +
+
+ + + + + +
+ + + + + + + +
void msceqf::MSCEqF::processMeasurement (const Imu & meas)
+ 		+inline
+
+ +

Process IMU measurement.

+
Parameters
+ + +
measIMU measurement
+
+
+ +
+
+ +

◆ processMeasurement() [3/3]

+ +
+
+ + + + + +
+ + + + + + + +
void msceqf::MSCEqF::processMeasurement (TriangulatedFeatures & meas)
+ 		+inline
+
+ +

Process triangulated features measurement.

+
Parameters
+ + +
measTriangulated features measurement
+
+
+ +
+
+ +

◆ setGivenOrigin()

+ +
+
+ + + + + + + + + + + + + + + + +
void msceqf::MSCEqF::setGivenOrigin (const SE23 & T0,
const Vector6 & b0,
const fp & timestamp )
+
+ +

Set origin xi0 with given state programatically.

+
Parameters
+ + + + +
T0Origin extended pose
b0Origin bias
timestampinitial timestamp
+
+
+
+Here is the caller graph for this function:
+
+
+ + + + + +
+ +
+
+ +

◆ stateEstimate()

+ +
+
+ + + + + + + +
const SystemState & msceqf::MSCEqF::stateEstimate () const
+
+ +

Get a constant reference to the estimated state.

+
Returns
System state (homogeneous space element) reperesenting the state estimate
+ +
+
+ +

◆ stateOptions()

+ +
+
+ + + + + + + +
const StateOptions & msceqf::MSCEqF::stateOptions () const
+
+ +

Get a constant reference to the MSCEqF state options.

+
Returns
State options
+ +
+
+ +

◆ stateOrigin()

+ +
+
+ + + + + + + +
const SystemState & msceqf::MSCEqF::stateOrigin () const
+
+ +

Get a constant reference to the origin state.

+
Returns
System state (homogeneous space element) reperesenting the state origin
+ +
+
+ +

◆ visualizeImageWithTracks()

+ +
+
+ + + + + + + +
void msceqf::MSCEqF::visualizeImageWithTracks (const Camera & cam) const
+
+ +

Visualize the processed image with overlayed tracks.

+
Parameters
+ + +
camCamera measurement
+
+
+ +
+
+ +

◆ zvuPerformed()

+ +
+
+ + + + + +
+ + + + + + + +
const bool & msceqf::MSCEqF::zvuPerformed () const
+ 		+nodiscard
+
+ +

Check if a zero velocity update has been performed.

+
Returns
true if the a zero velocity update has been performed, false otherwise
+
+Here is the call graph for this function:
+
+
+ + + + + +
+ +
+
+
The documentation for this class was generated from the following file: +
+
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Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::MSCEqFState Member List
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This is the complete list of members for msceqf::MSCEqFState, including all inherited members.

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B() constmsceqf::MSCEqFState
C() constmsceqf::MSCEqFState
clone(const fp &timestamp) constmsceqf::MSCEqFState
clonesSize() constmsceqf::MSCEqFStateinline
cloneTimestampToMarginalize() constmsceqf::MSCEqFState
cov() constmsceqf::MSCEqFState
covBlock(const MSCEqFKey &key) constmsceqf::MSCEqFState
D() constmsceqf::MSCEqFState
delta() constmsceqf::MSCEqFState
dof(const MSCEqFKey &key) constmsceqf::MSCEqFState
E() constmsceqf::MSCEqFState
index(const MSCEqFKey &key) constmsceqf::MSCEqFState
initializeStateElement(const MSCEqFStateKey &key, const MatrixX &cov_block)msceqf::MSCEqFState
L() constmsceqf::MSCEqFState
marginalizeCloneAt(const fp &timestamp)msceqf::MSCEqFState
MSCEqFClonesMap typedefmsceqf::MSCEqFState
MSCEqFKey typedefmsceqf::MSCEqFState
MSCEqFState()=deletemsceqf::MSCEqFState
MSCEqFState(const StateOptions &opts, const SystemState &xi0)msceqf::MSCEqFState
MSCEqFState(const MSCEqFState &other)msceqf::MSCEqFState
MSCEqFState(MSCEqFState &&other) noexcept (defined in msceqf::MSCEqFState)msceqf::MSCEqFState
MSCEqFStateKey typedefmsceqf::MSCEqFState
MSCEqFStateMap typedefmsceqf::MSCEqFState
operator*(const MSCEqFState &other) constmsceqf::MSCEqFState
operator=(const MSCEqFState &other) (defined in msceqf::MSCEqFState)msceqf::MSCEqFState
operator=(MSCEqFState &&other) noexcept (defined in msceqf::MSCEqFState)msceqf::MSCEqFState
opts() constmsceqf::MSCEqFStateinline
Propagator classmsceqf::MSCEqFStatefriend
Q(const uint &feat_id) constmsceqf::MSCEqFState
Random() constmsceqf::MSCEqFState
stochasticCloning(const fp &timestamp)msceqf::MSCEqFState
subCov(const std::vector< MSCEqFKey > &keys) constmsceqf::MSCEqFState
subCovCols(const std::vector< MSCEqFKey > &keys) constmsceqf::MSCEqFState
Symmetry classmsceqf::MSCEqFStatefriend
toString(const MSCEqFStateKey &key)msceqf::MSCEqFStatestatic
Updater classmsceqf::MSCEqFStatefriend
ZeroVelocityUpdater classmsceqf::MSCEqFStatefriend
~MSCEqFState() (defined in msceqf::MSCEqFState)msceqf::MSCEqFState
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+ + + + diff --git a/classmsceqf_1_1_m_s_c_eq_f_state.html b/classmsceqf_1_1_m_s_c_eq_f_state.html new file mode 100644 index 0000000..bbdc01b --- /dev/null +++ b/classmsceqf_1_1_m_s_c_eq_f_state.html @@ -0,0 +1,1002 @@ + + + + + + + +MSCEqF: msceqf::MSCEqFState Class Reference + + + + + + + + + + + + + + + +
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MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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+Public Types | +Public Member Functions | +Static Public Member Functions | +Friends | +List of all members
+
msceqf::MSCEqFState Class Reference
+
+
+ +

this class represent the state of the MSCEqF. This includes the state of the lifted system (element of the symmetry group) and the covariance. + More...

+ +

#include <state.hpp>

+ + + + + + + + + + + + + + +

+Public Types

+using MSCEqFStateKey = std::variant<MSCEqFStateElementName, uint>
 Key to access the msceqf state map.
 
+using MSCEqFKey = std::variant<MSCEqFStateKey, fp>
 Key to access the msceqf state and clones map.
 
+using MSCEqFStateMap = std::unordered_map<MSCEqFStateKey, MSCEqFStateElementSharedPtr>
 MSCEqF state map.
 
+using MSCEqFClonesMap = std::map<fp, MSCEqFStateElementSharedPtr>
 MSCEqF clones map.
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ MSCEqFState ()=delete
 Deleted default constructor.
 
 MSCEqFState (const StateOptions &opts, const SystemState &xi0)
 Construct the state of the MSCEqF given the options.
 
+ MSCEqFState (const MSCEqFState &other)
 Rule of Five.
 
+ MSCEqFState (MSCEqFState &&other) noexcept
 
+MSCEqFState & operator= (const MSCEqFState &other)
 
+MSCEqFState & operator= (MSCEqFState &&other) noexcept
 
const SE23 & D () const
 Get a reference to the SE23 component of the Semi Direct Bias Group element of the MSCEqF state.
 
const SE3 B () const
 Get a copy of the SE3 component of the Semi Direct Bias Group element of the MSCEqF state that includes the rotational component (R) and the first isometry (v)
 
const SE3 C () const
 Get a copy of to the SE3 component of the Semi Direct Bias Group element of the MSCEqF state that includes the rotational component (R) and the second isometry (p)
 
const Vector6 & delta () const
 Get a reference to the R6 component of the Semi Direct Bias Group element of the MSCEqF state.
 
const SE3 & E () const
 Get a reference to the SE3 element of the MSCEqF state.
 
const In & L () const
 Get a reference to the In element of the MSCEqF state.
 
const SOT3 & Q (const uint &feat_id) const
 Get a reference to the SOT3 element of the MSCEqF state that correspond to the given feature id.
 
const SE3 & clone (const fp &timestamp) const
 Get a reference to the SE3 element of the MSCEqF clones that correspond to the given timestamp.
 
const uint & index (const MSCEqFKey &key) const
 Get a reference to the index of the state element or the clone element corresponding to the given key.
 
const uint & dof (const MSCEqFKey &key) const
 Get a reference to the dof of the state element or the clone element corresponding to the given key.
 
size_t clonesSize () const
 Get the amount of clones.
 
const fp & cloneTimestampToMarginalize () const
 Get the timestamp of the clone to marginalize. We implement our keyframing strategy here. So far we simply marginalize the oldest clone.
 
const MatrixX & cov () const
 Get a reference to the covariance matrix.
 
const MatrixX covBlock (const MSCEqFKey &key) const
 get a constant copy of the covariance block relative to the elements (states or clones) corresponding to the given keys.
 
const MatrixX subCov (const std::vector< MSCEqFKey > &keys) const
 Get a constant copy of the the covariance submatrix (including cross-correlations) constructed with covariance blocks relative to the elements (states or clones) corresponding to the given keys. The ordering of the covariance returned follows the ordering of the given keys.
 
const MatrixX subCovCols (const std::vector< MSCEqFKey > &keys) const
 Get a constant copy of the the covariance submatrix (including cross-correlations) constructed with covariance columns relative to the elements (states or clones) corresponding to the given keys. The ordering of the covariance returned follows the ordering of the given keys.
 
const StateOptions & opts () const
 Get the state options.
 
void initializeStateElement (const MSCEqFStateKey &key, const MatrixX &cov_block)
 Initialize MSCEqF state element into the state map, and the relative covariance block.
 
void stochasticCloning (const fp &timestamp)
 Augment the MSCEqF clones map with a new clone of the actual E element of the MSCEqF state. The new clone is mapped via the given timestamp.
 
void marginalizeCloneAt (const fp &timestamp)
 Marginalize out clone at a given timestamp.
 
const MSCEqFState Random () const
 Return a random MSCEqF state without changing this. This method *WILL NOT change the actual values of the state. This method WILL NOT initialize the covariance or the clones map for the returned state. This method will only initialize the state map with random values for the returned state.
 
const MSCEqFState operator* (const MSCEqFState &other) const
 operator* overloading for MSCEqFState. This function will perform the composition this * other for each element of the state map. This method will NOT perform any composition for the covariance matrix, and for the clones map.
 
+ + + + +

+Static Public Member Functions

static std::string toString (const MSCEqFStateKey &key)
 Get a string describing the given MSCEqFStateKey.
 
+ + + + + + + + + + + + + +

+Friends

+class Symmetry
 Symmetry can access private members of MSCEqFState.
 
+class Propagator
 Propagator can access private members of MSCEqFState.
 
+class Updater
 Updater can access private members of MSCEqFState.
 
+class ZeroVelocityUpdater
 Zero velocity updater can access private members of MSCEqFState.
 
+

Detailed Description

+

this class represent the state of the MSCEqF. This includes the state of the lifted system (element of the symmetry group) and the covariance.

+

Constructor & Destructor Documentation

+ +

◆ MSCEqFState()

+ +
+
+ + + + + + + + + + + +
msceqf::MSCEqFState::MSCEqFState (const StateOptions & opts,
const SystemState & xi0 )
+
+ +

Construct the state of the MSCEqF given the options.

+
Parameters
+ + + +
optsOptions of the MSCEqF state
xi0Origin
+
+
+
Note
The MSCEqF state has not to be confused with the system state. The former is the state of the lifted system, in which the EqF is based on, while latter is the state of the system posed on the homogenous space. The given origin is needed to initialize cross-correlation whenever the origin is not identity.
+ +
+
+

Member Function Documentation

+ +

◆ B()

+ +
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const SE3 msceqf::MSCEqFState::B () const
+ 		+nodiscard
+
+ +

Get a copy of the SE3 component of the Semi Direct Bias Group element of the MSCEqF state that includes the rotational component (R) and the first isometry (v)

+
Returns
SE3 group element representing the rotational component and the first isometry of the MSCEqF state
+
Note
This function does not introduce any runtime overhead due to casting, because it uses static_pointer_cast
+ +
+
+ +

◆ C()

+ +
+
+ + + + + +
+ + + + + + + +
const SE3 msceqf::MSCEqFState::C () const
+ 		+nodiscard
+
+ +

Get a copy of to the SE3 component of the Semi Direct Bias Group element of the MSCEqF state that includes the rotational component (R) and the second isometry (p)

+
Returns
SE3 group element representing the rotational component and the second isometry of the MSCEqF state
+
Note
This function does not introduce any runtime overhead due to casting, because it uses static_pointer_cast
+ +
+
+ +

◆ clone()

+ +
+
+ + + + + +
+ + + + + + + +
const SE3 & msceqf::MSCEqFState::clone (const fp & timestamp) const
+ 		+nodiscard
+
+ +

Get a reference to the SE3 element of the MSCEqF clones that correspond to the given timestamp.

+
Parameters
+ + +
timestampTimestamp
+
+
+
Returns
SE3 group element of the MSCEqF clones representing the element acting on the extrinsic calibration
+
Note
This function does not introduce any runtime overhead due to casting, because it uses static_pointer_cast
+ +
+
+ +

◆ clonesSize()

+ +
+
+ + + + + +
+ + + + + + + +
size_t msceqf::MSCEqFState::clonesSize () const
+ 		+inlinenodiscard
+
+ +

Get the amount of clones.

+
Returns
Number of clones
+ +
+
+ +

◆ cloneTimestampToMarginalize()

+ +
+
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+ + + + + + + +
const fp & msceqf::MSCEqFState::cloneTimestampToMarginalize () const
+ 		+nodiscard
+
+ +

Get the timestamp of the clone to marginalize. We implement our keyframing strategy here. So far we simply marginalize the oldest clone.

+
Returns
Timestamp of the clone to marginalize
+ +
+
+ +

◆ cov()

+ +
+
+ + + + + +
+ + + + + + + +
const MatrixX & msceqf::MSCEqFState::cov () const
+ 		+nodiscard
+
+ +

Get a reference to the covariance matrix.

+
Returns
Covariance matrix
+ +
+
+ +

◆ covBlock()

+ +
+
+ + + + + +
+ + + + + + + +
const MatrixX msceqf::MSCEqFState::covBlock (const MSCEqFKey & key) const
+ 		+nodiscard
+
+ +

get a constant copy of the covariance block relative to the elements (states or clones) corresponding to the given keys.

+
Parameters
+ + +
keyState element name, feature id or timestamp of clone
+
+
+
Returns
Block of the covariance matrix corresponding to the given key
+ +
+
+ +

◆ D()

+ +
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+ + + + + + + +
const SE23 & msceqf::MSCEqFState::D () const
+ 		+nodiscard
+
+ +

Get a reference to the SE23 component of the Semi Direct Bias Group element of the MSCEqF state.

+
Returns
SE23 group element of the MSCEqF state
+
Note
This function does not introduce any runtime overhead due to casting, because it uses static_pointer_cast
+ +
+
+ +

◆ delta()

+ +
+
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+ + + + + + + +
const Vector6 & msceqf::MSCEqFState::delta () const
+ 		+nodiscard
+
+ +

Get a reference to the R6 component of the Semi Direct Bias Group element of the MSCEqF state.

+
Returns
R6 group element of the MSCEqF state
+
Note
This function does not introduce any runtime overhead due to casting, because it uses static_pointer_cast
+ +
+
+ +

◆ dof()

+ +
+
+ + + + + +
+ + + + + + + +
const uint & msceqf::MSCEqFState::dof (const MSCEqFKey & key) const
+ 		+nodiscard
+
+ +

Get a reference to the dof of the state element or the clone element corresponding to the given key.

+
Parameters
+ + +
keyState element name, feature id or timestamp of clone
+
+
+
Returns
Degree of freedom of the state element or the clone element corresponding to the given key
+ +
+
+ +

◆ E()

+ +
+
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+ + + + + + + +
const SE3 & msceqf::MSCEqFState::E () const
+ 		+nodiscard
+
+ +

Get a reference to the SE3 element of the MSCEqF state.

+
Returns
SE3 group element of the MSCEqF state representing the element acting on the extrinsic calibration
+
Note
This function does not introduce any runtime overhead due to casting, because it uses static_pointer_cast
+ +
+
+ +

◆ index()

+ +
+
+ + + + + +
+ + + + + + + +
const uint & msceqf::MSCEqFState::index (const MSCEqFKey & key) const
+ 		+nodiscard
+
+ +

Get a reference to the index of the state element or the clone element corresponding to the given key.

+
Parameters
+ + +
keyState element name, feature id or timestamp of clone
+
+
+
Returns
Index of the state element or the clone element corresponding to the given key
+ +
+
+ +

◆ initializeStateElement()

+ +
+
+ + + + + + + + + + + +
void msceqf::MSCEqFState::initializeStateElement (const MSCEqFStateKey & key,
const MatrixX & cov_block )
+
+ +

Initialize MSCEqF state element into the state map, and the relative covariance block.

+
Parameters
+ + + +
keyState element name or feature id
cov_blockCorresponding blcok of the covariance matrix
+
+
+
Note
Note that the MSCEqF states are always initialized at the identity. This is correct since is xi0 that "controls" how close to ground truth these are.
+ +
+
+ +

◆ L()

+ +
+
+ + + + + +
+ + + + + + + +
const In & msceqf::MSCEqFState::L () const
+ 		+nodiscard
+
+ +

Get a reference to the In element of the MSCEqF state.

+
Returns
In group element of the MSCEqF state representing the element acting on the intrinsic calibration
+
Note
This function does not introduce any runtime overhead due to casting, because it uses static_pointer_cast
+ +
+
+ +

◆ marginalizeCloneAt()

+ +
+
+ + + + + + + +
void msceqf::MSCEqFState::marginalizeCloneAt (const fp & timestamp)
+
+ +

Marginalize out clone at a given timestamp.

+
Parameters
+ + +
timestampTimestamp of the clone to marginalize
+
+
+ +
+
+ +

◆ operator*()

+ +
+
+ + + + + +
+ + + + + + + +
const MSCEqFState msceqf::MSCEqFState::operator* (const MSCEqFState & other) const
+ 		+nodiscard
+
+ +

operator* overloading for MSCEqFState. This function will perform the composition this * other for each element of the state map. This method will NOT perform any composition for the covariance matrix, and for the clones map.

+
Parameters
+ + +
otherMSCEqF state
+
+
+
Returns
MSCEqF state
+
Note
THIS IS MEANT TO BE AN HELPER FUNCTION FOR DEBUG/TESTING
+ +
+
+ +

◆ opts()

+ +
+
+ + + + + +
+ + + + + + + +
const StateOptions & msceqf::MSCEqFState::opts () const
+ 		+inlinenodiscard
+
+ +

Get the state options.

+
Returns
State options
+ +
+
+ +

◆ Q()

+ +
+
+ + + + + +
+ + + + + + + +
const SOT3 & msceqf::MSCEqFState::Q (const uint & feat_id) const
+ 		+nodiscard
+
+ +

Get a reference to the SOT3 element of the MSCEqF state that correspond to the given feature id.

+
Parameters
+ + +
feat_idFeature id
+
+
+
Returns
SOT3 group element of the MSCEqF state representing the element acting on the feature
+
Note
This function does not introduce any runtime overhead due to casting, because it uses static_pointer_cast
+ +
+
+ +

◆ Random()

+ +
+
+ + + + + +
+ + + + + + + +
const MSCEqFState msceqf::MSCEqFState::Random () const
+ 		+nodiscard
+
+ +

Return a random MSCEqF state without changing this. This method *WILL NOT change the actual values of the state. This method WILL NOT initialize the covariance or the clones map for the returned state. This method will only initialize the state map with random values for the returned state.

+
Returns
MSCEqF state
+
Note
THIS IS MEANT TO BE AN HELPER FUNCTION FOR DEBUG/TESTING
+ +
+
+ +

◆ stochasticCloning()

+ +
+
+ + + + + + + +
void msceqf::MSCEqFState::stochasticCloning (const fp & timestamp)
+
+ +

Augment the MSCEqF clones map with a new clone of the actual E element of the MSCEqF state. The new clone is mapped via the given timestamp.

+
Parameters
+ + +
timestampTimestamp of the new clone
+
+
+ +
+
+ +

◆ subCov()

+ +
+
+ + + + + +
+ + + + + + + +
const MatrixX msceqf::MSCEqFState::subCov (const std::vector< MSCEqFKey > & keys) const
+ 		+nodiscard
+
+ +

Get a constant copy of the the covariance submatrix (including cross-correlations) constructed with covariance blocks relative to the elements (states or clones) corresponding to the given keys. The ordering of the covariance returned follows the ordering of the given keys.

+
Parameters
+ + +
keysVector of state elements name, feature id or timestamp of clone
+
+
+
Returns
Stacked blocks of the covariance matrix corresponding to the given keys including cross-correlations
+ +
+
+ +

◆ subCovCols()

+ +
+
+ + + + + +
+ + + + + + + +
const MatrixX msceqf::MSCEqFState::subCovCols (const std::vector< MSCEqFKey > & keys) const
+ 		+nodiscard
+
+ +

Get a constant copy of the the covariance submatrix (including cross-correlations) constructed with covariance columns relative to the elements (states or clones) corresponding to the given keys. The ordering of the covariance returned follows the ordering of the given keys.

+
Parameters
+ + +
keysVector of state elements name, feature id or timestamp of clone
+
+
+
Returns
Stacked columns of the covariance matrix corresponding to the given keys including cross-correlations
+ +
+
+ +

◆ toString()

+ +
+
+ + + + + +
+ + + + + + + +
static std::string msceqf::MSCEqFState::toString (const MSCEqFStateKey & key)
+ 		+static
+
+ +

Get a string describing the given MSCEqFStateKey.

+
Parameters
+ + +
keyState element name or feature id
+
+
+
Returns
Key as string
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/classmsceqf_1_1_m_s_c_eq_f_state.js b/classmsceqf_1_1_m_s_c_eq_f_state.js new file mode 100644 index 0000000..78b14c0 --- /dev/null +++ b/classmsceqf_1_1_m_s_c_eq_f_state.js @@ -0,0 +1,36 @@ +var classmsceqf_1_1_m_s_c_eq_f_state = +[ + [ "MSCEqFClonesMap", "classmsceqf_1_1_m_s_c_eq_f_state.html#aaacdfe3336e1bfaea66ea4a34b380660", null ], + [ "MSCEqFKey", "classmsceqf_1_1_m_s_c_eq_f_state.html#a6571b3bd28273d40c214ebd495fbc8b5", null ], + [ "MSCEqFStateKey", "classmsceqf_1_1_m_s_c_eq_f_state.html#a0a0e82d009caba522b4cd9bb54277f33", null ], + [ "MSCEqFStateMap", "classmsceqf_1_1_m_s_c_eq_f_state.html#a1ae0771ee7b8b3d7c90dccb15ff45898", null ], + [ "MSCEqFState", "classmsceqf_1_1_m_s_c_eq_f_state.html#afec7530ecddab98b45948a2820ce59d6", null ], + [ "MSCEqFState", "classmsceqf_1_1_m_s_c_eq_f_state.html#a587407b4418bb38c79ed0ca0c63254ac", null ], + [ "MSCEqFState", "classmsceqf_1_1_m_s_c_eq_f_state.html#a934d93f3e3fccc098fdd05bceda29858", null ], + [ "B", "classmsceqf_1_1_m_s_c_eq_f_state.html#a2ba8e8aa0d8fac30959ad516098a7c15", null ], + [ "C", "classmsceqf_1_1_m_s_c_eq_f_state.html#a07ca6f8a7c48f784c5c9641fb7ef4f69", null ], + [ "clone", "classmsceqf_1_1_m_s_c_eq_f_state.html#a8b38b0d21df9ae3a07bbaaca7daf6f7b", null ], + [ "clonesSize", "classmsceqf_1_1_m_s_c_eq_f_state.html#ad63c4591dfbba61f680c92bbe6b327a1", null ], + [ "cloneTimestampToMarginalize", "classmsceqf_1_1_m_s_c_eq_f_state.html#ab74dc134ababe6a2914a703746fe2879", null ], + [ "cov", "classmsceqf_1_1_m_s_c_eq_f_state.html#a19c6f21068871bbd9bc1cd725284487a", null ], + [ "covBlock", "classmsceqf_1_1_m_s_c_eq_f_state.html#a88df644cc8a6c623020128e2b1266c25", null ], + [ "D", "classmsceqf_1_1_m_s_c_eq_f_state.html#a71b238cde922261accd48f8269817d4c", null ], + [ "delta", "classmsceqf_1_1_m_s_c_eq_f_state.html#aa46141f5f1104a05a627fdd6370f9a9b", null ], + [ "dof", "classmsceqf_1_1_m_s_c_eq_f_state.html#a60595205c41950307960c6666c78c63c", null ], + [ "E", "classmsceqf_1_1_m_s_c_eq_f_state.html#a57d02c2929be3bb2b0d38a3dd8b13569", null ], + [ "index", "classmsceqf_1_1_m_s_c_eq_f_state.html#a396d28ac19c3de4d5912f328d68048ea", null ], + [ "initializeStateElement", "classmsceqf_1_1_m_s_c_eq_f_state.html#a9a8dffcf54ed656e0e6e82a07608532b", null ], + [ "L", "classmsceqf_1_1_m_s_c_eq_f_state.html#a22cbea48d7ddf2508d3f5249616616ce", null ], + [ "marginalizeCloneAt", "classmsceqf_1_1_m_s_c_eq_f_state.html#aa4c997fa07b165c6ea942a6e1b725e08", null ], + [ "operator*", "classmsceqf_1_1_m_s_c_eq_f_state.html#a2ed5779e4d4df55eb0a3be4f6f6375b4", null ], + [ "opts", "classmsceqf_1_1_m_s_c_eq_f_state.html#a5e24084e77a9ff5469afe48e17db7c9b", null ], + [ "Q", "classmsceqf_1_1_m_s_c_eq_f_state.html#a65fcd0fe59fb233ddb207d2afab5136c", null ], + [ "Random", "classmsceqf_1_1_m_s_c_eq_f_state.html#a3cb9682d076eae9b1463a2dbdaa5d2f4", null ], + [ "stochasticCloning", "classmsceqf_1_1_m_s_c_eq_f_state.html#a40572c524f1776af3f2b213d73d9f257", null ], + [ "subCov", "classmsceqf_1_1_m_s_c_eq_f_state.html#ad14329a60c17ff014c1940da434df263", null ], + [ "subCovCols", "classmsceqf_1_1_m_s_c_eq_f_state.html#a43759d5a32ac4133e7a30a4faa8620ac", null ], + [ "Propagator", "classmsceqf_1_1_m_s_c_eq_f_state.html#a9d01c82a7038a8c986c6b15c15b2e631", null ], + [ "Symmetry", "classmsceqf_1_1_m_s_c_eq_f_state.html#a41706e12d68690130eaf013ca5aa311b", null ], + [ "Updater", "classmsceqf_1_1_m_s_c_eq_f_state.html#a263621696f00d0fefadbd6b1b52da6b5", null ], + [ "ZeroVelocityUpdater", "classmsceqf_1_1_m_s_c_eq_f_state.html#ad4f72ce3a5f4c9e1de3b516ac2a76d05", null ] +]; \ No newline at end of file diff --git a/classmsceqf_1_1_m_s_c_eq_f_state_element-members.html b/classmsceqf_1_1_m_s_c_eq_f_state_element-members.html new file mode 100644 index 0000000..8ed4867 --- /dev/null +++ b/classmsceqf_1_1_m_s_c_eq_f_state_element-members.html @@ -0,0 +1,131 @@ + + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::MSCEqFStateElement Member List
+
+
+ +

This is the complete list of members for msceqf::MSCEqFStateElement, including all inherited members.

+ + + + + + + + + + + + + + + + +
clone() const =0msceqf::MSCEqFStateElementpure virtual
dof_msceqf::MSCEqFStateElementprotected
getDof()msceqf::MSCEqFStateElementinline
getIndex()msceqf::MSCEqFStateElementinline
idx_msceqf::MSCEqFStateElementprotected
MSCEqFStateElement()=deletemsceqf::MSCEqFStateElementprotected
MSCEqFStateElement(const MSCEqFStateElement &)=default (defined in msceqf::MSCEqFStateElement)msceqf::MSCEqFStateElementprotected
MSCEqFStateElement(MSCEqFStateElement &&)=default (defined in msceqf::MSCEqFStateElement)msceqf::MSCEqFStateElementprotected
MSCEqFStateElement(const uint &idx, const uint &dof)msceqf::MSCEqFStateElementinlineprotected
operator=(const MSCEqFStateElement &)=default (defined in msceqf::MSCEqFStateElement)msceqf::MSCEqFStateElementprotected
operator=(MSCEqFStateElement &&)=default (defined in msceqf::MSCEqFStateElement)msceqf::MSCEqFStateElementprotected
updateIndex(const uint &new_idx)msceqf::MSCEqFStateElementinline
updateLeft(const VectorX &delta)=0msceqf::MSCEqFStateElementpure virtual
updateRight(const VectorX &delta)=0msceqf::MSCEqFStateElementpure virtual
~MSCEqFStateElement()=default (defined in msceqf::MSCEqFStateElement)msceqf::MSCEqFStateElementvirtual
+
+ + + + diff --git a/classmsceqf_1_1_m_s_c_eq_f_state_element.html b/classmsceqf_1_1_m_s_c_eq_f_state_element.html new file mode 100644 index 0000000..6a6929a --- /dev/null +++ b/classmsceqf_1_1_m_s_c_eq_f_state_element.html @@ -0,0 +1,434 @@ + + + + + + + +MSCEqF: msceqf::MSCEqFStateElement Class Reference + + + + + + + + + + + + + + + +
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+ + + + + + + +
+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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+Public Member Functions | +Protected Member Functions | +Protected Attributes | +List of all members
+
msceqf::MSCEqFStateElement Class Referenceabstract
+
+
+ +

This class represent the base class for a general element of the MSCEqF state. This include the index of the variable (index in the residual, and in the covariance), and the degrees of freedom. + More...

+ +

#include <state_elements.hpp>

+
+Inheritance diagram for msceqf::MSCEqFStateElement:
+
+
Inheritance graph
+ + + + + + + + + + + +
[legend]
+ + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

const uint & getIndex ()
 Get the starting index of the state element in the residual, and in the covariance.
 
const uint & getDof ()
 Get the degrees of freedom of the state element (dimension of relative covariance and residual block)
 
void updateIndex (const uint &new_idx)
 Update index.
 
virtual void updateRight (const VectorX &delta)=0
 update function to update the value of the state element by right multiplication
 
virtual void updateLeft (const VectorX &delta)=0
 update function to update the value of the state element by left multiplication
 
virtual std::unique_ptr< MSCEqFStateElement > clone () const =0
 Clone.
 
+ + + + + + + + + + + + + + + +

+Protected Member Functions

+ MSCEqFStateElement ()=delete
 Rule of Five.
 
+ MSCEqFStateElement (const MSCEqFStateElement &)=default
 
+ MSCEqFStateElement (MSCEqFStateElement &&)=default
 
+MSCEqFStateElement & operator= (const MSCEqFStateElement &)=default
 
+MSCEqFStateElement & operator= (MSCEqFStateElement &&)=default
 
 MSCEqFStateElement (const uint &idx, const uint &dof)
 Construct a MSCEqFStateElement object.
 
+ + + + + + + +

+Protected Attributes

+uint idx_
 Starting index of the element in the residual, and in the covariance.
 
+uint dof_
 Degrees of freedom of the element (dimension of relative covariance and residual block)
 
+

Detailed Description

+

This class represent the base class for a general element of the MSCEqF state. This include the index of the variable (index in the residual, and in the covariance), and the degrees of freedom.

+
Note
Type-based index system inspired by: Geneva, Patrick, et al. "Openvins: A research platform for visual-inertial +estimation." 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE,
    +
  1. https://ieeexplore.ieee.org/document/9196524
    2. +
+
+

Constructor & Destructor Documentation

+ +

◆ MSCEqFStateElement()

+ +
+
+ + + + + +
+ + + + + + + + + + + +
msceqf::MSCEqFStateElement::MSCEqFStateElement (const uint & idx,
const uint & dof )
+ 		+inlineprotected
+
+ +

Construct a MSCEqFStateElement object.

+
Parameters
+ + + +
idxStarting index of the element in the residual, and in the covariance
dofDegrees of freedom of the element (dimension of relative covariance and residual block)
+
+
+ +
+
+

Member Function Documentation

+ +

◆ clone()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::unique_ptr< MSCEqFStateElement > msceqf::MSCEqFStateElement::clone () const
+ 		+pure virtual
+
+ +

Clone.

+
Returns
Cloned element
+ +

Implemented in msceqf::MSCEqFInState, msceqf::MSCEqFSDBState, msceqf::MSCEqFSE3State, and msceqf::MSCEqFSOT3State.

+ +
+
+ +

◆ getDof()

+ +
+
+ + + + + +
+ + + + + + + +
const uint & msceqf::MSCEqFStateElement::getDof ()
+ 		+inlinenodiscard
+
+ +

Get the degrees of freedom of the state element (dimension of relative covariance and residual block)

+
Returns
Degrees of freedom
+ +
+
+ +

◆ getIndex()

+ +
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+ + + + + +
+ + + + + + + +
const uint & msceqf::MSCEqFStateElement::getIndex ()
+ 		+inlinenodiscard
+
+ +

Get the starting index of the state element in the residual, and in the covariance.

+
Returns
Starting index
+ +
+
+ +

◆ updateIndex()

+ +
+
+ + + + + +
+ + + + + + + +
void msceqf::MSCEqFStateElement::updateIndex (const uint & new_idx)
+ 		+inline
+
+ +

Update index.

+
Parameters
+ + +
new_idxNew index
+
+
+ +
+
+ +

◆ updateLeft()

+ +
+
+ + + + + +
+ + + + + + + +
virtual void msceqf::MSCEqFStateElement::updateLeft (const VectorX & delta)
+ 		+pure virtual
+
+ +

update function to update the value of the state element by left multiplication

+
Parameters
+ + +
deltaDelta value to update with
+
+
+ +

Implemented in msceqf::MSCEqFInState, msceqf::MSCEqFSDBState, msceqf::MSCEqFSE3State, and msceqf::MSCEqFSOT3State.

+ +
+
+ +

◆ updateRight()

+ +
+
+ + + + + +
+ + + + + + + +
virtual void msceqf::MSCEqFStateElement::updateRight (const VectorX & delta)
+ 		+pure virtual
+
+ +

update function to update the value of the state element by right multiplication

+
Parameters
+ + +
deltaDelta value to update with
+
+
+ +

Implemented in msceqf::MSCEqFInState, msceqf::MSCEqFSDBState, msceqf::MSCEqFSE3State, and msceqf::MSCEqFSOT3State.

+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/classmsceqf_1_1_m_s_c_eq_f_state_element.js b/classmsceqf_1_1_m_s_c_eq_f_state_element.js new file mode 100644 index 0000000..6dd2805 --- /dev/null +++ b/classmsceqf_1_1_m_s_c_eq_f_state_element.js @@ -0,0 +1,13 @@ +var classmsceqf_1_1_m_s_c_eq_f_state_element = +[ + [ "MSCEqFStateElement", "classmsceqf_1_1_m_s_c_eq_f_state_element.html#a7ec47e75578d8cc1c87a3a63a13abeec", null ], + [ "MSCEqFStateElement", "classmsceqf_1_1_m_s_c_eq_f_state_element.html#acd4ce57105c76dbef374f0ea282dddb3", null ], + [ "clone", "classmsceqf_1_1_m_s_c_eq_f_state_element.html#a494c18ed513e08d5ef8939e1242551a5", null ], + [ "getDof", "classmsceqf_1_1_m_s_c_eq_f_state_element.html#a7441186a74539dc0b7ba6e0a61b8ec3b", null ], + [ "getIndex", "classmsceqf_1_1_m_s_c_eq_f_state_element.html#a53882d76f6e925923c1f8b7678e525a1", null ], + [ "updateIndex", "classmsceqf_1_1_m_s_c_eq_f_state_element.html#a529dd668cc095fb064ce315536cbe49f", null ], + [ "updateLeft", "classmsceqf_1_1_m_s_c_eq_f_state_element.html#a954034d163f3b9c87ba2fdb9fd505ed9", null ], + [ "updateRight", "classmsceqf_1_1_m_s_c_eq_f_state_element.html#a5a9d827886bbe93e86a422aef4ad868b", null ], + [ "dof_", "classmsceqf_1_1_m_s_c_eq_f_state_element.html#ab8dd7e06eb85c24c497aa25871465a71", null ], + [ "idx_", "classmsceqf_1_1_m_s_c_eq_f_state_element.html#a237a7c1dcdf475facb6ee2a8e08f2970", null ] +]; \ No newline at end of file diff --git a/classmsceqf_1_1_m_s_c_eq_f_state_element__inherit__graph.map b/classmsceqf_1_1_m_s_c_eq_f_state_element__inherit__graph.map new file mode 100644 index 0000000..8e60709 --- /dev/null +++ b/classmsceqf_1_1_m_s_c_eq_f_state_element__inherit__graph.map @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/classmsceqf_1_1_m_s_c_eq_f_state_element__inherit__graph.md5 b/classmsceqf_1_1_m_s_c_eq_f_state_element__inherit__graph.md5 new file mode 100644 index 0000000..9dcc9a2 --- /dev/null +++ b/classmsceqf_1_1_m_s_c_eq_f_state_element__inherit__graph.md5 @@ -0,0 +1 @@ +2fa18cf951022b1b608c9b5d4ff39fbb \ No newline at end of file diff --git a/classmsceqf_1_1_m_s_c_eq_f_state_element__inherit__graph.png b/classmsceqf_1_1_m_s_c_eq_f_state_element__inherit__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..8da3d9219586c42ecafecc2e06f6a24cd854cfe7 GIT binary patch literal 18615 zcmaL91yEIM_%FNxK|~Y@DJ7&+QaY7RL8Q9`Bow8Q5K#mHr5h0`>6Q-Z?vj!YY3cf& zb?*G<-udp#ox>av_TFo)H=gHLuOA<)$lkyq$3dY`H{|7{)KMt3TKN7aHWvIpA@!pK z{DEbvC@Y1!ME?6)lM#+WQKRIgBsE+U{!Y2+KOH_f+UXVYq2|tH3Va)5W<%U#5hIA6 zzJwC+=a-bLSyb-cjlZ!}`d4e|LA=K2>L}fwMHGvFTvTy{fJM(+!Yt;t*FA1t-qg!) zx$oYPHmNbn-*Zf^8Pz@2@xTc6*eX55QXb^}zrHBxew1MJ@orq)rlg$4wbGn;X{Bp; z^XARMWY699Vc}c{y|4zWIL$Jqw6{Lxio!RQJ6UOI=kbj%6Guirst%UWJk2*0ebo`c ze2_-*A)TI)aj!>s>ukdrm;P2zx^-N-DCg@rh(6B*yuYT;%@_J^MQTOIsRXx6$r^hEXcgv$Nrr+d_c$iq1{*zysQ zlXo=Fo(({?*_NFGOC^nt9;o*cRhVX0R;^Ocs zGG41&rO!t#&rkM6cH3zGju*Fv>1*X1cGvr2ka3%1!_R321!K9)S_<6uEG@g^EOeHu z-S%F*c+p0p8qS~`_*YBKX?-~RYW+yA-nDDjn4RzF3?_GVDJ6MdxGnW02BoH&ec6~& z(Sad7eJCZ>^!+0tqoo|#i^Y!HXbTgi&!wXj<>YSZ>FMq4?0nf@A6?etvmT(c9!w7w z5ET3v&~~u#JME!API<|Axq}gzxL0*RfPUp``MVSpi}4P%?OJe45766uF|N|xyC;c~ zS5~gs@X~ow4ue_rdUe3`cTu`{R#p~zTO_Mipxu^phb}EMvpfwA%|c7+zs(pinDg8w zHpA+e;%B{%e;P3l{*FI_$BGeg;|?NbH-!%$%2e}nnRfdS_ux7D_RQr)^wVrj6JGLb z*x0lFB!&egkufoC&ywHBsH+pGiXGEko{ZM9$@11+UI_C%>sf#qE3q99+nI0G3t=K4 zAUHbP>#cabN-$OFG!IXYtOY!=Ba{!NsQazkxBY{IZ~Xdz$H>BhLp{SQVQfsT7=1rY zuiQS$tuu<PJ>s)hC#fv}a4B;Pt{uD?^OeEvCzl(g#4{=eC zgOW30mrZ^02R2Q+i=D?y@eXpz%4ske)w><6LpeId^+nPfRUXoK_Wdwy31V;Jt`RaA zbH|eM*^*{!<)^=#Z}~e@m%NRAzC06)^3`(=GRF&fSZupS#SU%2Bq4@jv@AkicO+7vLXI|&k*Gp*TX#2LCqtCW| zp-m9?PP$1Uq}?HMvXXk`>ea#8Hy-Z$Yt3D;Jg}&!l9G~mZO3l4$!q88mEV8iaf6hz zUi~IDHMNgQqR`^0?R0fTo7Zj4@~`XR6{l8ELH8V`D2 zUJWU!_c!h^_+7;-W9w{d`wTPImS<2!M@J_m^NG|%$9aG4=}RZ4$jnTp&a9p}6~?8c zH6nbsg)g!TAE>-;;eW|`lF@OUqni46nO$+hT36|tQ)jpH{n0doDrZwp((kX9dmOiC zCGqiB2QxxHQ3#ifIiYhqOp72(V)uCNCi)8(3 zS2dKN%VxsU^NQntiy;)kbPNnF>MqB-i|Xa}Q|O(&PF!<-~25q9Tz)9 z4#vz#aj`lN^;2a-m#8j}u2ND`iX1P5zuuaj;uhlK;`#zBNW0_Y=!g@RC(7$|gCAQGj=g`2y(&{aH2I(W^fp+`6O%=mchQg{5!OCv{B7iXx(7M)RCFf*Q=`Gz%t>Vai; zzX!_f^rqh&8id>xeCX;bfPsZOJ8IoCKMqNVQTt4$f!x>;6zU(sOK zF2WkMohbPT8|dXq-#xL@zdW$vD%|(I^YviXW??FjWfpjwm4K8~4%YTw>GI}gPlDj9 zpRZTdYmc?^^eg5`F)%Pz2hy&?y)7T@%!{1=8~i(6^SkJ5K2&_EFXd6xlM>X8JACG6 zM>|(AG12<6wKz@=Had^@miK}gx_f$-N=FUnp>CDa@7!)_Z_koCjXaF7Hyru5Y)LEg z3E3a8je?`t^@`q{9z2x&3=_0T|0Wo^iuz6$Pwy>C%8(BquEHw(?y@xdg@o%Lcrta+QOuNdN-O$jG*M2glGn!*C&p>!!U|G z6vG%+T}=1Ve~S*D>A$IQg;nl$F#c@3+Koph^-Du+#KPjX=pgF6vF=uCJ@{Uy*m9@wItSb(R1Lk9{BEQ5j5cv zmu`LN|C?gc@#LR%C+ar-mxTp$D1XU|r?6Bkwx(;MwydqKi=OpT%FD?W;5t@R)Ic$i z*VWba#h`HhJEk@(Y6>tV98d&TtkT@p76;%TQ(kh5`Ig`)NeXDPMK9-NkOpkwKA5f? 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Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::OptionParser Member List
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This is the complete list of members for msceqf::OptionParser, including all inherited members.

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OptionParser(const std::string &filepath)msceqf::OptionParser
parseOptions()msceqf::OptionParser
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+ + + + diff --git a/classmsceqf_1_1_option_parser.html b/classmsceqf_1_1_option_parser.html new file mode 100644 index 0000000..5fea2f5 --- /dev/null +++ b/classmsceqf_1_1_option_parser.html @@ -0,0 +1,177 @@ + + + + + + + +MSCEqF: msceqf::OptionParser Class Reference + + + + + + + + + + + + + + + +
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MSCEqF 1.0 +
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Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::OptionParser Class Reference
+
+
+ + + + + + + + +

+Public Member Functions

 OptionParser (const std::string &filepath)
 Option parser constructor.
 
MSCEqFOptions parseOptions ()
 Parse oprion and create MSCEqFOptions struct.
 
+

Constructor & Destructor Documentation

+ +

◆ OptionParser()

+ +
+
+ + + + + + + +
msceqf::OptionParser::OptionParser (const std::string & filepath)
+
+ +

Option parser constructor.

+
Parameters
+ + +
filepathParameter file
+
+
+ +
+
+

Member Function Documentation

+ +

◆ parseOptions()

+ +
+
+ + + + + + + +
MSCEqFOptions msceqf::OptionParser::parseOptions ()
+
+ +

Parse oprion and create MSCEqFOptions struct.

+
Returns
MSCEqFOptions
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/classmsceqf_1_1_option_parser.js b/classmsceqf_1_1_option_parser.js new file mode 100644 index 0000000..50ec5df --- /dev/null +++ b/classmsceqf_1_1_option_parser.js @@ -0,0 +1,5 @@ +var classmsceqf_1_1_option_parser = +[ + [ "OptionParser", "classmsceqf_1_1_option_parser.html#a8f797dbe136a1aa8399ed6f7279b92c0", null ], + [ "parseOptions", "classmsceqf_1_1_option_parser.html#a045e263acada6289b9d331c689b0e7b5", null ] +]; \ No newline at end of file diff --git a/classmsceqf_1_1_pinhole_camera-members.html b/classmsceqf_1_1_pinhole_camera-members.html new file mode 100644 index 0000000..44f9ac0 --- /dev/null +++ b/classmsceqf_1_1_pinhole_camera-members.html @@ -0,0 +1,141 @@ + + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::PinholeCamera Member List
+
+
+ +

This is the complete list of members for msceqf::PinholeCamera, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + +
denormalize(std::vector< Eigen::Vector2f > &uv)msceqf::PinholeCamera
denormalize(std::vector< cv::Point2f > &uv)msceqf::PinholeCamera
denormalize(Eigen::Vector2f &uv)msceqf::PinholeCamera
denormalize(cv::Point2f &uv)msceqf::PinholeCamera
distortion_coefficients_msceqf::PinholeCameraprotected
distortionCoefficients() constmsceqf::PinholeCamera
height_msceqf::PinholeCameraprotected
intrinsics() constmsceqf::PinholeCamera
intrinsics_msceqf::PinholeCameraprotected
normalize(std::vector< Eigen::Vector2f > &uv)msceqf::PinholeCamera
normalize(std::vector< cv::Point2f > &uv)msceqf::PinholeCamera
normalize(Eigen::Vector2f &uv)msceqf::PinholeCamera
normalize(cv::Point2f &uv)msceqf::PinholeCamera
operator=(const PinholeCamera &)=delete (defined in msceqf::PinholeCamera)msceqf::PinholeCameraprotected
operator=(PinholeCamera &&)=delete (defined in msceqf::PinholeCamera)msceqf::PinholeCameraprotected
PinholeCamera(const VectorX &distortion_coefficients, const Vector4 instrinsics, const uint &width, const uint &height) (defined in msceqf::PinholeCamera)msceqf::PinholeCameraprotected
PinholeCamera()=deletemsceqf::PinholeCameraprotected
PinholeCamera(const PinholeCamera &)=delete (defined in msceqf::PinholeCamera)msceqf::PinholeCameraprotected
PinholeCamera(PinholeCamera &&)=delete (defined in msceqf::PinholeCamera)msceqf::PinholeCameraprotected
setIntrinsics(const Vector4 &intrinsics)msceqf::PinholeCamera
undistort(std::vector< Eigen::Vector2f > &uv, const bool &normalize=false)msceqf::PinholeCamera
undistort(std::vector< cv::Point2f > &uv_cv, const bool &normalize=false)=0msceqf::PinholeCamerapure virtual
undistortImage(const cv::Mat &image, cv::Mat &image_undistorted)=0msceqf::PinholeCamerapure virtual
width_msceqf::PinholeCameraprotected
~PinholeCamera()=default (defined in msceqf::PinholeCamera)msceqf::PinholeCameravirtual
+
+ + + + diff --git a/classmsceqf_1_1_pinhole_camera.html b/classmsceqf_1_1_pinhole_camera.html new file mode 100644 index 0000000..d2740bc --- /dev/null +++ b/classmsceqf_1_1_pinhole_camera.html @@ -0,0 +1,604 @@ + + + + + + + +MSCEqF: msceqf::PinholeCamera Class Reference + + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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+Public Member Functions | +Protected Member Functions | +Protected Attributes | +List of all members
+
msceqf::PinholeCamera Class Referenceabstract
+
+
+ +

This class represnt the base class for any pinhole camera type. + More...

+ +

#include <camera.hpp>

+
+Inheritance diagram for msceqf::PinholeCamera:
+
+
Inheritance graph
+ + + + + + + +
[legend]
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

void undistort (std::vector< Eigen::Vector2f > &uv, const bool &normalize=false)
 Undistort given distorted point in Eigen format (std::vector<Eigen::Vector2f>)
 
virtual void undistort (std::vector< cv::Point2f > &uv_cv, const bool &normalize=false)=0
 Undistort given distorted point in OpenCV format (std::vector<cv::Point2f>)
 
virtual void undistortImage (const cv::Mat &image, cv::Mat &image_undistorted)=0
 Undistort given image in openCV format (cv::Mat)
 
void normalize (std::vector< Eigen::Vector2f > &uv)
 Normalize multiple features uv coordinates in Eigen format (std::vector<Eigen::Vector2f>)
 
void normalize (std::vector< cv::Point2f > &uv)
 Normalize multiple features uv coordinates in OpenCV format (std::vector<cv::Point2f>)
 
void normalize (Eigen::Vector2f &uv)
 Normalize a single feature uv coordinates in Eigen format (Eigen::Vector2f)
 
void normalize (cv::Point2f &uv)
 Normalize multiple features uv coordinates in OpenCV format (cv::Point2f)
 
void denormalize (std::vector< Eigen::Vector2f > &uv)
 Denormalize multiple features uv coordinates in Eigen format (std::vector<Eigen::Vector2f>)
 
void denormalize (std::vector< cv::Point2f > &uv)
 Denormalize multiple features uv coordinates in OpenCV format (std::vector<cv::Point2f>)
 
void denormalize (Eigen::Vector2f &uv)
 Denormalize a single feature uv coordinates in Eigen format (Eigen::Vector2f)
 
void denormalize (cv::Point2f &uv)
 Denormalize multiple features uv coordinates in OpenCV format (cv::Point2f)
 
void setIntrinsics (const Vector4 &intrinsics)
 Set the value of the intrinsic parameters.
 
const Vector4 & intrinsics () const
 Get camera intrinsics parameter (fx, fy, cx, cy) as a 4 vector.
 
const VectorX & distortionCoefficients () const
 Get camera distortion coefficients (k1, k2, p1, p2, ...) as a vector.
 
+ + + + + + + + + + + + + + +

+Protected Member Functions

+ PinholeCamera (const VectorX &distortion_coefficients, const Vector4 instrinsics, const uint &width, const uint &height)
 
+ PinholeCamera ()=delete
 Rule of Five.
 
+ PinholeCamera (const PinholeCamera &)=delete
 
+ PinholeCamera (PinholeCamera &&)=delete
 
+PinholeCamera & operator= (const PinholeCamera &)=delete
 
+PinholeCamera & operator= (PinholeCamera &&)=delete
 
+ + + + + + + + + + + + + +

+Protected Attributes

+VectorX distortion_coefficients_
 Vector of distortion coefficients (k1, k2, p1, p2, ...)
 
+Vector4 intrinsics_
 Vector of intrinsic paramater (fx, fy, cx, cy)
 
+uint width_
 Image width.
 
+uint height_
 Image height.
 
+

Detailed Description

+

This class represnt the base class for any pinhole camera type.

+

Member Function Documentation

+ +

◆ denormalize() [1/4]

+ +
+
+ + + + + + + +
void msceqf::PinholeCamera::denormalize (cv::Point2f & uv)
+
+ +

Denormalize multiple features uv coordinates in OpenCV format (cv::Point2f)

+
Parameters
+ + +
uvuv coordinates
+
+
+ +
+
+ +

◆ denormalize() [2/4]

+ +
+
+ + + + + + + +
void msceqf::PinholeCamera::denormalize (Eigen::Vector2f & uv)
+
+ +

Denormalize a single feature uv coordinates in Eigen format (Eigen::Vector2f)

+
Parameters
+ + +
uvuv coordinates
+
+
+ +
+
+ +

◆ denormalize() [3/4]

+ +
+
+ + + + + + + +
void msceqf::PinholeCamera::denormalize (std::vector< cv::Point2f > & uv)
+
+ +

Denormalize multiple features uv coordinates in OpenCV format (std::vector<cv::Point2f>)

+
Parameters
+ + +
uvuv coordinates
+
+
+ +
+
+ +

◆ denormalize() [4/4]

+ +
+
+ + + + + + + +
void msceqf::PinholeCamera::denormalize (std::vector< Eigen::Vector2f > & uv)
+
+ +

Denormalize multiple features uv coordinates in Eigen format (std::vector<Eigen::Vector2f>)

+
Parameters
+ + +
uvuv coordinates
+
+
+ +
+
+ +

◆ distortionCoefficients()

+ +
+
+ + + + + + + +
const VectorX & msceqf::PinholeCamera::distortionCoefficients () const
+
+ +

Get camera distortion coefficients (k1, k2, p1, p2, ...) as a vector.

+
Returns
Vector of distortion coefficients (k1, k2, p1, p2, ...)
+ +
+
+ +

◆ intrinsics()

+ +
+
+ + + + + + + +
const Vector4 & msceqf::PinholeCamera::intrinsics () const
+
+ +

Get camera intrinsics parameter (fx, fy, cx, cy) as a 4 vector.

+
Returns
R4 vector representing the camera intrinsic parameters (fx, fy, cx, cy)
+ +
+
+ +

◆ normalize() [1/4]

+ +
+
+ + + + + + + +
void msceqf::PinholeCamera::normalize (cv::Point2f & uv)
+
+ +

Normalize multiple features uv coordinates in OpenCV format (cv::Point2f)

+
Parameters
+ + +
uvuv coordinates
+
+
+ +
+
+ +

◆ normalize() [2/4]

+ +
+
+ + + + + + + +
void msceqf::PinholeCamera::normalize (Eigen::Vector2f & uv)
+
+ +

Normalize a single feature uv coordinates in Eigen format (Eigen::Vector2f)

+
Parameters
+ + +
uvuv coordinates
+
+
+ +
+
+ +

◆ normalize() [3/4]

+ +
+
+ + + + + + + +
void msceqf::PinholeCamera::normalize (std::vector< cv::Point2f > & uv)
+
+ +

Normalize multiple features uv coordinates in OpenCV format (std::vector<cv::Point2f>)

+
Parameters
+ + +
uvuv coordinates
+
+
+ +
+
+ +

◆ normalize() [4/4]

+ +
+
+ + + + + + + +
void msceqf::PinholeCamera::normalize (std::vector< Eigen::Vector2f > & uv)
+
+ +

Normalize multiple features uv coordinates in Eigen format (std::vector<Eigen::Vector2f>)

+
Parameters
+ + +
uvuv coordinates
+
+
+ +
+
+ +

◆ setIntrinsics()

+ +
+
+ + + + + + + +
void msceqf::PinholeCamera::setIntrinsics (const Vector4 & intrinsics)
+
+ +

Set the value of the intrinsic parameters.

+
Parameters
+ + +
intrinsicsR4 vector representing the camera intrinsic parameters (fx, fy, cx, cy)
+
+
+ +
+
+ +

◆ undistort() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + +
virtual void msceqf::PinholeCamera::undistort (std::vector< cv::Point2f > & uv_cv,
const bool & normalize = false )
+ 		+pure virtual
+
+ +

Undistort given distorted point in OpenCV format (std::vector<cv::Point2f>)

+
Parameters
+ + + +
uv_cvuv coordinates
normalizeflag to decide wether normalize coordinates or not
+
+
+ +

Implemented in msceqf::EquidistantCamera, and msceqf::RadtanCamera.

+ +
+
+ +

◆ undistort() [2/2]

+ +
+
+ + + + + + + + + + + +
void msceqf::PinholeCamera::undistort (std::vector< Eigen::Vector2f > & uv,
const bool & normalize = false )
+
+ +

Undistort given distorted point in Eigen format (std::vector<Eigen::Vector2f>)

+
Parameters
+ + + +
uvuv coordinates
normalizeFlag to decide wether normalize coordinates or not
+
+
+ +
+
+ +

◆ undistortImage()

+ +
+
+ + + + + +
+ + + + + + + + + + + +
virtual void msceqf::PinholeCamera::undistortImage (const cv::Mat & image,
cv::Mat & image_undistorted )
+ 		+pure virtual
+
+ +

Undistort given image in openCV format (cv::Mat)

+
Parameters
+ + + +
imageImage to be undistorted
image_undistortedUndistorted image
+
+
+ +

Implemented in msceqf::EquidistantCamera, and msceqf::RadtanCamera.

+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/classmsceqf_1_1_pinhole_camera.js b/classmsceqf_1_1_pinhole_camera.js new file mode 100644 index 0000000..c80da27 --- /dev/null +++ b/classmsceqf_1_1_pinhole_camera.js @@ -0,0 +1,22 @@ +var classmsceqf_1_1_pinhole_camera = +[ + [ "PinholeCamera", "classmsceqf_1_1_pinhole_camera.html#a5868e865166a3cf4b67427caaed1eddb", null ], + [ "denormalize", "classmsceqf_1_1_pinhole_camera.html#af4918235c0ffab8adc1ca7231f19215b", null ], + [ "denormalize", "classmsceqf_1_1_pinhole_camera.html#ad772fe1e146f5094aa6110611ae748f6", null ], + [ "denormalize", "classmsceqf_1_1_pinhole_camera.html#a47eb22e8ca894ac475d799c4ae8fe36e", null ], + [ "denormalize", "classmsceqf_1_1_pinhole_camera.html#a94a994903a29fbdd86b06442fe44f0bb", null ], + [ "distortionCoefficients", "classmsceqf_1_1_pinhole_camera.html#a50d70d4232a386f6feef1db182d4d447", null ], + [ "intrinsics", "classmsceqf_1_1_pinhole_camera.html#a282aa4f8f7bc9d6044a52a9c811718d0", null ], + [ "normalize", "classmsceqf_1_1_pinhole_camera.html#a0ed3882ef9693cfb016e00890aefdb9f", null ], + [ "normalize", "classmsceqf_1_1_pinhole_camera.html#a95d95360114f2097275e7c3918d1d55e", null ], + [ "normalize", "classmsceqf_1_1_pinhole_camera.html#a889c70211a8a88fb8e8709fe95cbbce2", null ], + [ "normalize", "classmsceqf_1_1_pinhole_camera.html#a5175a8d0505b607ed1a234d1579bbdc1", null ], + [ "setIntrinsics", "classmsceqf_1_1_pinhole_camera.html#a0f35048114204c3577a67b60cf720555", null ], + [ "undistort", "classmsceqf_1_1_pinhole_camera.html#a00b6ab4337fd7db73e51eaac8d736632", null ], + [ "undistort", "classmsceqf_1_1_pinhole_camera.html#aac9dfa0d780e38b9aaf2afba4a834ecd", null ], + [ "undistortImage", "classmsceqf_1_1_pinhole_camera.html#a732c98908e5a69c70f001e39e1461b78", null ], + [ "distortion_coefficients_", "classmsceqf_1_1_pinhole_camera.html#af4b4a83ad80144eb2dabda3b8a79334c", null ], + [ "height_", "classmsceqf_1_1_pinhole_camera.html#a45e790baa7d185202bd128332b484006", null ], + [ "intrinsics_", "classmsceqf_1_1_pinhole_camera.html#ae8e0ea25ffc07d76f2692470b66c58a7", null ], + [ "width_", "classmsceqf_1_1_pinhole_camera.html#a780e1bd4774b8451af7af73bc34f76bc", null ] +]; \ No newline at end of file diff --git a/classmsceqf_1_1_pinhole_camera__inherit__graph.map b/classmsceqf_1_1_pinhole_camera__inherit__graph.map new file mode 100644 index 0000000..8477061 --- /dev/null +++ b/classmsceqf_1_1_pinhole_camera__inherit__graph.map @@ -0,0 +1,7 @@ + + + + + + + diff --git a/classmsceqf_1_1_pinhole_camera__inherit__graph.md5 b/classmsceqf_1_1_pinhole_camera__inherit__graph.md5 new file mode 100644 index 0000000..f6fb697 --- /dev/null +++ b/classmsceqf_1_1_pinhole_camera__inherit__graph.md5 @@ -0,0 +1 @@ +7824936e19d69124b8d960423f0f50d6 \ No newline at end of file diff --git a/classmsceqf_1_1_pinhole_camera__inherit__graph.png b/classmsceqf_1_1_pinhole_camera__inherit__graph.png new file mode 100644 index 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Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::ProjectionHelper Member List
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This is the complete list of members for msceqf::ProjectionHelper, including all inherited members.

+ + + + + + + + + + + + + + + +
block_rows() constmsceqf::ProjectionHelperinline
block_rows_msceqf::ProjectionHelperprotected
dim_loss() constmsceqf::ProjectionHelperinline
dim_loss_msceqf::ProjectionHelperprotected
dpi(const Vector3 &f)=0msceqf::ProjectionHelperpure virtual
feature_representation_msceqf::ProjectionHelperprotected
operator=(const ProjectionHelper &)=default (defined in msceqf::ProjectionHelper)msceqf::ProjectionHelperprotected
operator=(ProjectionHelper &&)=default (defined in msceqf::ProjectionHelper)msceqf::ProjectionHelperprotected
pi(const Vector3 &f)=0msceqf::ProjectionHelperpure virtual
ProjectionHelper(const FeatureRepresentation &feature_representation)msceqf::ProjectionHelperprotected
ProjectionHelper(const ProjectionHelper &)=default (defined in msceqf::ProjectionHelper)msceqf::ProjectionHelperprotected
ProjectionHelper(ProjectionHelper &&)=default (defined in msceqf::ProjectionHelper)msceqf::ProjectionHelperprotected
residualJacobianBlock(const MSCEqFState &X, const SystemState &xi0, const FeatHelper &feat, MatrixXBlockRowRef C_block_row, VectorXBlockRowRef delta_block_row, MatrixXBlockRowRef Cf_block_row, const ColsMap &cols_map)=0msceqf::ProjectionHelperpure virtual
~ProjectionHelper()=default (defined in msceqf::ProjectionHelper)msceqf::ProjectionHelpervirtual
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+Public Member Functions | +Protected Member Functions | +Protected Attributes | +List of all members
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msceqf::ProjectionHelper Class Referenceabstract
+
+
+ +

ProjectionHelper interface. This class provides an interface to the implementation of the projection function as well as its differential. + More...

+ +

#include <updater_helper.hpp>

+
+Inheritance diagram for msceqf::ProjectionHelper:
+
+
Inheritance graph
+ + + + + + + +
[legend]
+ + + + + + + + + + + + + + + + + +

+Public Member Functions

virtual Vector3 pi (const Vector3 &f)=0
 Projection function. This function projects a 3D point.
 
virtual MatrixX dpi (const Vector3 &f)=0
 Projection differential function. This function computes the differential of the projection function.
 
virtual void residualJacobianBlock (const MSCEqFState &X, const SystemState &xi0, const FeatHelper &feat, MatrixXBlockRowRef C_block_row, VectorXBlockRowRef delta_block_row, MatrixXBlockRowRef Cf_block_row, const ColsMap &cols_map)=0
 Computes a block row of the C matrix and a block of the residual, corresponding to the given feature This method compute the Ct matrix, the Cf matrix and the residual for a given feature.
 
const size_t & block_rows () const
 Get the number of rows of a C matrix block and a residual block.
 
const size_t & dim_loss () const
 Get the dimension lost due to nullspace projection.
 
+ + + + + + + + + + + + +

+Protected Member Functions

+ ProjectionHelper (const FeatureRepresentation &feature_representation)
 Rule of 5.
 
+ ProjectionHelper (const ProjectionHelper &)=default
 
+ ProjectionHelper (ProjectionHelper &&)=default
 
+ProjectionHelper & operator= (const ProjectionHelper &)=default
 
+ProjectionHelper & operator= (ProjectionHelper &&)=default
 
+ + + + + + + + + + +

+Protected Attributes

+FeatureRepresentation feature_representation_
 Feature representation.
 
+size_t block_rows_
 Number of rows of a C matrix block and a residual block.
 
+size_t dim_loss_
 Dimension lost due to nullspace projection.
 
+

Detailed Description

+

ProjectionHelper interface. This class provides an interface to the implementation of the projection function as well as its differential.

+

Member Function Documentation

+ +

◆ block_rows()

+ +
+
+ + + + + +
+ + + + + + + +
const size_t & msceqf::ProjectionHelper::block_rows () const
+ 		+inlinenodiscard
+
+ +

Get the number of rows of a C matrix block and a residual block.

+
Returns
rows of a single block of the C matrix and the residual
+ +
+
+ +

◆ dim_loss()

+ +
+
+ + + + + +
+ + + + + + + +
const size_t & msceqf::ProjectionHelper::dim_loss () const
+ 		+inlinenodiscard
+
+ +

Get the dimension lost due to nullspace projection.

+
Returns
dimension lost due to nullspace projection
+ +
+
+ +

◆ dpi()

+ +
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+ + + + + +
+ + + + + + + +
virtual MatrixX msceqf::ProjectionHelper::dpi (const Vector3 & f)
+ 		+nodiscardpure virtual
+
+ +

Projection differential function. This function computes the differential of the projection function.

+
Parameters
+ + +
f
+
+
+
Returns
Differential of the projection function
+ +

Implemented in msceqf::ProjectionHelperS2, and msceqf::ProjectionHelperZ1.

+ +
+
+ +

◆ pi()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Vector3 msceqf::ProjectionHelper::pi (const Vector3 & f)
+ 		+nodiscardpure virtual
+
+ +

Projection function. This function projects a 3D point.

+
Parameters
+ + +
f
+
+
+
Returns
R3 vector representing a 3D point
+ +

Implemented in msceqf::ProjectionHelperS2, and msceqf::ProjectionHelperZ1.

+ +
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+ +

◆ residualJacobianBlock()

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virtual void msceqf::ProjectionHelper::residualJacobianBlock (const MSCEqFState & X,
const SystemState & xi0,
const FeatHelper & feat,
MatrixXBlockRowRef C_block_row,
VectorXBlockRowRef delta_block_row,
MatrixXBlockRowRef Cf_block_row,
const ColsMap & cols_map )
+ 		+pure virtual
+
+ +

Computes a block row of the C matrix and a block of the residual, corresponding to the given feature This method compute the Ct matrix, the Cf matrix and the residual for a given feature.

+
Parameters
+ + + + + + + +
XMSCEqF state
featFeature helper
C_block_rowBlock row of the C matrix
delta_block_rowBlock of the residual delta
Cf_block_rowBlock of the Cf matrix
cols_mapMap of indices for the C matrix and the residual delta
+
+
+ +

Implemented in msceqf::ProjectionHelperS2, and msceqf::ProjectionHelperZ1.

+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/classmsceqf_1_1_projection_helper.js b/classmsceqf_1_1_projection_helper.js new file mode 100644 index 0000000..a637c68 --- /dev/null +++ b/classmsceqf_1_1_projection_helper.js @@ -0,0 +1,12 @@ +var classmsceqf_1_1_projection_helper = +[ + [ "ProjectionHelper", "classmsceqf_1_1_projection_helper.html#a5e04febec3b043a59995fa76d48c8f4c", null ], + [ "block_rows", "classmsceqf_1_1_projection_helper.html#a772f3460fab451ec75cea7bde3a5cf1d", null ], + [ "dim_loss", "classmsceqf_1_1_projection_helper.html#a5db4746cda6be4f465dc88d3cce68863", null ], + [ "dpi", "classmsceqf_1_1_projection_helper.html#a6a67252b227c043f901c7742aec9ad29", null ], + [ "pi", "classmsceqf_1_1_projection_helper.html#acf572fee6dd470f8b74152831a9066ad", null ], + [ "residualJacobianBlock", "classmsceqf_1_1_projection_helper.html#a6e5d693becca05644db55c84444491e2", null ], + [ "block_rows_", "classmsceqf_1_1_projection_helper.html#a4514958bb1cbd316db046c870f5096a9", null ], + [ "dim_loss_", "classmsceqf_1_1_projection_helper.html#a5ac595a77f1968b887c49e4635066b3a", null ], + [ "feature_representation_", "classmsceqf_1_1_projection_helper.html#a82ccba4a9cd4f53cd4b760e3f255050c", null ] +]; \ No newline at end of file diff --git a/classmsceqf_1_1_projection_helper__inherit__graph.map b/classmsceqf_1_1_projection_helper__inherit__graph.map new file mode 100644 index 0000000..0cc6475 --- /dev/null +++ b/classmsceqf_1_1_projection_helper__inherit__graph.map @@ -0,0 +1,7 @@ + + + + + + + diff --git a/classmsceqf_1_1_projection_helper__inherit__graph.md5 b/classmsceqf_1_1_projection_helper__inherit__graph.md5 new file mode 100644 index 0000000..ed64e85 --- /dev/null +++ b/classmsceqf_1_1_projection_helper__inherit__graph.md5 @@ -0,0 +1 @@ +4035a026d7db10e44e1eacc820205611 \ No newline at end of file diff --git a/classmsceqf_1_1_projection_helper__inherit__graph.png b/classmsceqf_1_1_projection_helper__inherit__graph.png new file mode 100644 index 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Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::ProjectionHelperS2 Member List
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This is the complete list of members for msceqf::ProjectionHelperS2, including all inherited members.

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block_rows() constmsceqf::ProjectionHelperinline
block_rows_msceqf::ProjectionHelperprotected
dim_loss() constmsceqf::ProjectionHelperinline
dim_loss_msceqf::ProjectionHelperprotected
dpi(const Vector3 &f) overridemsceqf::ProjectionHelperS2virtual
feature_representation_msceqf::ProjectionHelperprotected
operator=(const ProjectionHelper &)=default (defined in msceqf::ProjectionHelper)msceqf::ProjectionHelperprotected
operator=(ProjectionHelper &&)=default (defined in msceqf::ProjectionHelper)msceqf::ProjectionHelperprotected
pi(const Vector3 &f) overridemsceqf::ProjectionHelperS2virtual
ProjectionHelper(const FeatureRepresentation &feature_representation)msceqf::ProjectionHelperprotected
ProjectionHelper(const ProjectionHelper &)=default (defined in msceqf::ProjectionHelper)msceqf::ProjectionHelperprotected
ProjectionHelper(ProjectionHelper &&)=default (defined in msceqf::ProjectionHelper)msceqf::ProjectionHelperprotected
ProjectionHelperS2(const FeatureRepresentation &feature_representation) (defined in msceqf::ProjectionHelperS2)msceqf::ProjectionHelperS2inline
residualJacobianBlock(const MSCEqFState &X, const SystemState &xi0, const FeatHelper &feat, MatrixXBlockRowRef C_block_row, VectorXBlockRowRef delta_block_row, MatrixXBlockRowRef Cf_block_row, const ColsMap &cols_map) overridemsceqf::ProjectionHelperS2virtual
~ProjectionHelper()=default (defined in msceqf::ProjectionHelper)msceqf::ProjectionHelpervirtual
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Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::ProjectionHelperS2 Class Reference
+
+
+ +

ProjectionHelperS2 class. This class provides an implementation of the projection on the unit sphere as well as its differential. + More...

+ +

#include <updater_helper.hpp>

+
+Inheritance diagram for msceqf::ProjectionHelperS2:
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+Collaboration diagram for msceqf::ProjectionHelperS2:
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+Public Member Functions

+ ProjectionHelperS2 (const FeatureRepresentation &feature_representation)
 
Vector3 pi (const Vector3 &f) override
 Projection function. This function projects a 3D point on the unit sphere.
 
MatrixX dpi (const Vector3 &f) override
 Projection differential function. This function computes the differential of the projection function.
 
void residualJacobianBlock (const MSCEqFState &X, const SystemState &xi0, const FeatHelper &feat, MatrixXBlockRowRef C_block_row, VectorXBlockRowRef delta_block_row, MatrixXBlockRowRef Cf_block_row, const ColsMap &cols_map) override
 Computes a block row of the C matrix and a block of the residual, corresponding to the given feature This method compute the Ct matrix, the Cf matrix and the residual for a given feature.
 
- Public Member Functions inherited from msceqf::ProjectionHelper
const size_t & block_rows () const
 Get the number of rows of a C matrix block and a residual block.
 
const size_t & dim_loss () const
 Get the dimension lost due to nullspace projection.
 
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+Additional Inherited Members

- Protected Member Functions inherited from msceqf::ProjectionHelper
+ ProjectionHelper (const FeatureRepresentation &feature_representation)
 Rule of 5.
 
+ ProjectionHelper (const ProjectionHelper &)=default
 
+ ProjectionHelper (ProjectionHelper &&)=default
 
+ProjectionHelper & operator= (const ProjectionHelper &)=default
 
+ProjectionHelper & operator= (ProjectionHelper &&)=default
 
- Protected Attributes inherited from msceqf::ProjectionHelper
+FeatureRepresentation feature_representation_
 Feature representation.
 
+size_t block_rows_
 Number of rows of a C matrix block and a residual block.
 
+size_t dim_loss_
 Dimension lost due to nullspace projection.
 
+

Detailed Description

+

ProjectionHelperS2 class. This class provides an implementation of the projection on the unit sphere as well as its differential.

+

Member Function Documentation

+ +

◆ dpi()

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MatrixX msceqf::ProjectionHelperS2::dpi (const Vector3 & f)
+ 		+nodiscardoverridevirtual
+
+ +

Projection differential function. This function computes the differential of the projection function.

+
Parameters
+ + +
f
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+
+
Returns
Differential of the S2 projection function
+ +

Implements msceqf::ProjectionHelper.

+ +
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+ +

◆ pi()

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+ + + + + + + +
Vector3 msceqf::ProjectionHelperS2::pi (const Vector3 & f)
+ 		+nodiscardoverridevirtual
+
+ +

Projection function. This function projects a 3D point on the unit sphere.

+
Parameters
+ + +
f
+
+
+
Returns
R3 vector representing a 3D point on the unit sphere
+ +

Implements msceqf::ProjectionHelper.

+ +
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+ +

◆ residualJacobianBlock()

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void msceqf::ProjectionHelperS2::residualJacobianBlock (const MSCEqFState & X,
const SystemState & xi0,
const FeatHelper & feat,
MatrixXBlockRowRef C_block_row,
VectorXBlockRowRef delta_block_row,
MatrixXBlockRowRef Cf_block_row,
const ColsMap & cols_map )
+ 		+overridevirtual
+
+ +

Computes a block row of the C matrix and a block of the residual, corresponding to the given feature This method compute the Ct matrix, the Cf matrix and the residual for a given feature.

+
Parameters
+ + + + + + + +
XMSCEqF state
featFeature helper
C_block_rowBlock row of the C matrix
delta_block_rowBlock of the residual delta
Cf_block_rowBlock of the Cf matrix
cols_mapMap of indices for the C matrix and the residual delta
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+
+ +

Implements msceqf::ProjectionHelper.

+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/classmsceqf_1_1_projection_helper_s2.js b/classmsceqf_1_1_projection_helper_s2.js new file mode 100644 index 0000000..938f150 --- /dev/null +++ b/classmsceqf_1_1_projection_helper_s2.js @@ -0,0 +1,6 @@ +var classmsceqf_1_1_projection_helper_s2 = +[ + [ "dpi", "classmsceqf_1_1_projection_helper_s2.html#a0acd0d20cd2b4df21bcdc55d62d7bd10", null ], + [ "pi", "classmsceqf_1_1_projection_helper_s2.html#a4c351bcc3cf3d7941e9d620cc23ea7fa", null ], + [ "residualJacobianBlock", "classmsceqf_1_1_projection_helper_s2.html#a675fb8dc7bd5a8af52e7a9a86b54e0f8", null ] +]; \ No newline at end of file diff --git a/classmsceqf_1_1_projection_helper_s2__coll__graph.map b/classmsceqf_1_1_projection_helper_s2__coll__graph.map new file mode 100644 index 0000000..f227b6d --- /dev/null +++ b/classmsceqf_1_1_projection_helper_s2__coll__graph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/classmsceqf_1_1_projection_helper_s2__coll__graph.md5 b/classmsceqf_1_1_projection_helper_s2__coll__graph.md5 new file mode 100644 index 0000000..3a75320 --- /dev/null +++ b/classmsceqf_1_1_projection_helper_s2__coll__graph.md5 @@ -0,0 +1 @@ +06f1dcd79ff5300263a9227b1a32903c \ No newline at end of file diff --git a/classmsceqf_1_1_projection_helper_s2__coll__graph.png b/classmsceqf_1_1_projection_helper_s2__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..eeee6bd34ffdded934be625b8255acd315df7f78 GIT binary patch literal 5580 zcmcIoby$?|wjCu^Lhwh3l$3M|0@Bh52#9odcc*}&Qqti7D$?Bz0s_*4gftREgEUB; 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Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::ProjectionHelperZ1 Member List
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This is the complete list of members for msceqf::ProjectionHelperZ1, including all inherited members.

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block_rows() constmsceqf::ProjectionHelperinline
block_rows_msceqf::ProjectionHelperprotected
dim_loss() constmsceqf::ProjectionHelperinline
dim_loss_msceqf::ProjectionHelperprotected
dpi(const Vector3 &f) overridemsceqf::ProjectionHelperZ1virtual
feature_representation_msceqf::ProjectionHelperprotected
operator=(const ProjectionHelper &)=default (defined in msceqf::ProjectionHelper)msceqf::ProjectionHelperprotected
operator=(ProjectionHelper &&)=default (defined in msceqf::ProjectionHelper)msceqf::ProjectionHelperprotected
pi(const Vector3 &f) overridemsceqf::ProjectionHelperZ1virtual
ProjectionHelper(const FeatureRepresentation &feature_representation)msceqf::ProjectionHelperprotected
ProjectionHelper(const ProjectionHelper &)=default (defined in msceqf::ProjectionHelper)msceqf::ProjectionHelperprotected
ProjectionHelper(ProjectionHelper &&)=default (defined in msceqf::ProjectionHelper)msceqf::ProjectionHelperprotected
ProjectionHelperZ1(const FeatureRepresentation &feature_representation) (defined in msceqf::ProjectionHelperZ1)msceqf::ProjectionHelperZ1inline
residualJacobianBlock(const MSCEqFState &X, const SystemState &xi0, const FeatHelper &feat, MatrixXBlockRowRef C_block_row, VectorXBlockRowRef delta_block_row, MatrixXBlockRowRef Cf_block_row, const ColsMap &cols_map) overridemsceqf::ProjectionHelperZ1virtual
~ProjectionHelper()=default (defined in msceqf::ProjectionHelper)msceqf::ProjectionHelpervirtual
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+ + + + diff --git a/classmsceqf_1_1_projection_helper_z1.html b/classmsceqf_1_1_projection_helper_z1.html new file mode 100644 index 0000000..6230852 --- /dev/null +++ b/classmsceqf_1_1_projection_helper_z1.html @@ -0,0 +1,345 @@ + + + + + + + +MSCEqF: msceqf::ProjectionHelperZ1 Class Reference + + + + + + + + + + + + + + + +
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MSCEqF 1.0 +
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Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::ProjectionHelperZ1 Class Reference
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ProjectionHelperZ1 class. This class provides an implementation of the projection on the unit plane as well as its differential. + More...

+ +

#include <updater_helper.hpp>

+
+Inheritance diagram for msceqf::ProjectionHelperZ1:
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Inheritance graph
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+
+Collaboration diagram for msceqf::ProjectionHelperZ1:
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Collaboration graph
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+Public Member Functions

+ ProjectionHelperZ1 (const FeatureRepresentation &feature_representation)
 
Vector3 pi (const Vector3 &f) override
 Projection function. This function projects a 3D point on the unit plane.
 
MatrixX dpi (const Vector3 &f) override
 Projection differential function. This function computes the differential of the projection function.
 
void residualJacobianBlock (const MSCEqFState &X, const SystemState &xi0, const FeatHelper &feat, MatrixXBlockRowRef C_block_row, VectorXBlockRowRef delta_block_row, MatrixXBlockRowRef Cf_block_row, const ColsMap &cols_map) override
 Computes a block row of the C matrix and a block of the residual, corresponding to the given feature This method compute the Ct matrix, the Cf matrix and the residual for a given feature.
 
- Public Member Functions inherited from msceqf::ProjectionHelper
const size_t & block_rows () const
 Get the number of rows of a C matrix block and a residual block.
 
const size_t & dim_loss () const
 Get the dimension lost due to nullspace projection.
 
+ + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Protected Member Functions inherited from msceqf::ProjectionHelper
+ ProjectionHelper (const FeatureRepresentation &feature_representation)
 Rule of 5.
 
+ ProjectionHelper (const ProjectionHelper &)=default
 
+ ProjectionHelper (ProjectionHelper &&)=default
 
+ProjectionHelper & operator= (const ProjectionHelper &)=default
 
+ProjectionHelper & operator= (ProjectionHelper &&)=default
 
- Protected Attributes inherited from msceqf::ProjectionHelper
+FeatureRepresentation feature_representation_
 Feature representation.
 
+size_t block_rows_
 Number of rows of a C matrix block and a residual block.
 
+size_t dim_loss_
 Dimension lost due to nullspace projection.
 
+

Detailed Description

+

ProjectionHelperZ1 class. This class provides an implementation of the projection on the unit plane as well as its differential.

+

Member Function Documentation

+ +

◆ dpi()

+ +
+
+ + + + + +
+ + + + + + + +
MatrixX msceqf::ProjectionHelperZ1::dpi (const Vector3 & f)
+ 		+nodiscardoverridevirtual
+
+ +

Projection differential function. This function computes the differential of the projection function.

+
Parameters
+ + +
f
+
+
+
Returns
Differential of the Z1 projection function
+ +

Implements msceqf::ProjectionHelper.

+ +
+
+ +

◆ pi()

+ +
+
+ + + + + +
+ + + + + + + +
Vector3 msceqf::ProjectionHelperZ1::pi (const Vector3 & f)
+ 		+nodiscardoverridevirtual
+
+ +

Projection function. This function projects a 3D point on the unit plane.

+
Parameters
+ + +
f
+
+
+
Returns
R2 vector representing a 3D point on the unit plane
+ +

Implements msceqf::ProjectionHelper.

+ +
+
+ +

◆ residualJacobianBlock()

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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void msceqf::ProjectionHelperZ1::residualJacobianBlock (const MSCEqFState & X,
const SystemState & xi0,
const FeatHelper & feat,
MatrixXBlockRowRef C_block_row,
VectorXBlockRowRef delta_block_row,
MatrixXBlockRowRef Cf_block_row,
const ColsMap & cols_map )
+ 		+overridevirtual
+
+ +

Computes a block row of the C matrix and a block of the residual, corresponding to the given feature This method compute the Ct matrix, the Cf matrix and the residual for a given feature.

+
Parameters
+ + + + + + + +
XMSCEqF state
featFeature helper
C_block_rowBlock row of the C matrix
delta_block_rowBlock of the residual delta
Cf_block_rowBlock of the Cf matrix
cols_mapMap of indices for the C matrix and the residual delta
+
+
+ +

Implements msceqf::ProjectionHelper.

+ +
+
+
The documentation for this class was generated from the following file: +
+
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Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::Propagator Member List
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This is the complete list of members for msceqf::Propagator, including all inherited members.

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ImuBuffer typedefmsceqf::Propagator
insertImu(MSCEqFState &X, const SystemState &xi0, const Imu &imu, fp &timestamp)msceqf::Propagator
propagate(MSCEqFState &X, const SystemState &xi0, fp &timestamp, const fp &new_timestamp)msceqf::Propagator
Propagator(const PropagatorOptions &opts)msceqf::Propagator
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+ + + + diff --git a/classmsceqf_1_1_propagator.html b/classmsceqf_1_1_propagator.html new file mode 100644 index 0000000..4f938c9 --- /dev/null +++ b/classmsceqf_1_1_propagator.html @@ -0,0 +1,254 @@ + + + + + + + +MSCEqF: msceqf::Propagator Class Reference + + + + + + + + + + + + + + + +
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MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::Propagator Class Reference
+
+
+ + + + + +

+Public Types

+using ImuBuffer = std::deque<Imu>
 The Imu measurement buffer.
 
+ + + + + + + + + + +

+Public Member Functions

 Propagator (const PropagatorOptions &opts)
 Construct a Propagator object given the options.
 
void insertImu (MSCEqFState &X, const SystemState &xi0, const Imu &imu, fp &timestamp)
 insert a new IMU measurement into the imu buffer, if the given IMU measurement has a grater timestamp than the last measurement in the buffer.
 
bool propagate (MSCEqFState &X, const SystemState &xi0, fp &timestamp, const fp &new_timestamp)
 This function implements the mean and covariance propagation from timestamp to new_timestamp for the MSCEqF.
 
+

Constructor & Destructor Documentation

+ +

◆ Propagator()

+ +
+
+ + + + + + + +
msceqf::Propagator::Propagator (const PropagatorOptions & opts)
+
+ +

Construct a Propagator object given the options.

+
Parameters
+ + +
opts
+
+
+ +
+
+

Member Function Documentation

+ +

◆ insertImu()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + +
void msceqf::Propagator::insertImu (MSCEqFState & X,
const SystemState & xi0,
const Imu & imu,
fp & timestamp )
+
+ +

insert a new IMU measurement into the imu buffer, if the given IMU measurement has a grater timestamp than the last measurement in the buffer.

+
Parameters
+ + + + + +
XActual state estimate
xi0Origin
imuIMU measurement
timestampThe actual timestamp. If a propagation is triggered than the timestamp is updated
+
+
+
Note
This function triggers a propagation if the imu buffer reaches its max size. In such case all the entries of the imu buffer except the last one are deleted to avoid unbounded memory growth.
+ +
+
+ +

◆ propagate()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + +
bool msceqf::Propagator::propagate (MSCEqFState & X,
const SystemState & xi0,
fp & timestamp,
const fp & new_timestamp )
+
+ +

This function implements the mean and covariance propagation from timestamp to new_timestamp for the MSCEqF.

+
Parameters
+ + + + + +
XActual state estimate
xi0Origin
timestampIntegration period start time (actual state timestamp). This will be modified by the propagation
new_timestampIntegration period end time (new state timestamp)
+
+
+
Returns
true if propagation succeeded, false otherwise
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/classmsceqf_1_1_propagator.js b/classmsceqf_1_1_propagator.js new file mode 100644 index 0000000..2cfd127 --- /dev/null +++ b/classmsceqf_1_1_propagator.js @@ -0,0 +1,7 @@ +var classmsceqf_1_1_propagator = +[ + [ "ImuBuffer", "classmsceqf_1_1_propagator.html#a60ca36e107717ab32687f610d44e5494", null ], + [ "Propagator", "classmsceqf_1_1_propagator.html#a2e20b4a9aa97c3101b19833a7afacc41", null ], + [ "insertImu", "classmsceqf_1_1_propagator.html#a85447d7e988ac5bb6e9646929c0b3da9", null ], + [ "propagate", "classmsceqf_1_1_propagator.html#aaad9301ac9aec60ed75dbb0f662e2f36", null ] +]; \ No newline at end of file diff --git a/classmsceqf_1_1_static_initializer-members.html b/classmsceqf_1_1_static_initializer-members.html new file mode 100644 index 0000000..08a837a --- /dev/null +++ b/classmsceqf_1_1_static_initializer-members.html @@ -0,0 +1,123 @@ + + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
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+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::StaticInitializer Member List
+
+
+ +

This is the complete list of members for msceqf::StaticInitializer, including all inherited members.

+ + + + + + + + +
b0() constmsceqf::StaticInitializer
detectMotion(const Tracks &tracks)msceqf::StaticInitializer
ImuBuffer typedefmsceqf::StaticInitializer
initializeOrigin()msceqf::StaticInitializer
insertImu(const Imu &imu)msceqf::StaticInitializer
StaticInitializer(const InitializerOptions &opts, const Checker &checker)msceqf::StaticInitializer
T0() constmsceqf::StaticInitializer
+
+ + + + diff --git a/classmsceqf_1_1_static_initializer.html b/classmsceqf_1_1_static_initializer.html new file mode 100644 index 0000000..69e8ce1 --- /dev/null +++ b/classmsceqf_1_1_static_initializer.html @@ -0,0 +1,325 @@ + + + + + + + +MSCEqF: msceqf::StaticInitializer Class Reference + + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::StaticInitializer Class Reference
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+ + + + + +

+Public Types

+using ImuBuffer = std::deque<Imu>
 The Imu measurement buffer.
 
+ + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 StaticInitializer (const InitializerOptions &opts, const Checker &checker)
 StaticInitializer constructor.
 
void insertImu (const Imu &imu)
 Populate imu internal buffer used for acceleration check.
 
bool detectMotion (const Tracks &tracks)
 This function detects if the platform is moving based on acceleration measurements and image disparity.
 
bool initializeOrigin ()
 This fnctions collects a predefined window of IMU measurments and compute the roll and pitch fo the platform togheter with the IMU bias without waiting for motion.
 
const SE23 & T0 () const
 This function returns the initial Extended pose of the platform, to be used as origin.
 
const Vector6 & b0 () const
 This function returns the initial IMU bias, to be used as origin.
 
+

Constructor & Destructor Documentation

+ +

◆ StaticInitializer()

+ +
+
+ + + + + + + + + + + +
msceqf::StaticInitializer::StaticInitializer (const InitializerOptions & opts,
const Checker & checker )
+
+ +

StaticInitializer constructor.

+
Parameters
+ + + +
optsInitializer options
checkerRefernece to the MSCEqF checker
+
+
+ +
+
+

Member Function Documentation

+ +

◆ b0()

+ +
+
+ + + + + +
+ + + + + + + +
const Vector6 & msceqf::StaticInitializer::b0 () const
+ 		+nodiscard
+
+ +

This function returns the initial IMU bias, to be used as origin.

+
Returns
Initial IMU bias (gyroscope bias and accelerometer bias)
+ +
+
+ +

◆ detectMotion()

+ +
+
+ + + + + +
+ + + + + + + +
bool msceqf::StaticInitializer::detectMotion (const Tracks & tracks)
+ 		+nodiscard
+
+ +

This function detects if the platform is moving based on acceleration measurements and image disparity.

+
Parameters
+ + +
tracksTracks up to date used for disparity check
+
+
+
Returns
true if motion is detected, flase otherwise
+ +
+
+ +

◆ initializeOrigin()

+ +
+
+ + + + + +
+ + + + + + + +
bool msceqf::StaticInitializer::initializeOrigin ()
+ 		+nodiscard
+
+ +

This fnctions collects a predefined window of IMU measurments and compute the roll and pitch fo the platform togheter with the IMU bias without waiting for motion.

+
Returns
true if the initialization of the origin has succeedded, false otherwise
+ +
+
+ +

◆ insertImu()

+ +
+
+ + + + + + + +
void msceqf::StaticInitializer::insertImu (const Imu & imu)
+
+ +

Populate imu internal buffer used for acceleration check.

+
Parameters
+ + +
imuActual imu measurement
+
+
+ +
+
+ +

◆ T0()

+ +
+
+ + + + + +
+ + + + + + + +
const SE23 & msceqf::StaticInitializer::T0 () const
+ 		+nodiscard
+
+ +

This function returns the initial Extended pose of the platform, to be used as origin.

+
Returns
Initial extended pose of the platform (orientation, velocity and position)
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/classmsceqf_1_1_static_initializer.js b/classmsceqf_1_1_static_initializer.js new file mode 100644 index 0000000..fd8c691 --- /dev/null +++ b/classmsceqf_1_1_static_initializer.js @@ -0,0 +1,10 @@ +var classmsceqf_1_1_static_initializer = +[ + [ "ImuBuffer", "classmsceqf_1_1_static_initializer.html#aeb0f5be124a2f7c58485ec8be12b8e68", null ], + [ "StaticInitializer", "classmsceqf_1_1_static_initializer.html#abe3e0c8fcc63851184c8fb296d1cde61", null ], + [ "b0", "classmsceqf_1_1_static_initializer.html#a28a97008c469fd24d5bad902bd4637dc", null ], + [ "detectMotion", "classmsceqf_1_1_static_initializer.html#a962b4f00af698b6e9d5681a2387e4470", null ], + [ "initializeOrigin", "classmsceqf_1_1_static_initializer.html#a0ea57db9c8ffd6c456924aaf2ca02fa9", null ], + [ "insertImu", "classmsceqf_1_1_static_initializer.html#aeb636116cd6495e52fb93284be828f38", null ], + [ "T0", "classmsceqf_1_1_static_initializer.html#a6a483ed7576aae6b537d21308ddc7bba", null ] +]; \ No newline at end of file diff --git a/classmsceqf_1_1_symmetry-members.html b/classmsceqf_1_1_symmetry-members.html new file mode 100644 index 0000000..c404d17 --- /dev/null +++ b/classmsceqf_1_1_symmetry-members.html @@ -0,0 +1,120 @@ + + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
+
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+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::Symmetry Member List
+
+
+ +

This is the complete list of members for msceqf::Symmetry, including all inherited members.

+ + + + + +
curvatureCorrection(const MSCEqFState &X, const VectorX &inn)msceqf::Symmetrystatic
Dmsceqf::Symmetrystatic
lift(const SystemState &xi, const Imu &u)msceqf::Symmetrystatic
phi(const MSCEqFState &X, const SystemState &xi)msceqf::Symmetrystatic
+
+ + + + diff --git a/classmsceqf_1_1_symmetry.html b/classmsceqf_1_1_symmetry.html new file mode 100644 index 0000000..347a489 --- /dev/null +++ b/classmsceqf_1_1_symmetry.html @@ -0,0 +1,259 @@ + + + + + + + +MSCEqF: msceqf::Symmetry Class Reference + + + + + + + + + + + + + + + +
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+ + + + + + + +
+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::Symmetry Class Reference
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+
+ + + + + + + + + + + +

+Static Public Member Functions

static const SystemState phi (const MSCEqFState &X, const SystemState &xi)
 Implement the right group action phi of the symmetry group, acting on the homogenous space (phi(X, xi))
 
static const SystemState::SystemStateAlgebraMap lift (const SystemState &xi, const Imu &u)
 Implement the lift function. Lift the actual dynamics onto the symmetry group.
 
static const MatrixX curvatureCorrection (const MSCEqFState &X, const VectorX &inn)
 Return the Gamma matrix for the reset / curvature correction.
 
+ + + + +

+Static Public Attributes

+static const Matrix5 D
 The D matrix.
 
+

Member Function Documentation

+ +

◆ curvatureCorrection()

+ +
+
+ + + + + +
+ + + + + + + + + + + +
static const MatrixX msceqf::Symmetry::curvatureCorrection (const MSCEqFState & X,
const VectorX & inn )
+ 		+staticnodiscard
+
+ +

Return the Gamma matrix for the reset / curvature correction.

+
Parameters
+ + + +
XMSCEqF state (symmetry group element)
innInnovatiation vector
+
+
+
Returns
Gamma matrix
+ +
+
+ +

◆ lift()

+ +
+
+ + + + + +
+ + + + + + + + + + + +
static const SystemState::SystemStateAlgebraMap msceqf::Symmetry::lift (const SystemState & xi,
const Imu & u )
+ 		+staticnodiscard
+
+ +

Implement the lift function. Lift the actual dynamics onto the symmetry group.

+
Parameters
+ + + +
xiSystem state (homogenous space element)
uInput (Imu)
+
+
+
Returns
Input for the lifted system (Symmetry group Lie algebra element)
+ +
+
+ +

◆ phi()

+ +
+
+ + + + + +
+ + + + + + + + + + + +
static const SystemState msceqf::Symmetry::phi (const MSCEqFState & X,
const SystemState & xi )
+ 		+staticnodiscard
+
+ +

Implement the right group action phi of the symmetry group, acting on the homogenous space (phi(X, xi))

+
Parameters
+ + + +
XMSCEqF state (symmetry group element)
xiSystem state (homogenous space element)
+
+
+
Returns
System state (homogenous space element)
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/classmsceqf_1_1_system_state-members.html b/classmsceqf_1_1_system_state-members.html new file mode 100644 index 0000000..b843501 --- /dev/null +++ b/classmsceqf_1_1_system_state-members.html @@ -0,0 +1,139 @@ + + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
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MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::SystemState Member List
+
+
+ +

This is the complete list of members for msceqf::SystemState, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + +
b() constmsceqf::SystemState
f(const uint &feat_id) constmsceqf::SystemState
ge3() constmsceqf::SystemState
K() constmsceqf::SystemState
k() constmsceqf::SystemState
operator=(const SystemState &other) (defined in msceqf::SystemState)msceqf::SystemState
operator=(SystemState &&other) noexcept (defined in msceqf::SystemState)msceqf::SystemState
opts() constmsceqf::SystemStateinline
P() constmsceqf::SystemState
S() constmsceqf::SystemState
Symmetry classmsceqf::SystemStatefriend
SystemState()=deletemsceqf::SystemState
SystemState(const StateOptions &opts, const SE23 &T0=SE23(), const Vector6 &b0=Vector6::Zero())msceqf::SystemState
SystemState(const StateOptions &opts, Args &&... pairs_of_key_ptr)msceqf::SystemStateinline
SystemState(const SystemState &other)msceqf::SystemState
SystemState(SystemState &&other) noexcept (defined in msceqf::SystemState)msceqf::SystemState
SystemStateAlgebraMap typedefmsceqf::SystemState
SystemStateKey typedefmsceqf::SystemState
SystemStateMap typedefmsceqf::SystemState
T() constmsceqf::SystemState
toString(const SystemStateKey &key)msceqf::SystemStatestatic
V() constmsceqf::SystemState
~SystemState() (defined in msceqf::SystemState)msceqf::SystemState
+
+ + + + diff --git a/classmsceqf_1_1_system_state.html b/classmsceqf_1_1_system_state.html new file mode 100644 index 0000000..f4af9fb --- /dev/null +++ b/classmsceqf_1_1_system_state.html @@ -0,0 +1,648 @@ + + + + + + + +MSCEqF: msceqf::SystemState Class Reference + + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::SystemState Class Reference
+
+
+ +

The SystemState class represent the state of the system posed on the Homogenous space. + More...

+ +

#include <system.hpp>

+ + + + + + + + + + + +

+Public Types

+using SystemStateKey = std::variant<SystemStateElementName, uint>
 Key to access the system state map.
 
+using SystemStateMap = std::unordered_map<SystemStateKey, SystemStateElementSharedPtr>
 System state map.
 
+using SystemStateAlgebraMap = std::unordered_map<SystemStateKey, VectorX>
 System state algebra map.
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ SystemState ()=delete
 Deleted default constructor.
 
 SystemState (const StateOptions &opts, const SE23 &T0=SE23(), const Vector6 &b0=Vector6::Zero())
 Initialize a system state with given extended pose and bias (Identity and zero by default). Camera intrinsics and extrinsics are initialized from the given values in the options.
 
template<typename... Args>
 SystemState (const StateOptions &opts, Args &&... pairs_of_key_ptr)
 Construct system state given a multiple pairs of key-pointer of states element. This methods preallocate memory for the state_ map and insert the given pointers. Camera intrinsics and extrinsics are initialized from the given values in the options, passing pairs of key-pointer of camera intrinsics and extrinsics will overwrite the intrinsics and extrinsics initialized form the given options.
 
+ SystemState (const SystemState &other)
 Rule of Five.
 
+ SystemState (SystemState &&other) noexcept
 
+SystemState & operator= (const SystemState &other)
 
+SystemState & operator= (SystemState &&other) noexcept
 
const SE23 & T () const
 return a constant reference to the extended pose element (R,v,p) of the system state as a SE23-torsor
 
const SE3 P () const
 return a copy of the pose element (R,p) of the system state as a SE3-torsor
 
const SE3 V () const
 return a copy of the pose element (R,v) of the system state as a SE3-torsor
 
const Vector6 & b () const
 return a constant reference to the bias element of the system state as a vector
 
const SE3 & S () const
 return a constant reference to the camera extrinsics element of the system state as a SE3-torsor. If the camera extrinsics are not estimated online then the fixed calibration value provided in the options is returned
 
const In & K () const
 return a constant reference to the camera intrinsics element of the system state as a In-torsor If the camera intrinsics are not are not estimated online then the fixed calibration value provided in the options is returned
 
const Vector4 k () const
 return a copy of the camera intrinsics element of the system state as a 4-vector If the camera intrinsics are not are not estimated online then the fixed calibration value provided in the options is returned
 
const Vector3 & f (const uint &feat_id) const
 return a constant reference to a persistent feature element of the system state as a vector, given the feature id
 
const Vector3 ge3 () const
 return a copy of g*e3 as a vector
 
const StateOptions & opts () const
 Get the state options.
 
+ + + + +

+Static Public Member Functions

static std::string toString (const SystemStateKey &key)
 Get a string describing the given SystemStateKey.
 
+ + + + +

+Friends

+class Symmetry
 Symmetry can access private members of SystemState.
 
+

Detailed Description

+

The SystemState class represent the state of the system posed on the Homogenous space.

+
Note
The system state has not to be confused with the MSCEqF state. The former is the state of the system posed on the homogenous space, while the latter is the state of the lifted system, in which the EqF is based on.
+

Constructor & Destructor Documentation

+ +

◆ SystemState() [1/2]

+ +
+
+ + + + + + + + + + + + + + + + +
msceqf::SystemState::SystemState (const StateOptions & opts,
const SE23 & T0 = SE23(),
const Vector6 & b0 = Vector6::Zero() )
+
+ +

Initialize a system state with given extended pose and bias (Identity and zero by default). Camera intrinsics and extrinsics are initialized from the given values in the options.

+
Parameters
+ + + + +
optsState options
T0Initial extended pose
b0Initial bias
+
+
+ +
+
+ +

◆ SystemState() [2/2]

+ +
+
+
+template<typename... Args>
+ + + + + +
+ + + + + + + + + + + +
msceqf::SystemState::SystemState (const StateOptions & opts,
Args &&... pairs_of_key_ptr )
+ 		+inline
+
+ +

Construct system state given a multiple pairs of key-pointer of states element. This methods preallocate memory for the state_ map and insert the given pointers. Camera intrinsics and extrinsics are initialized from the given values in the options, passing pairs of key-pointer of camera intrinsics and extrinsics will overwrite the intrinsics and extrinsics initialized form the given options.

+
Template Parameters
+ + +
Args
+
+
+
Parameters
+ + + +
optsState options
keys_argsMultiple pairs of key-ptr where each pointer is pointing to a state elements
+
+
+
Note
Examples of call:
+
+1) SystemState(opts, pair(key1, ptr1), pair(key2, ptr2), pair(key3, ptr3))
+
+2) SystemState(opts, pair(key1, ptr1), vector(pair(key2, ptr2), ..., pair(key10, ptr10)))
+
+When the function is called with a vector of pairs, the vector of pairs is moved therefore after the call it contains only unusable pointers (nullptr).
+
+Here is the call graph for this function:
+
+
+ + + + + +
+ +
+
+

Member Function Documentation

+ +

◆ b()

+ +
+
+ + + + + +
+ + + + + + + +
const Vector6 & msceqf::SystemState::b () const
+ 		+nodiscard
+
+ +

return a constant reference to the bias element of the system state as a vector

+
Returns
R6 vector representing the bias element of the system state
+ +
+
+ +

◆ f()

+ +
+
+ + + + + +
+ + + + + + + +
const Vector3 & msceqf::SystemState::f (const uint & feat_id) const
+ 		+nodiscard
+
+ +

return a constant reference to a persistent feature element of the system state as a vector, given the feature id

+
Parameters
+ + +
feat_idId of the persistent feature
+
+
+
Returns
R3 vector representing the feature element of the system state
+ +
+
+ +

◆ ge3()

+ +
+
+ + + + + +
+ + + + + + + +
const Vector3 msceqf::SystemState::ge3 () const
+ 		+nodiscard
+
+ +

return a copy of g*e3 as a vector

+
Returns
R3 vector representing the gravity vector in a gravity-aligned frame of reference
+ +
+
+ +

◆ K()

+ +
+
+ + + + + +
+ + + + + + + +
const In & msceqf::SystemState::K () const
+ 		+nodiscard
+
+ +

return a constant reference to the camera intrinsics element of the system state as a In-torsor If the camera intrinsics are not are not estimated online then the fixed calibration value provided in the options is returned

+
Returns
Intrinsic element of the system state as a In-torsor representing the camera intrinsics
+ +
+
+ +

◆ k()

+ +
+
+ + + + + +
+ + + + + + + +
const Vector4 msceqf::SystemState::k () const
+ 		+nodiscard
+
+ +

return a copy of the camera intrinsics element of the system state as a 4-vector If the camera intrinsics are not are not estimated online then the fixed calibration value provided in the options is returned

+
Returns
R4 vector representing the camera intrinsics
+ +
+
+ +

◆ opts()

+ +
+
+ + + + + +
+ + + + + + + +
const StateOptions & msceqf::SystemState::opts () const
+ 		+inlinenodiscard
+
+ +

Get the state options.

+
Returns
State options
+
+Here is the caller graph for this function:
+
+
+ + + + + +
+ +
+
+ +

◆ P()

+ +
+
+ + + + + +
+ + + + + + + +
const SE3 msceqf::SystemState::P () const
+ 		+nodiscard
+
+ +

return a copy of the pose element (R,p) of the system state as a SE3-torsor

+
Returns
Pose element (R,p) of the system state as a SE3-torsor
+ +
+
+ +

◆ S()

+ +
+
+ + + + + +
+ + + + + + + +
const SE3 & msceqf::SystemState::S () const
+ 		+nodiscard
+
+ +

return a constant reference to the camera extrinsics element of the system state as a SE3-torsor. If the camera extrinsics are not estimated online then the fixed calibration value provided in the options is returned

+
Returns
Pose/Transformation element of the system state as a SE3-torsor representing the camera extrinsics
+ +
+
+ +

◆ T()

+ +
+
+ + + + + +
+ + + + + + + +
const SE23 & msceqf::SystemState::T () const
+ 		+nodiscard
+
+ +

return a constant reference to the extended pose element (R,v,p) of the system state as a SE23-torsor

+
Returns
Extended pose element (R,v,p) of the system state as a SE23-torsor
+ +
+
+ +

◆ toString()

+ +
+
+ + + + + +
+ + + + + + + +
static std::string msceqf::SystemState::toString (const SystemStateKey & key)
+ 		+static
+
+ +

Get a string describing the given SystemStateKey.

+
Parameters
+ + +
keySystem state element name or feature id
+
+
+
Returns
String describing the given key
+ +
+
+ +

◆ V()

+ +
+
+ + + + + +
+ + + + + + + +
const SE3 msceqf::SystemState::V () const
+ 		+nodiscard
+
+ +

return a copy of the pose element (R,v) of the system state as a SE3-torsor

+
Returns
Homogeneous galilean element (R,v) of the system state as a SE3-torsor
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/classmsceqf_1_1_system_state.js b/classmsceqf_1_1_system_state.js new file mode 100644 index 0000000..d58299a --- /dev/null +++ b/classmsceqf_1_1_system_state.js @@ -0,0 +1,21 @@ +var classmsceqf_1_1_system_state = +[ + [ "SystemStateAlgebraMap", "classmsceqf_1_1_system_state.html#a41e4f4879a6ec4c126767e815fec5016", null ], + [ "SystemStateKey", "classmsceqf_1_1_system_state.html#a0ec44fd4c4b70431fc1eefe9bfe7b64a", null ], + [ "SystemStateMap", "classmsceqf_1_1_system_state.html#a6f24e3392809c21dd8565e4605298dda", null ], + [ "SystemState", "classmsceqf_1_1_system_state.html#aa842c21ee431baf8fe29cb26d341c16c", null ], + [ "SystemState", "classmsceqf_1_1_system_state.html#a95d992717a66448018694a8931288207", null ], + [ "SystemState", "classmsceqf_1_1_system_state.html#acd7791337e2a823b2ddd845489f66561", null ], + [ "SystemState", "classmsceqf_1_1_system_state.html#a99428a0cf85c79a9c96df85b07d9f90f", null ], + [ "b", "classmsceqf_1_1_system_state.html#aa3d4b2cdfdd1063f53c8260f8e1d3987", null ], + [ "f", "classmsceqf_1_1_system_state.html#aa57f29ac63c94d167d9261fd9c8ac889", null ], + [ "ge3", "classmsceqf_1_1_system_state.html#ae4ffdd10423f0189684a01a190d9929b", null ], + [ "K", "classmsceqf_1_1_system_state.html#aa78b01151738dce902450e73c6f5d5a1", null ], + [ "k", "classmsceqf_1_1_system_state.html#abdd483746a154dbe39860b36b82223a1", null ], + [ "opts", "classmsceqf_1_1_system_state.html#a4eb9dffa95fa3caf6a7b8f9c7079fb46", null ], + [ "P", "classmsceqf_1_1_system_state.html#aff5c1d9314c92dd709cc1a7f14c285b9", null ], + [ "S", "classmsceqf_1_1_system_state.html#ae6a0a7129eb4ff2eabdb3c788f5e069d", null ], + [ "T", "classmsceqf_1_1_system_state.html#a388d36c3791f50f0cd1cfc9b5e3c7b9b", null ], + [ "V", "classmsceqf_1_1_system_state.html#aa03192f66803c072bb937809b375dcd5", null ], + [ "Symmetry", "classmsceqf_1_1_system_state.html#a41706e12d68690130eaf013ca5aa311b", null ] +]; \ No newline at end of file diff --git a/classmsceqf_1_1_system_state_a4eb9dffa95fa3caf6a7b8f9c7079fb46_icgraph.map b/classmsceqf_1_1_system_state_a4eb9dffa95fa3caf6a7b8f9c7079fb46_icgraph.map new file mode 100644 index 0000000..aea835d --- /dev/null +++ b/classmsceqf_1_1_system_state_a4eb9dffa95fa3caf6a7b8f9c7079fb46_icgraph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/classmsceqf_1_1_system_state_a4eb9dffa95fa3caf6a7b8f9c7079fb46_icgraph.md5 b/classmsceqf_1_1_system_state_a4eb9dffa95fa3caf6a7b8f9c7079fb46_icgraph.md5 new file mode 100644 index 0000000..7b03d97 --- /dev/null +++ b/classmsceqf_1_1_system_state_a4eb9dffa95fa3caf6a7b8f9c7079fb46_icgraph.md5 @@ -0,0 +1 @@ +cdb8a5591c175c9605ebbf947ed5c4d1 \ No newline at end of file diff --git a/classmsceqf_1_1_system_state_a4eb9dffa95fa3caf6a7b8f9c7079fb46_icgraph.png b/classmsceqf_1_1_system_state_a4eb9dffa95fa3caf6a7b8f9c7079fb46_icgraph.png new file mode 100644 index 0000000000000000000000000000000000000000..e588eb8ae2b49ca464d31417ec173df0b99e272c GIT binary patch literal 6844 zcmZvBcR1C5`1g^Flt^S{WzTFfQ%1-hp^&}zCL+;S*|K-Con(dVy?4hZ9eWcJ!tXxU z_5A*Mp69qO@c}8_*dw+v!O|6C6N6-Q^n(}qxOd-Ik`Pi}{pb^Wvw+Qc@Z`M3;u3*H zl+9n0`C89vx9a%JU&N}(3RyMbEAr(3_o^g&`<>dzcb)mU3^8u?TZ*thAqGgP3X8sk z{)F*;FZ^rQuG!iUk~q*MKTRmJ8Oy5>s2Jo;XhJ$W+o;kT895UKv2}8qyY|n zC@XvQ;^IQ${BVqLT&ozhHCLC2jdwFTGc&58L9(T#<;Gpny<0`7v~PLOJ}t9xaxU)u zYFk@d<8?u|%WoPr1*A_->b-yeo>y47b8e1CO-=3UuM7`u^L~*K~1eS1~v;?6aF+&Hjxp zK{YI4bv5%f3m;!h!1<|=!S3(nK3Q4WEX~5b-@jW22P2b`C>l>UiY;fPy>?zy3~JD& ztU0{jewSOpv)!1RnwHjIx7+vuiF63|(B>ecd;O2k?|8@JM}Y?7X)-^~_3PK~F*07e zal?LZ@@)U-Ad>rxdnT78OMvO!3g! 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Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::SystemStateElement Member List
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+ +

This is the complete list of members for msceqf::SystemStateElement, including all inherited members.

+ + + + + + + + +
clone() const =0msceqf::SystemStateElementpure virtual
operator=(const SystemStateElement &)=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementprotected
operator=(SystemStateElement &&)=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementprotected
SystemStateElement()=defaultmsceqf::SystemStateElementprotected
SystemStateElement(const SystemStateElement &)=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementprotected
SystemStateElement(SystemStateElement &&)=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementprotected
~SystemStateElement()=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementvirtual
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Multi State Constraint Equivariant Filter for visual inertial navigation
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+Public Member Functions | +Protected Member Functions | +List of all members
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msceqf::SystemStateElement Class Referenceabstract
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+
+ +

This struct represent the base struct for a general element of the system state. + More...

+ +

#include <system_elements.hpp>

+
+Inheritance diagram for msceqf::SystemStateElement:
+
+
Inheritance graph
+ + + + + + + + + + + + + +
[legend]
+ + + + + +

+Public Member Functions

virtual std::unique_ptr< SystemStateElement > clone () const =0
 Clone.
 
+ + + + + + + + + + + + +

+Protected Member Functions

+ SystemStateElement ()=default
 Rule of Five.
 
+ SystemStateElement (const SystemStateElement &)=default
 
+ SystemStateElement (SystemStateElement &&)=default
 
+SystemStateElement & operator= (const SystemStateElement &)=default
 
+SystemStateElement & operator= (SystemStateElement &&)=default
 
+

Detailed Description

+

This struct represent the base struct for a general element of the system state.

+

Member Function Documentation

+ +

◆ clone()

+ +
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+ + + + + +
+ + + + + + + +
virtual std::unique_ptr< SystemStateElement > msceqf::SystemStateElement::clone () const
+ 		+pure virtual
+
+ +

Clone.

+
Returns
Clone of the system state element
+ +

Implemented in msceqf::BiasState, msceqf::CameraExtrinsicState, msceqf::CameraIntrinsicState, msceqf::ExtendedPoseState, and msceqf::FeatureState.

+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/classmsceqf_1_1_system_state_element.js b/classmsceqf_1_1_system_state_element.js new file mode 100644 index 0000000..4d67781 --- /dev/null +++ b/classmsceqf_1_1_system_state_element.js @@ -0,0 +1,5 @@ +var classmsceqf_1_1_system_state_element = +[ + [ "SystemStateElement", "classmsceqf_1_1_system_state_element.html#a852facaeb4453b2d1eb1ab2d4ed47968", null ], + [ "clone", "classmsceqf_1_1_system_state_element.html#ac44336562c195471cdfb2b16cdfe50b9", null ] +]; \ No newline at end of file diff --git a/classmsceqf_1_1_system_state_element__inherit__graph.map b/classmsceqf_1_1_system_state_element__inherit__graph.map new file mode 100644 index 0000000..86e5e03 --- /dev/null +++ b/classmsceqf_1_1_system_state_element__inherit__graph.map @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/classmsceqf_1_1_system_state_element__inherit__graph.md5 b/classmsceqf_1_1_system_state_element__inherit__graph.md5 new file mode 100644 index 0000000..9f96071 --- /dev/null +++ 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Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::TrackManager Member List
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This is the complete list of members for msceqf::TrackManager, including all inherited members.

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activeTracksIds(const fp &timestamp, std::unordered_set< uint > &active_ids) constmsceqf::TrackManager
cam() constmsceqf::TrackManager
clear()msceqf::TrackManagerinline
lostTracksIds(const fp &timestamp, std::unordered_set< uint > &lost_ids) constmsceqf::TrackManager
processCamera(Camera &cam)msceqf::TrackManager
processFeatures(const TriangulatedFeatures &features)msceqf::TrackManager
removeTracksId(const std::unordered_set< uint > &ids)msceqf::TrackManager
removeTracksTail(const fp &timestamp, const bool &remove_equal=true)msceqf::TrackManager
TrackManager(const TrackManagerOptions &opts, const Vector4 &intrinsics)msceqf::TrackManager
tracks() constmsceqf::TrackManager
tracksIds(const fp &timestamp, std::unordered_set< uint > &active_ids, std::unordered_set< uint > &lost_ids) constmsceqf::TrackManager
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+ + + + diff --git a/classmsceqf_1_1_track_manager.html b/classmsceqf_1_1_track_manager.html new file mode 100644 index 0000000..15b56b9 --- /dev/null +++ b/classmsceqf_1_1_track_manager.html @@ -0,0 +1,475 @@ + + + + + + + +MSCEqF: msceqf::TrackManager Class Reference + + + + + + + + + + + + + + + +
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Multi State Constraint Equivariant Filter for visual inertial navigation
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+Public Member Functions | +List of all members
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msceqf::TrackManager Class Reference
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+ +

This class manages the multiple tracks of feature traked in time. + More...

+ +

#include <track_manager.hpp>

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+Public Member Functions

 TrackManager (const TrackManagerOptions &opts, const Vector4 &intrinsics)
 TrackManager constructor.
 
void processCamera (Camera &cam)
 Process a single camera measurement. Forward camera measurement to tracker, and update tracks.
 
void processFeatures (const TriangulatedFeatures &features)
 Process a single features measurement. update tracks.
 
const Tracks & tracks () const
 Get all the tracks.
 
void tracksIds (const fp &timestamp, std::unordered_set< uint > &active_ids, std::unordered_set< uint > &lost_ids) const
 Get all the ids corresponding to active and lost tracks at a given timestamp. Active tracks are defined as tracks that have are actively tracked at a given timestamp. Lost tracks are defined as tracks that are not being tracked at a given timestamp and thus they do not have coordinates at a given timestamp.
 
void activeTracksIds (const fp &timestamp, std::unordered_set< uint > &active_ids) const
 Get all the ids corresponding to active tracks at a given timestamp. Active tracks are defined as tracks that have are actively tracked at a given timestamp.
 
void lostTracksIds (const fp &timestamp, std::unordered_set< uint > &lost_ids) const
 Get all the ids corresponding to lost tracks at a given timestamp. Lost tracks are defined as tracks that are not being tracked at a given timestamp and thus they do not have coordinates at a given timestamp.
 
void removeTracksId (const std::unordered_set< uint > &ids)
 Remove all the tracks corresponding to given ids.
 
void removeTracksTail (const fp &timestamp, const bool &remove_equal=true)
 Remove the tail of tracks. This method remove from each track all the coordinates as well as the timestamps that are older (or equal) to the given timestamp.
 
+void clear ()
 Clear all the tracks.
 
const PinholeCameraUniquePtr & cam () const
 Get the camera pointer.
 
+

Detailed Description

+

This class manages the multiple tracks of feature traked in time.

+

Constructor & Destructor Documentation

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◆ TrackManager()

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msceqf::TrackManager::TrackManager (const TrackManagerOptions & opts,
const Vector4 & intrinsics )
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TrackManager constructor.

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Parameters
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optsTracker options
intrinsicsCamera intrinsics as R4 vector (fx, fy, cx, cy)
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Member Function Documentation

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◆ activeTracksIds()

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void msceqf::TrackManager::activeTracksIds (const fp & timestamp,
std::unordered_set< uint > & active_ids ) const
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Get all the ids corresponding to active tracks at a given timestamp. Active tracks are defined as tracks that have are actively tracked at a given timestamp.

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Parameters
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timestampTimestamp
active_idsActive tracks ids
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◆ cam()

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const PinholeCameraUniquePtr & msceqf::TrackManager::cam () const
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Get the camera pointer.

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Returns
Pointer to the camera object
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◆ lostTracksIds()

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void msceqf::TrackManager::lostTracksIds (const fp & timestamp,
std::unordered_set< uint > & lost_ids ) const
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+ +

Get all the ids corresponding to lost tracks at a given timestamp. Lost tracks are defined as tracks that are not being tracked at a given timestamp and thus they do not have coordinates at a given timestamp.

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Parameters
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timestampTimestamp
lost_idsLost tracks ids
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◆ processCamera()

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void msceqf::TrackManager::processCamera (Camera & cam)
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Process a single camera measurement. Forward camera measurement to tracker, and update tracks.

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Parameters
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camCamera measurement
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◆ processFeatures()

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void msceqf::TrackManager::processFeatures (const TriangulatedFeatures & features)
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Process a single features measurement. update tracks.

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Parameters
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featuresFeatures measurement
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◆ removeTracksId()

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void msceqf::TrackManager::removeTracksId (const std::unordered_set< uint > & ids)
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Remove all the tracks corresponding to given ids.

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Parameters
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idsIds of tracks to be removed
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Note
The use of unordered_set as a hash set improves performance compared to a std::vector<uint>
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◆ removeTracksTail()

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void msceqf::TrackManager::removeTracksTail (const fp & timestamp,
const bool & remove_equal = true )
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Remove the tail of tracks. This method remove from each track all the coordinates as well as the timestamps that are older (or equal) to the given timestamp.

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Parameters
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timestampTimestamp
remove_equalFlag to indicate whether to include in the removal also the coordinates and timestamps at the given timestamp
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◆ tracks()

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const Tracks & msceqf::TrackManager::tracks () const
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Get all the tracks.

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Returns
Tracks
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◆ tracksIds()

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void msceqf::TrackManager::tracksIds (const fp & timestamp,
std::unordered_set< uint > & active_ids,
std::unordered_set< uint > & lost_ids ) const
+
+ +

Get all the ids corresponding to active and lost tracks at a given timestamp. Active tracks are defined as tracks that have are actively tracked at a given timestamp. Lost tracks are defined as tracks that are not being tracked at a given timestamp and thus they do not have coordinates at a given timestamp.

+
Parameters
+ + + + +
timestampTimestamp
active_idsActive tracks ids
lost_idsLost tracks ids
+
+
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/classmsceqf_1_1_track_manager.js b/classmsceqf_1_1_track_manager.js new file mode 100644 index 0000000..8b184b9 --- /dev/null +++ b/classmsceqf_1_1_track_manager.js @@ -0,0 +1,14 @@ +var classmsceqf_1_1_track_manager = +[ + [ "TrackManager", "classmsceqf_1_1_track_manager.html#abf577306739781c993b88c01f2e627b6", null ], + [ "activeTracksIds", "classmsceqf_1_1_track_manager.html#a0c0ff31e29de9e63a454a58af7c9b931", null ], + [ "cam", "classmsceqf_1_1_track_manager.html#afe813535e2b8bc3fa2f68ea611fb7015", null ], + [ "clear", "classmsceqf_1_1_track_manager.html#a5a2d6ad04970e43e2cb393e74228db2b", null ], + [ "lostTracksIds", "classmsceqf_1_1_track_manager.html#a12e65c2082c9caf011e8a1fe118a51e1", null ], + [ "processCamera", "classmsceqf_1_1_track_manager.html#a22727a0d230248e3786cb6cae36178b1", null ], + [ "processFeatures", "classmsceqf_1_1_track_manager.html#a8a8e67cb8b718fcd3ca60e7db5ef4ac7", null ], + [ "removeTracksId", "classmsceqf_1_1_track_manager.html#aefb19f95a52046a2939b94abf1e5a22e", null ], + [ "removeTracksTail", "classmsceqf_1_1_track_manager.html#a72c21cede157880964b2494123e640f2", null ], + [ "tracks", "classmsceqf_1_1_track_manager.html#acd15a87fdc24b43e2cb9f41e179a85e3", null ], + [ "tracksIds", "classmsceqf_1_1_track_manager.html#aa0b99fd74bebf540e0b1d2f8abbd062b", null ] +]; \ No newline at end of file diff --git a/classmsceqf_1_1_track_manager_a0c0ff31e29de9e63a454a58af7c9b931_icgraph.map b/classmsceqf_1_1_track_manager_a0c0ff31e29de9e63a454a58af7c9b931_icgraph.map new file mode 100644 index 0000000..d0c4692 --- /dev/null +++ b/classmsceqf_1_1_track_manager_a0c0ff31e29de9e63a454a58af7c9b931_icgraph.map @@ -0,0 +1,7 @@ + + + + + + + diff --git a/classmsceqf_1_1_track_manager_a0c0ff31e29de9e63a454a58af7c9b931_icgraph.md5 b/classmsceqf_1_1_track_manager_a0c0ff31e29de9e63a454a58af7c9b931_icgraph.md5 new file mode 100644 index 0000000..2a53060 --- /dev/null +++ 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-0,0 +1,122 @@ + + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
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msceqf::Tracker Member List
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This is the complete list of members for msceqf::Tracker, including all inherited members.

+ + + + + + + +
cam() constmsceqf::Tracker
currentFeatures() constmsceqf::Tracker
Keypoints typedefmsceqf::Tracker
processCamera(Camera &cam)msceqf::Tracker
TimedFeatures typedefmsceqf::Tracker
Tracker(const TrackerOptions &opts, const Vector4 &intrinsics)msceqf::Tracker
+
+ + + + diff --git a/classmsceqf_1_1_tracker.html b/classmsceqf_1_1_tracker.html new file mode 100644 index 0000000..75e0feb --- /dev/null +++ b/classmsceqf_1_1_tracker.html @@ -0,0 +1,252 @@ + + + + + + + +MSCEqF: msceqf::Tracker Class Reference + + + + + + + + + + + + + + + +
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Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::Tracker Class Reference
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+ +

This class implement the feature tracker module based on Lucas-Kanade optical flow. The tracker tracks feature temporally in subsequent images and produces a set of matches. + More...

+ +

#include <tracker.hpp>

+ + + + + + + + +

+Public Types

+using Keypoints = std::vector<cv::KeyPoint>
 A vector of features keypoints.
 
+using TimedFeatures = std::pair<fp, Features>
 Set of features associated with a time.
 
+ + + + + + + + + + + + + +

+Public Member Functions

 Tracker (const TrackerOptions &opts, const Vector4 &intrinsics)
 Tracker constructor.
 
void processCamera (Camera &cam)
 This method process the input camera measurement. If first pre-process the camera image, and then it tracks features.
 
const TimedFeatures & currentFeatures () const
 Get the current detected/tracked features.
 
const PinholeCameraUniquePtr & cam () const
 Get the camera pointer.
 
+

Detailed Description

+

This class implement the feature tracker module based on Lucas-Kanade optical flow. The tracker tracks feature temporally in subsequent images and produces a set of matches.

+

Constructor & Destructor Documentation

+ +

◆ Tracker()

+ +
+
+ + + + + + + + + + + +
msceqf::Tracker::Tracker (const TrackerOptions & opts,
const Vector4 & intrinsics )
+
+ +

Tracker constructor.

+
Parameters
+ + + +
optsTracker options
intrinsicsCamera intrinsics as R4 vector (fx, fy, cx, cy)
+
+
+ +
+
+

Member Function Documentation

+ +

◆ cam()

+ +
+
+ + + + + + + +
const PinholeCameraUniquePtr & msceqf::Tracker::cam () const
+
+ +

Get the camera pointer.

+
Returns
Pointer to the camera object
+ +
+
+ +

◆ currentFeatures()

+ +
+
+ + + + + + + +
const TimedFeatures & msceqf::Tracker::currentFeatures () const
+
+ +

Get the current detected/tracked features.

+
Returns
Current detected/tracked features
+ +
+
+ +

◆ processCamera()

+ +
+
+ + + + + + + +
void msceqf::Tracker::processCamera (Camera & cam)
+
+ +

This method process the input camera measurement. If first pre-process the camera image, and then it tracks features.

+
Parameters
+ + +
camCamera measurement
+
+
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/classmsceqf_1_1_tracker.js b/classmsceqf_1_1_tracker.js new file mode 100644 index 0000000..e4d1d04 --- /dev/null +++ b/classmsceqf_1_1_tracker.js @@ -0,0 +1,9 @@ +var classmsceqf_1_1_tracker = +[ + [ "Keypoints", "classmsceqf_1_1_tracker.html#a32bd1cc7577153664283a2e378682881", null ], + [ "TimedFeatures", "classmsceqf_1_1_tracker.html#a66613c9455dfe4f6bcca3ba7cc2c85e8", null ], + [ "Tracker", "classmsceqf_1_1_tracker.html#afb492cf3bf3ce23424014fa4946b4c2a", null ], + [ "cam", "classmsceqf_1_1_tracker.html#ab0998a6999526305b7e0b4d958de7f93", null ], + [ "currentFeatures", "classmsceqf_1_1_tracker.html#a84f066b29a246c23ef9d78a646504b1b", null ], + [ "processCamera", "classmsceqf_1_1_tracker.html#adb6858134efd07895ccd41b56520e6e3", null ] +]; \ No newline at end of file diff --git a/classmsceqf_1_1_updater-members.html b/classmsceqf_1_1_updater-members.html new file mode 100644 index 0000000..418e934 --- /dev/null +++ b/classmsceqf_1_1_updater-members.html @@ -0,0 +1,118 @@ + + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
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Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::Updater Member List
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+ +

This is the complete list of members for msceqf::Updater, including all inherited members.

+ + + +
mscUpdate(MSCEqFState &X, const Tracks &tracks, std::unordered_set< uint > &ids)msceqf::Updater
Updater(const UpdaterOptions &opts, const SystemState &xi0) (defined in msceqf::Updater)msceqf::Updater
+
+ + + + diff --git a/classmsceqf_1_1_updater.html b/classmsceqf_1_1_updater.html new file mode 100644 index 0000000..4153873 --- /dev/null +++ b/classmsceqf_1_1_updater.html @@ -0,0 +1,175 @@ + + + + + + + +MSCEqF: msceqf::Updater Class Reference + + + + + + + + + + + + + + + +
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MSCEqF 1.0 +
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Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::Updater Class Reference
+
+
+ +

Updater class. This class implements the Multi State Constraint update step of the MSCEqF filter. + More...

+ +

#include <updater.hpp>

+ + + + + + + +

+Public Member Functions

+ Updater (const UpdaterOptions &opts, const SystemState &xi0)
 
void mscUpdate (MSCEqFState &X, const Tracks &tracks, std::unordered_set< uint > &ids)
 Perform a Multi State Constraint update.
 
+

Detailed Description

+

Updater class. This class implements the Multi State Constraint update step of the MSCEqF filter.

+

Member Function Documentation

+ +

◆ mscUpdate()

+ +
+
+ + + + + + + + + + + + + + + + +
void msceqf::Updater::mscUpdate (MSCEqFState & X,
const Tracks & tracks,
std::unordered_set< uint > & ids )
+
+ +

Perform a Multi State Constraint update.

+
Parameters
+ + + + +
XMSCEqF state
tracksTracks to update
idsIndices of the tracks that are evaluated for an update
+
+
+
Note
Not all the tracks corresponding to the given ids will be used for the update. Tracks that do not contains at least two views, tracks for which the triangulation fails, and tracks that fail the chi2 test are discarded. The set ids will change accordingly.
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/classmsceqf_1_1_updater.js b/classmsceqf_1_1_updater.js new file mode 100644 index 0000000..d828fe4 --- /dev/null +++ b/classmsceqf_1_1_updater.js @@ -0,0 +1,4 @@ +var classmsceqf_1_1_updater = +[ + [ "mscUpdate", "classmsceqf_1_1_updater.html#a258710b1d247e606625306524ecbdb4d", null ] +]; \ No newline at end of file diff --git a/classmsceqf_1_1_visualizer-members.html b/classmsceqf_1_1_visualizer-members.html new file mode 100644 index 0000000..e104cba --- /dev/null +++ b/classmsceqf_1_1_visualizer-members.html @@ -0,0 +1,119 @@ + + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
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imageWithTracks(const Camera &cam, const std::string &text="") constmsceqf::Visualizerinline
visualizeImageWithTracks(const Camera &cam, const std::string &text="") constmsceqf::Visualizerinline
Visualizer(const TrackManager &track_manager)msceqf::Visualizerinline
+
+ + + + diff --git a/classmsceqf_1_1_visualizer.html b/classmsceqf_1_1_visualizer.html new file mode 100644 index 0000000..b81ec49 --- /dev/null +++ b/classmsceqf_1_1_visualizer.html @@ -0,0 +1,282 @@ + + + + + + + +MSCEqF: msceqf::Visualizer Class Reference + + + + + + + + + + + + + + + +
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Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::Visualizer Class Reference
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+Public Member Functions

 Visualizer (const TrackManager &track_manager)
 Construct a new Visualizer object.
 
cv::Mat3b imageWithTracks (const Camera &cam, const std::string &text="") const
 Camera image with overlayed tracks.
 
void visualizeImageWithTracks (const Camera &cam, const std::string &text="") const
 Visualize imge with history of tracks.
 
+

Constructor & Destructor Documentation

+ +

◆ Visualizer()

+ +
+
+ + + + + +
+ + + + + + + +
msceqf::Visualizer::Visualizer (const TrackManager & track_manager)
+ 		+inline
+
+ +

Construct a new Visualizer object.

+
Parameters
+ + +
track_manager
+
+
+ +
+
+

Member Function Documentation

+ +

◆ imageWithTracks()

+ +
+
+ + + + + +
+ + + + + + + + + + + +
cv::Mat3b msceqf::Visualizer::imageWithTracks (const Camera & cam,
const std::string & text = "" ) const
+ 		+inline
+
+ +

Camera image with overlayed tracks.

+
Parameters
+ + +
cam
+
+
+
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◆ visualizeImageWithTracks()

+ +
+
+ + + + + +
+ + + + + + + + + + + +
void msceqf::Visualizer::visualizeImageWithTracks (const Camera & cam,
const std::string & text = "" ) const
+ 		+inline
+
+ +

Visualize imge with history of tracks.

+
Parameters
+ + +
cam
+
+
+
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+ +
+
+
The documentation for this class was generated from the following file: +
+
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MSCEqF 1.0 +
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Multi State Constraint Equivariant Filter for visual inertial navigation
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msceqf::ZeroVelocityUpdater Member List
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This is the complete list of members for msceqf::ZeroVelocityUpdater, including all inherited members.

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isActive(const Tracks &tracks)msceqf::ZeroVelocityUpdater
setMeasurement(const SE23 &y)msceqf::ZeroVelocityUpdater
setMotion()msceqf::ZeroVelocityUpdater
ZeroVelocityUpdater(const ZeroVelocityUpdaterOptions &opts, const Checker &checker)msceqf::ZeroVelocityUpdater
zvUpdate(MSCEqFState &X, const SystemState &xi0) constmsceqf::ZeroVelocityUpdater
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Multi State Constraint Equivariant Filter for visual inertial navigation
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+Public Member Functions | +List of all members
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msceqf::ZeroVelocityUpdater Class Reference
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Zero velocity updater class. This class implements the Equivariant Zero Velocity Update (ZVU) of the MSCEqF filter. + More...

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#include <zero_velocity_updater.hpp>

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+Public Member Functions

 ZeroVelocityUpdater (const ZeroVelocityUpdaterOptions &opts, const Checker &checker)
 Zero velocity updater constructor.
 
+void setMotion ()
 Set motion flag indicating that we are not in the static phase at the beginning but we have moved.
 
void setMeasurement (const SE23 &y)
 Set the static extended pose measurement.
 
bool isActive (const Tracks &tracks)
 Check whether the zero velocity updater is active.
 
bool zvUpdate (MSCEqFState &X, const SystemState &xi0) const
 Perform a zero velocity update.
 
+

Detailed Description

+

Zero velocity updater class. This class implements the Equivariant Zero Velocity Update (ZVU) of the MSCEqF filter.

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Constructor & Destructor Documentation

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◆ ZeroVelocityUpdater()

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+
+ + + + + + + + + + + +
msceqf::ZeroVelocityUpdater::ZeroVelocityUpdater (const ZeroVelocityUpdaterOptions & opts,
const Checker & checker )
+
+ +

Zero velocity updater constructor.

+
Parameters
+ + + +
optsZero velocity updater options
checkerRefernece to the MSCEqF checker
+
+
+ +
+
+

Member Function Documentation

+ +

◆ isActive()

+ +
+
+ + + + + +
+ + + + + + + +
bool msceqf::ZeroVelocityUpdater::isActive (const Tracks & tracks)
+ 		+nodiscard
+
+ +

Check whether the zero velocity updater is active.

+
Parameters
+ + +
trackstracks up to date used for disparity check
+
+
+
Returns
true if the zero velocity updater is active, and therefore the platform is in static phase, false otherwise
+ +
+
+ +

◆ setMeasurement()

+ +
+
+ + + + + + + +
void msceqf::ZeroVelocityUpdater::setMeasurement (const SE23 & y)
+
+ +

Set the static extended pose measurement.

+
Parameters
+ + +
ystatic extended pose
+
+
+ +
+
+ +

◆ zvUpdate()

+ +
+
+ + + + + +
+ + + + + + + + + + + +
bool msceqf::ZeroVelocityUpdater::zvUpdate (MSCEqFState & X,
const SystemState & xi0 ) const
+ 		+nodiscard
+
+ +

Perform a zero velocity update.

+
Parameters
+ + + +
XMSCEqF state
xi0Origin state
+
+
+
Returns
always true, when zero velocity update has been performed
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/classmsceqf_1_1_zero_velocity_updater.js b/classmsceqf_1_1_zero_velocity_updater.js new file mode 100644 index 0000000..05af148 --- /dev/null +++ b/classmsceqf_1_1_zero_velocity_updater.js @@ -0,0 +1,8 @@ +var classmsceqf_1_1_zero_velocity_updater = +[ + [ "ZeroVelocityUpdater", "classmsceqf_1_1_zero_velocity_updater.html#a75b934b99074efe88ad5706ef0b6be01", null ], + [ "isActive", "classmsceqf_1_1_zero_velocity_updater.html#af14a4da81ca7d243f79bd9e2f8e1d3b3", null ], + [ "setMeasurement", "classmsceqf_1_1_zero_velocity_updater.html#a04790d5df6a8dbebe6ecec357aea848b", null ], + [ "setMotion", "classmsceqf_1_1_zero_velocity_updater.html#aa6d1fe8c72e5c3f51a4c61dfee9bc2ab", null ], + [ "zvUpdate", "classmsceqf_1_1_zero_velocity_updater.html#a5f7685172128094eb6d5d0911ae5378a", null ] +]; \ No newline at end of file diff --git a/classutils_1_1_insertion_ordered_map-members.html b/classutils_1_1_insertion_ordered_map-members.html new file mode 100644 index 0000000..1728da1 --- /dev/null +++ b/classutils_1_1_insertion_ordered_map-members.html @@ -0,0 +1,122 @@ + + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
+
+
+ + + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
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+
+ +
+
utils::InsertionOrderedMap< Key, Value > Member List
+
+
+ +

This is the complete list of members for utils::InsertionOrderedMap< Key, Value >, including all inherited members.

+ + + + + + + +
at(const Key &key) constutils::InsertionOrderedMap< Key, Value >inline
at(const Key &key)utils::InsertionOrderedMap< Key, Value >inline
clear()utils::InsertionOrderedMap< Key, Value >inline
insert(const Key &key, const Value &value)utils::InsertionOrderedMap< Key, Value >inline
keys() constutils::InsertionOrderedMap< Key, Value >inline
values() constutils::InsertionOrderedMap< Key, Value >inline
+
+ + + + diff --git a/classutils_1_1_insertion_ordered_map.html b/classutils_1_1_insertion_ordered_map.html new file mode 100644 index 0000000..feba37a --- /dev/null +++ b/classutils_1_1_insertion_ordered_map.html @@ -0,0 +1,341 @@ + + + + + + + +MSCEqF: utils::InsertionOrderedMap< Key, Value > Class Template Reference + + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
+
+
+ + + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+
+
+
+
+
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+ +
+
+Public Member Functions | +List of all members
+
utils::InsertionOrderedMap< Key, Value > Class Template Reference
+
+
+ +

This calss define a map that keeps the insertion order. + More...

+ +

#include <tools.hpp>

+
+Inheritance diagram for utils::InsertionOrderedMap< Key, Value >:
+
+
Inheritance graph
+ + + + + +
[legend]
+ + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

void insert (const Key &key, const Value &value)
 Insert a key-value pair into the map if the key does not exists.
 
const Value & at (const Key &key) const
 Return the value associated with the key.
 
Value & at (const Key &key)
 Return the value associated with the key.
 
const std::vector< Key > keys () const
 Return a vector containing the keys.
 
const std::vector< Value > values () const
 Return a vector containing the values.
 
+void clear ()
 Clear the map and the vector.
 
+

Detailed Description

+
template<typename Key, typename Value>
+class utils::InsertionOrderedMap< Key, Value >

This calss define a map that keeps the insertion order.

+
Template Parameters
+ + + +
Key
Value
+
+
+

Member Function Documentation

+ +

◆ at() [1/2]

+ +
+
+
+template<typename Key , typename Value >
+ + + + + +
+ + + + + + + +
Value & utils::InsertionOrderedMap< Key, Value >::at (const Key & key)
+ 		+inline
+
+ +

Return the value associated with the key.

+
Parameters
+ + +
key
+
+
+
Returns
Value
+ +
+
+ +

◆ at() [2/2]

+ +
+
+
+template<typename Key , typename Value >
+ + + + + +
+ + + + + + + +
const Value & utils::InsertionOrderedMap< Key, Value >::at (const Key & key) const
+ 		+inline
+
+ +

Return the value associated with the key.

+
Parameters
+ + +
key
+
+
+
Returns
Value
+ +
+
+ +

◆ insert()

+ +
+
+
+template<typename Key , typename Value >
+ + + + + +
+ + + + + + + + + + + +
void utils::InsertionOrderedMap< Key, Value >::insert (const Key & key,
const Value & value )
+ 		+inline
+
+ +

Insert a key-value pair into the map if the key does not exists.

+
Parameters
+ + + +
keyKey
valueValue
+
+
+ +
+
+ +

◆ keys()

+ +
+
+
+template<typename Key , typename Value >
+ + + + + +
+ + + + + + + +
const std::vector< Key > utils::InsertionOrderedMap< Key, Value >::keys () const
+ 		+inline
+
+ +

Return a vector containing the keys.

+
Returns
Vector of keys
+ +
+
+ +

◆ values()

+ +
+
+
+template<typename Key , typename Value >
+ + + + + +
+ + + + + + + +
const std::vector< Value > utils::InsertionOrderedMap< Key, Value >::values () const
+ 		+inline
+
+ +

Return a vector containing the values.

+
Returns
Vector of values
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/classutils_1_1_insertion_ordered_map.js b/classutils_1_1_insertion_ordered_map.js new file mode 100644 index 0000000..999c543 --- /dev/null +++ b/classutils_1_1_insertion_ordered_map.js @@ -0,0 +1,9 @@ +var classutils_1_1_insertion_ordered_map = +[ + [ "at", "classutils_1_1_insertion_ordered_map.html#ab659341ecf8995e225c1c4e2832ec098", null ], + [ "at", "classutils_1_1_insertion_ordered_map.html#a75e4c95149461f854cd43d9c70c12da8", null ], + [ "clear", "classutils_1_1_insertion_ordered_map.html#a8350ad05c98eb1e736c4b071442d2136", null ], + [ "insert", "classutils_1_1_insertion_ordered_map.html#a953c250c1bb59ee5594e6daec5e7c0f3", null ], + [ "keys", "classutils_1_1_insertion_ordered_map.html#a51efdc3177100f1e73e29c4a877a0bfb", null ], + [ "values", "classutils_1_1_insertion_ordered_map.html#ac54723bf987340bca7a1c78aba3b8155", null ] +]; \ No newline at end of file diff --git a/classutils_1_1_insertion_ordered_map__inherit__graph.map b/classutils_1_1_insertion_ordered_map__inherit__graph.map new file mode 100644 index 0000000..9f0bc53 --- /dev/null +++ b/classutils_1_1_insertion_ordered_map__inherit__graph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/classutils_1_1_insertion_ordered_map__inherit__graph.md5 b/classutils_1_1_insertion_ordered_map__inherit__graph.md5 new file mode 100644 index 0000000..612cdf4 --- /dev/null +++ b/classutils_1_1_insertion_ordered_map__inherit__graph.md5 @@ -0,0 +1 @@ +08555b91df4b977adbf6b1adc63ebbd1 \ No newline at end of file diff --git a/classutils_1_1_insertion_ordered_map__inherit__graph.png b/classutils_1_1_insertion_ordered_map__inherit__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..ad89f6406028f2f2578c6e033fadcbf8828552c0 GIT binary patch literal 12836 zcmZ8|2RxSl|L$#s$coAyk%Vjt*$=WulD(4|%HA0fk6n@-NwTu{-dWk1S;>yFh4X&? zzyCSse~$0>RlVZ5@6ULT>wR5UuQb#YhzV&35db2R}T{A%%8uMU30 zGgnqXA?KL?GU{{U5rhd*L`iFVq-@T38fx#INp6pe2;g)@5r!#q+~?+E)_U61Yig`) 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z2lkxr)z5EQ4WvcBHSwdyc;SJruq)5&N#wKOwHxD_Zt$fowd#v|3k6s@XV`3_ + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
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Multi State Constraint Equivariant Filter for visual inertial navigation
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utils::Logger Member List
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+ +

This is the complete list of members for utils::Logger, including all inherited members.

+ + + + + + + +
debug(const T &msg)utils::Loggerinlinestatic
err(const T &msg)utils::Loggerinlinestatic
getlevel()utils::Loggerinlinestatic
info(const T &msg)utils::Loggerinlinestatic
setLevel(const LoggerLevel &level)utils::Loggerinlinestatic
warn(const T &msg)utils::Loggerinlinestatic
+
+ + + + diff --git a/classutils_1_1_logger.html b/classutils_1_1_logger.html new file mode 100644 index 0000000..49523da --- /dev/null +++ b/classutils_1_1_logger.html @@ -0,0 +1,379 @@ + + + + + + + +MSCEqF: utils::Logger Class Reference + + + + + + + + + + + + + + + +
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+Static Public Member Functions | +List of all members
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utils::Logger Class Reference
+
+
+ +

Logger. + More...

+ +

#include <logger.hpp>

+ + + + + + + + + + + + + + + + + + + + + + + + +

+Static Public Member Functions

static const LoggerLevel & getlevel ()
 Get the logger level (see LoggerLevel)
 
static void setLevel (const LoggerLevel &level)
 Set the logger level (see LoggerLevel)
 
template<typename T >
static void info (const T &msg)
 Format a info message and log it in white.
 
template<typename T >
static void err (const T &msg)
 Format a error message and log it in red.
 
template<typename T >
static void warn (const T &msg)
 Format a warn message and log it in yellow.
 
template<typename T >
static void debug (const T &msg)
 Format a debug message and log it in blue.
 
+

Detailed Description

+

Logger.

+

Member Function Documentation

+ +

◆ debug()

+ +
+
+
+template<typename T >
+ + + + + +
+ + + + + + + +
static void utils::Logger::debug (const T & msg)
+ 		+inlinestatic
+
+ +

Format a debug message and log it in blue.

+
Template Parameters
+ + +
TType of the message
+
+
+
Parameters
+ + +
msgmessage
+
+
+ +
+
+ +

◆ err()

+ +
+
+
+template<typename T >
+ + + + + +
+ + + + + + + +
static void utils::Logger::err (const T & msg)
+ 		+inlinestatic
+
+ +

Format a error message and log it in red.

+
Template Parameters
+ + +
TType of the message
+
+
+
Parameters
+ + +
msgmessage
+
+
+ +
+
+ +

◆ getlevel()

+ +
+
+ + + + + +
+ + + + + + + +
static const LoggerLevel & utils::Logger::getlevel ()
+ 		+inlinestatic
+
+ +

Get the logger level (see LoggerLevel)

+
Returns
const LoggerLevel&
+ +
+
+ +

◆ info()

+ +
+
+
+template<typename T >
+ + + + + +
+ + + + + + + +
static void utils::Logger::info (const T & msg)
+ 		+inlinestatic
+
+ +

Format a info message and log it in white.

+
Template Parameters
+ + +
TType of the message
+
+
+
Parameters
+ + +
msgmessage
+
+
+ +
+
+ +

◆ setLevel()

+ +
+
+ + + + + +
+ + + + + + + +
static void utils::Logger::setLevel (const LoggerLevel & level)
+ 		+inlinestatic
+
+ +

Set the logger level (see LoggerLevel)

+
Parameters
+ + +
levelLoggerLevel
+
+
+ +
+
+ +

◆ warn()

+ +
+
+
+template<typename T >
+ + + + + +
+ + + + + + + +
static void utils::Logger::warn (const T & msg)
+ 		+inlinestatic
+
+ +

Format a warn message and log it in yellow.

+
Template Parameters
+ + +
TType of the message
+
+
+
Parameters
+ + +
msgmessage
+
+
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/clipboard.js b/clipboard.js new file mode 100644 index 0000000..42c1fb0 --- /dev/null +++ b/clipboard.js @@ -0,0 +1,61 @@ +/** + +The code below is based on the Doxygen Awesome project, see +https://github.com/jothepro/doxygen-awesome-css + +MIT License + +Copyright (c) 2021 - 2022 jothepro + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + +*/ + +let clipboard_title = "Copy to clipboard" +let clipboard_icon = `` +let clipboard_successIcon = `` +let clipboard_successDuration = 1000 + +$(function() { + if(navigator.clipboard) { + const fragments = document.getElementsByClassName("fragment") + for(const fragment of fragments) { + const clipboard_div = document.createElement("div") + clipboard_div.classList.add("clipboard") + clipboard_div.innerHTML = clipboard_icon + clipboard_div.title = clipboard_title + $(clipboard_div).click(function() { + const content = this.parentNode.cloneNode(true) + // filter out line number and folded fragments from file listings + content.querySelectorAll(".lineno, .ttc, .foldclosed").forEach((node) => { node.remove() }) + let text = content.textContent + // remove trailing newlines and trailing spaces from empty lines + text = text.replace(/^\s*\n/gm,'\n').replace(/\n*$/,'') + navigator.clipboard.writeText(text); + this.classList.add("success") + this.innerHTML = clipboard_successIcon + window.setTimeout(() => { // switch back to normal icon after timeout + this.classList.remove("success") + this.innerHTML = clipboard_icon + }, clipboard_successDuration); + }) + fragment.insertBefore(clipboard_div, fragment.firstChild) + } + } +}) diff --git a/closed.png b/closed.png new file mode 100644 index 0000000000000000000000000000000000000000..98cc2c909da37a6df914fbf67780eebd99c597f5 GIT binary patch literal 132 zcmeAS@N?(olHy`uVBq!ia0vp^oFL4>1|%O$WD@{V-kvUwAr*{o@8{^CZMh(5KoB^r_<4^zF@3)Cp&&t3hdujKf f*?bjBoY!V+E))@{xMcbjXe@)LtDnm{r-UW|*e5JT literal 0 HcmV?d00001 diff --git a/cookie.js b/cookie.js new file mode 100644 index 0000000..53ad21d --- /dev/null +++ b/cookie.js @@ -0,0 +1,58 @@ +/*! + Cookie helper functions + Copyright (c) 2023 Dimitri van Heesch + Released under MIT license. +*/ +let Cookie = { + cookie_namespace: 'doxygen_', + + readSetting(cookie,defVal) { + if (window.chrome) { + const val = localStorage.getItem(this.cookie_namespace+cookie) || + sessionStorage.getItem(this.cookie_namespace+cookie); + if (val) return val; + } else { + let myCookie = this.cookie_namespace+cookie+"="; + if (document.cookie) { + const index = document.cookie.indexOf(myCookie); + if (index != -1) { + const valStart = index + myCookie.length; + let valEnd = document.cookie.indexOf(";", valStart); + if (valEnd == -1) { + valEnd = document.cookie.length; + } + return document.cookie.substring(valStart, valEnd); + } + } + } + return defVal; + }, + + writeSetting(cookie,val,days=10*365) { // default days='forever', 0=session cookie, -1=delete + if (window.chrome) { + if (days==0) { + sessionStorage.setItem(this.cookie_namespace+cookie,val); + } else { + localStorage.setItem(this.cookie_namespace+cookie,val); + } + } else { + let date = new Date(); + date.setTime(date.getTime()+(days*24*60*60*1000)); + const expiration = days!=0 ? 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Multi State Constraint Equivariant Filter for visual inertial navigation
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 fptypes.hpp
 
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Multi State Constraint Equivariant Filter for visual inertial navigation
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Multi State Constraint Equivariant Filter for visual inertial navigation
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MSCEqF 1.0 +
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Multi State Constraint Equivariant Filter for visual inertial navigation
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 include
 
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MSCEqF 1.0 +
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Multi State Constraint Equivariant Filter for visual inertial navigation
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utils Directory Reference
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include/utils
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+Files

 logger.hpp
 
 tools.hpp
 
 visualizer.hpp
 
+
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MSCEqF 1.0 +
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Multi State Constraint Equivariant Filter for visual inertial navigation
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wrappers/ros/ros1/include
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+Files

 msceqf_ros.hpp
 
+
+
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MSCEqF 1.0 +
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Multi State Constraint Equivariant Filter for visual inertial navigation
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options Directory Reference
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include/msceqf/options
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+Files

 msceqf_option_parser.hpp
 
 msceqf_options.hpp
 
+
+
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MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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vision Directory Reference
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+Directory dependency graph for vision:
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include/vision
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+Files

 camera.hpp
 
 features.hpp
 
 track.hpp
 
 track_manager.hpp
 
 tracker.hpp
 
+
+
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+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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updater Directory Reference
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+
+
+Directory dependency graph for updater:
+
+
include/msceqf/filter/updater
+ + + + +
+ + + + + + + + +

+Files

 updater.hpp
 
 updater_helper.hpp
 
 zero_velocity_updater.hpp
 
+
+
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+
+ + + + + + + +
+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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propagator Directory Reference
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+Directory dependency graph for propagator:
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include/msceqf/filter/propagator
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+Files

 propagator.hpp
 
+
+
+ + + + diff --git a/dir_c1c77b7b1b9c1e2c55703a7fff6d1b5a.js b/dir_c1c77b7b1b9c1e2c55703a7fff6d1b5a.js new file mode 100644 index 0000000..5135899 --- /dev/null +++ b/dir_c1c77b7b1b9c1e2c55703a7fff6d1b5a.js @@ -0,0 +1,4 @@ +var dir_c1c77b7b1b9c1e2c55703a7fff6d1b5a = +[ + [ "propagator.hpp", "propagator_8hpp_source.html", null ] +]; \ No newline at end of file diff --git a/dir_c1c77b7b1b9c1e2c55703a7fff6d1b5a_dep.map b/dir_c1c77b7b1b9c1e2c55703a7fff6d1b5a_dep.map new file mode 100644 index 0000000..f6e8fa6 --- /dev/null +++ b/dir_c1c77b7b1b9c1e2c55703a7fff6d1b5a_dep.map @@ -0,0 +1,4 @@ + + + + diff --git a/dir_c1c77b7b1b9c1e2c55703a7fff6d1b5a_dep.md5 b/dir_c1c77b7b1b9c1e2c55703a7fff6d1b5a_dep.md5 new file mode 100644 index 0000000..ac46c58 --- /dev/null +++ b/dir_c1c77b7b1b9c1e2c55703a7fff6d1b5a_dep.md5 @@ -0,0 +1 @@ +84b387185b69cbcdbb63f639e0ca0cb7 \ No newline at end of file diff --git a/dir_c1c77b7b1b9c1e2c55703a7fff6d1b5a_dep.png b/dir_c1c77b7b1b9c1e2c55703a7fff6d1b5a_dep.png new file mode 100644 index 0000000000000000000000000000000000000000..cb5509b1c3ed72cc95c0e7f263778a860109feee GIT binary patch literal 2432 zcmZWr3p5k@AD^o{GxNw*^3EtlVxGxsUNv$Xmn9aKcNooER+3lqNF*cSMh}lj$+~pI zBGf|LtZm*6&7&Ec9=5yA|NPIn_y0e?^ZS0!`JUhTozMB4&-s2nd0w8bax!~m004lT zyBqYhsOO4qgp`D+&eTO=L`@?2q$?C4{CVznH2D6;cMkC zy1TlG)u`-L%Yp26QGVtDa+c;QNYOR!bv(6=IA0V7cWr{f+s0s#R%Zy|ew7Us?sW8% zXq)^+75O@#yx5Ag<9l8cZbWcdF+U-P!2Ph5QQe0wo?1(L$^T-Nu%><~LGmidQA+#Y zg`-xFMxpCRx1JM&^V$e#Txi*7__0G=bqnFx%SX+)HfJCE>niZ0E$g?~e*^Y95NOmy4FEcnxEJ)~+V4uDbQ`6FLJr0z% zqks60oHR*SOd)^2mSf2dsKE`al(Qm8UL`^m=TeWj*KqA2Hr%Yz_{#SUIK213Ggh=q ztE{#?+Z9VGs;rEZDcXIPn*E#r$&ry+%^H)9P_I3xr#j zXF;n}ao{&3lC*K4vzD427eZ>eS$(KG81`*DiL<6O@O79$LkSPdV&}34o^LIh*$5_=_w&j=C5Qj zWjQ-EG>efTX)(YoN2l9m$MIM!;0D+OtOvm{7|j4PGqcCMO^ZBS!2p#?B{Hok7&LJG zQJ-9Xueaw;!5+0@jR7<7u1|)XM_C@Hl96 zjygPU;}Hd-{j&VyFk|s!Wh6w8aUvu{7cd_BN8I$>_MgH)BRM&_WuZaQa}$%BxA14_ z)5hNLfb6j=^@U!$K?TJ2>BSOb^36Ckc%vTogHjRacS@?GqeQ!&{w+)t^@z9TQ18N> zpiiHD^YXfg!}SVfbhLjH1_26WSg{dun->NkHUOHVB26nV`LXz~xG{p&r- zHaE`Fs$a_46LF;D0y}h)Ng(dQ6Ji)9T%)nj$(1iFgQmG&^Ba0Ox;ncqu6!iZ@S9S0 zf-T(vnLBhFhN&48} zSl_iA+kim%Iu-2N*m&;ds8*44bGeiRIz1-&~_nz5)>i87Yj+wQ3kF_dH+H1`r+@IZuy$q`GG_!6PdOg&&~a zNqSnip+aVbtqwMekG=oW=QCx|G5LCoM3TqGFbOj&D;dNI?g9zTnRO;4t=0PJA27L- zpC7MsIB=+EyXL52hB-h4cxG;{k7mxTtgJkv>5u>UXJU#Sqs(7&f7q~1x-UK6^{!Kn z;LWWZyD-@DgyHMtv@}z2;-M&{e-?3U-RQk967lwZZQmmKMJL(1 zR0w{G)<0?c0wIV8o32%O_CMARH{08w-#E)=pDfa_RbE)S=wx7Ms0T@r=~`Q9r{P~D zu(AC`C#P{u(V~5+cr*@Vo7!>gu<_Zd%b6rB1uZTKoSm-CM6)&yjD(uj24!)0yk`h~ zZW(4I?V{KMsm7^sd`?7N0H5L78hF_Z0$E2391a>9Ngm*D5;V}{$TjJ33|y-N2! zP$(12E1$RHTw~Nh;a#b!$8~1&h2!kZshFx;w|v=UPOfbGVdKZm+D^S<$y+4(yVRVJ zkz@tzt~r<40lkSTNsy{C^qg1m+sT%vnmpwQ)wd7YPy4VPym!uzr4}ngAWhP{cFkT> z`#9yxL|{~mQ|`Q2gXtN^%G(7z{|nch%Hdb>z4>!6o}YZ(e>^XsZ~UQRqzB88efEt0 zv2+8GeJqdl#oqQu5~Zl6B472ib3bfg=}5fit3Wh{`|`WTJC`=F(IfBTdEjiBpNpv~ z{#M_^AsMTt2^v=H<&&=x9arj+9NMc>D)$lcb-be%gl7$vT52_PN~;i%Vo@zSxb1MY z?~PTi*Z%*r@X(^~S@$nJ=w3!iXAcza(>NZCDtl_O7CWUF;DZR-bkS)GQ9|{Ivm|%& zF)OLXEEbDgZH*bS-CDX#nwt}ZVOKg6sZ92&YsW~$8%Ty21;wV4FCWD literal 0 HcmV?d00001 diff --git a/dir_c1e55025cdee8ca5c3a305d8e87e79d0.html b/dir_c1e55025cdee8ca5c3a305d8e87e79d0.html new file mode 100644 index 0000000..5465fe8 --- /dev/null +++ b/dir_c1e55025cdee8ca5c3a305d8e87e79d0.html @@ -0,0 +1,129 @@ + + + + + + + +MSCEqF: include/msceqf/symmetry Directory Reference + + + + + + + + + + + + + + + +
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+ + + + + + + +
+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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symmetry Directory Reference
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+Directory dependency graph for symmetry:
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include/msceqf/symmetry
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+ + + + +

+Files

 symmetry.hpp
 
+
+
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+
+ + + + + + + +
+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
+
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filter Directory Reference
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+Directory dependency graph for filter:
+
+
include/msceqf/filter
+ + + + + + + + +
+ + + + + + + + + + +

+Directories

 checker
 
 initializer
 
 propagator
 
 updater
 
+
+
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+ + + + + + + +
+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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include Directory Reference
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+Directories

 msceqf
 
 sensors
 
 types
 
 utils
 
 vision
 
+
+
+ + + + diff --git a/dir_d44c64559bbebec7f509842c48db8b23.js b/dir_d44c64559bbebec7f509842c48db8b23.js new file mode 100644 index 0000000..11d12e6 --- /dev/null +++ b/dir_d44c64559bbebec7f509842c48db8b23.js @@ -0,0 +1,8 @@ +var dir_d44c64559bbebec7f509842c48db8b23 = +[ + [ "msceqf", "dir_ec8c128d97e5fa483ab11a8a22012ca3.html", "dir_ec8c128d97e5fa483ab11a8a22012ca3" ], + [ "sensors", "dir_ebe552be396c660935f2efa76e6989b7.html", "dir_ebe552be396c660935f2efa76e6989b7" ], + [ "types", "dir_0ad255a918b7fba820a1ddafed6fa637.html", "dir_0ad255a918b7fba820a1ddafed6fa637" ], + [ "utils", "dir_821002d4f10779a80d4fb17bc32f21f1.html", "dir_821002d4f10779a80d4fb17bc32f21f1" ], + [ "vision", "dir_ab1e5beeb058366671750909505e3165.html", "dir_ab1e5beeb058366671750909505e3165" ] +]; \ No newline at end of file diff --git a/dir_daf8d2f1b5aa26079c0e1db96e2157f7.html b/dir_daf8d2f1b5aa26079c0e1db96e2157f7.html new file mode 100644 index 0000000..d12ab28 --- /dev/null +++ b/dir_daf8d2f1b5aa26079c0e1db96e2157f7.html @@ -0,0 +1,131 @@ + + + + + + + +MSCEqF: include/msceqf/system Directory Reference + + + + + + + + + + + + + + + +
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+ + + + + + + +
+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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system Directory Reference
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+Directory dependency graph for system:
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include/msceqf/system
+ + + + +
+ + + + + + +

+Files

 system.hpp
 
 system_elements.hpp
 
+
+
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+
+ + + + + + + +
+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
+
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sensors Directory Reference
+
+
+
+Directory dependency graph for sensors:
+
+
include/sensors
+ + + + +
+ + + + +

+Files

 sensor_data.hpp
 
+
+
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+
+ + + + + + + +
+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
+
+
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+ +
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msceqf Directory Reference
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+
+
+Directory dependency graph for msceqf:
+
+
include/msceqf
+ + + + + + + + + +
+ + + + + + + + + + +

+Directories

 options
 
 state
 
 symmetry
 
 system
 
+ + + +

+Files

 msceqf.hpp
 
+
+
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+
+ + + + + + + +
+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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initializer Directory Reference
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+
+
+Directory dependency graph for initializer:
+
+
include/msceqf/filter/initializer
+ + + + +
+ + + + +

+Files

 static_initializer.hpp
 
+
+
+ + + + diff --git a/dir_f3487fe4a0195986466b4d5e74f4eea0.js b/dir_f3487fe4a0195986466b4d5e74f4eea0.js new file mode 100644 index 0000000..4b6cfe6 --- /dev/null +++ b/dir_f3487fe4a0195986466b4d5e74f4eea0.js @@ -0,0 +1,4 @@ +var dir_f3487fe4a0195986466b4d5e74f4eea0 = +[ + [ "static_initializer.hpp", "static__initializer_8hpp_source.html", null ] +]; \ No newline at end of file diff --git a/dir_f3487fe4a0195986466b4d5e74f4eea0_dep.map b/dir_f3487fe4a0195986466b4d5e74f4eea0_dep.map new file mode 100644 index 0000000..e220488 --- /dev/null +++ b/dir_f3487fe4a0195986466b4d5e74f4eea0_dep.map @@ -0,0 +1,4 @@ + + + + diff --git a/dir_f3487fe4a0195986466b4d5e74f4eea0_dep.md5 b/dir_f3487fe4a0195986466b4d5e74f4eea0_dep.md5 new file mode 100644 index 0000000..efcb372 --- /dev/null +++ b/dir_f3487fe4a0195986466b4d5e74f4eea0_dep.md5 @@ -0,0 +1 @@ +e5a84343e02180634d45ff29893277ee \ No newline at end of file diff --git a/dir_f3487fe4a0195986466b4d5e74f4eea0_dep.png b/dir_f3487fe4a0195986466b4d5e74f4eea0_dep.png new file mode 100644 index 0000000000000000000000000000000000000000..bcddc0e796a5e982e391b690b21f713a508e722a GIT binary patch literal 2071 zcmV+y2;mh3|#kMr1 zh=6wHHYKBGPliS)nTQ)Z*#sv`1@O6%nemw%SsyMemA$yiLWI8!N9u(lT6; zazn`d0dhsuahj(cacF zW_(cauP|0D#XmUyhadifj`lXF)oP=2$13StwrnZ#^zw;~R4ryx4KcvAt50`X?d)YZf(Br{tiN+5H2pRaB*>kQt5wR8NFVQ&fB-4 z*Xu3NL-vLTXO4o!z}l2Kr)xACJR2E-o}M1e_EEs=5jV{CQQTK9B*<^*GuRIe4Rrv3 zqN9f~FEkj6hvkS;J&CJLR{#v17BVw7AS*K+p^pc0wk_s1Ws)wF$#C-HGZ2f#_@?P5 zN=}@5V7bcb`k~LNdMK6tICr)j8R@BbeMdenRX1Sa!rvlpNfZVK1^@uX#Ydpm>#_H5 z2RYjobDJ_rH`c)e`>;G=1?DgK4P?&FSf9QLKexBXg^Ke4fEmtmyq2>ALBVq^+*8w; zQs;DIe0%dID!%#>M~=KdYI#>z7XZM+)6){&GArIEeTH0)KdeYX(jSvYmepRa!6P0X zc&G4fOq({%g1s{jR)=?nVM06F+f3CLPWANk005Rf|9kBIYaT9DehsZwi`~2O5fdE= zfxxWymsk|5JzcNYr&U+|3$`?$E)x9$�mh8WM<8r@ugK+){l1offNJNE8~g(T zaO`*)937`yx~pbGH&NImeY{j6Dl#^j_rKoxh?34jlyn}Vr1KCZork8}d^(vJ>k$ZT zcb{#}QQ9`pH7TIN#`L-IuB9Od5DtEL%f|&=QCDGzdN5!YzrOUZHy_N zPv>NC=0e4J8{Y~BK-ZOAlxJG7_s5a+|NKEAUdmCCqo)~emT$DS*kCtdaI zVua0Gz;&}$?Lx)VoVG`YcOIhobRJ?mIFmmoD8y8KAsnIkbQ?qS>BJ~joAmO}&*0Bl z8LY}pwvN)0V(i?WV^EAOv)ZIP2!)VHerZs-{{DWvn3RCNzB>lh(c0RArlxNUim_!@ zdrl7vn~$)t`39BK=>~ATxCnV~?14}?`8teg*Opmr($AeO$LF7&M)uZRl$I1j)71&x zpbqEGegQ{EN33464grC4MwMF@9|Hh*K0XG!-`t0mmgbRl08n=FLmV$Yir(H{`1tr@ zO-d?e$mL_U`}chXC@VWLYJK<P=wNwVrVs8 zkh{3z(@#Feo`U_{d|?K#+WGX(&Q3Hm480$wwY3F1cjlt5wiXF5BtoatAwD(=gM)*k z%5B}YedN>K{ozsT&YdmCODhu*JojCC&*4{vczAlk-oatiIUJ?Bkb+% zO|tE#X0?a+dnuKEu(KOFFi9j5gX14l`r(83-^HrrL^R*J1&vlSanP`=%^UIG{(j_c z&j$cBHrAuJw--^WCr8Ts*!LrvhF?YIA27#k3HS2$g_rlnc(qz>bR9O6bhht)NlQ(^ zzi(Ve_SRhZ2Lz(3suHVKCQcalPT^bl^wdW#3+Xk8CCj?;Sn{sZ=_$ z{CD9I`0Vs2aC3KuryP9ZMEJg98T(N3C0# z{3on`Wi5^s9Y$+w3lbAoqO1NjLGZjwWIrG!orP4NJ(tP?omP8NDr%(QNDSGD&F%ZqC z^AOFa^U##~A;$+apH7Uz`JR4tcnXtP4(CZfd7=bB3D?b%pP<7#4{@@m`}of0>nVN`@dADGcx5KS`v21b + + + + + + +MSCEqF: include/msceqf/state Directory Reference + + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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state Directory Reference
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+
+
+Directory dependency graph for state:
+
+
include/msceqf/state
+ + + + +
+ + + + + + +

+Files

 state.hpp
 
 state_elements.hpp
 
+
+
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+
+ + + + + + + +
+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
+
+
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+ +
+
checker Directory Reference
+
+
+
+Directory dependency graph for checker:
+
+
include/msceqf/filter/checker
+ + + + +
+ + + + +

+Files

 checker.hpp
 
+
+
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+--inherit-header-color: #A0A0A0; + +--footer-foreground-color: #5B7AB7; +--footer-logo-width: 60px; +--citation-label-color: #90A5CE; +--glow-color: cyan; + +--title-background-color: #090D16; +--title-separator-color: #354C79; +--directory-separator-color: #283A5D; +--separator-color: #283A5D; + +--blockquote-background-color: #101826; +--blockquote-border-color: #283A5D; + +--scrollbar-thumb-color: #283A5D; +--scrollbar-background-color: #070B11; + +--icon-background-color: #334975; +--icon-foreground-color: #C4CFE5; +--icon-doc-image: url('docd.svg'); +--icon-folder-open-image: url('folderopend.svg'); +--icon-folder-closed-image: url('folderclosedd.svg'); + +/* brief member declaration list */ +--memdecl-background-color: #0B101A; +--memdecl-separator-color: #2C3F65; +--memdecl-foreground-color: #BBB; +--memdecl-template-color: #7C95C6; + +/* detailed member list */ +--memdef-border-color: #233250; +--memdef-title-background-color: #1B2840; +--memdef-title-gradient-image: url('nav_fd.png'); +--memdef-proto-background-color: #19243A; +--memdef-proto-text-color: #9DB0D4; +--memdef-proto-text-shadow: 0px 1px 1px rgba(0, 0, 0, 0.9); +--memdef-doc-background-color: black; +--memdef-param-name-color: #D28757; +--memdef-template-color: #7C95C6; + +/* tables */ +--table-cell-border-color: #283A5D; +--table-header-background-color: #283A5D; +--table-header-foreground-color: #C4CFE5; + +/* labels */ +--label-background-color: #354C7B; +--label-left-top-border-color: #4665A2; +--label-right-bottom-border-color: #283A5D; +--label-foreground-color: #CCCCCC; + +/** navigation bar/tree/menu */ +--nav-background-color: #101826; +--nav-foreground-color: #364D7C; +--nav-gradient-image: url('tab_bd.png'); +--nav-gradient-hover-image: url('tab_hd.png'); +--nav-gradient-active-image: url('tab_ad.png'); +--nav-gradient-active-image-parent: url("../tab_ad.png"); +--nav-separator-image: url('tab_sd.png'); +--nav-breadcrumb-image: url('bc_sd.png'); +--nav-breadcrumb-border-color: #2A3D61; +--nav-splitbar-image: url('splitbard.png'); +--nav-font-size-level1: 13px; +--nav-font-size-level2: 10px; +--nav-font-size-level3: 9px; +--nav-text-normal-color: #B6C4DF; +--nav-text-hover-color: #DCE2EF; +--nav-text-active-color: #DCE2EF; +--nav-text-normal-shadow: 0px 1px 1px black; +--nav-text-hover-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0); +--nav-text-active-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0); +--nav-menu-button-color: #B6C4DF; +--nav-menu-background-color: #05070C; +--nav-menu-foreground-color: #BBBBBB; +--nav-menu-toggle-color: rgba(255, 255, 255, 0.2); +--nav-arrow-color: #334975; +--nav-arrow-selected-color: #90A5CE; + +/* table of contents */ +--toc-background-color: #151E30; +--toc-border-color: #202E4A; +--toc-header-color: #A3B4D7; +--toc-down-arrow-image: url("data:image/svg+xml;utf8,&%238595;"); + +/** search field */ +--search-background-color: black; +--search-foreground-color: #C5C5C5; +--search-magnification-image: url('mag_d.svg'); +--search-magnification-select-image: url('mag_seld.svg'); +--search-active-color: #C5C5C5; +--search-filter-background-color: #101826; +--search-filter-foreground-color: #90A5CE; +--search-filter-border-color: #7C95C6; +--search-filter-highlight-text-color: #BCC9E2; +--search-filter-highlight-bg-color: #283A5D; +--search-results-background-color: #101826; +--search-results-foreground-color: #90A5CE; +--search-results-border-color: #7C95C6; +--search-box-shadow: inset 0.5px 0.5px 3px 0px #2F436C; + +/** code fragments */ +--code-keyword-color: #CC99CD; +--code-type-keyword-color: #AB99CD; +--code-flow-keyword-color: #E08000; +--code-comment-color: #717790; +--code-preprocessor-color: #65CABE; +--code-string-literal-color: #7EC699; +--code-char-literal-color: #00E0F0; +--code-xml-cdata-color: #C9D1D9; +--code-vhdl-digit-color: #FF00FF; +--code-vhdl-char-color: #C0C0C0; +--code-vhdl-keyword-color: #CF53C9; +--code-vhdl-logic-color: #FF0000; +--code-link-color: #79C0FF; +--code-external-link-color: #79C0FF; +--fragment-foreground-color: #C9D1D9; +--fragment-background-color: #090D16; +--fragment-border-color: #30363D; +--fragment-lineno-border-color: #30363D; +--fragment-lineno-background-color: black; +--fragment-lineno-foreground-color: #6E7681; +--fragment-lineno-link-fg-color: #6E7681; +--fragment-lineno-link-bg-color: #303030; +--fragment-lineno-link-hover-fg-color: #8E96A1; +--fragment-lineno-link-hover-bg-color: #505050; +--fragment-copy-ok-color: #0EA80E; +--tooltip-foreground-color: #C9D1D9; +--tooltip-background-color: #202020; +--tooltip-border-color: #C9D1D9; +--tooltip-doc-color: #D9E1E9; +--tooltip-declaration-color: #20C348; +--tooltip-link-color: #79C0FF; +--tooltip-shadow: none; +--fold-line-color: #808080; +--fold-minus-image: url('minusd.svg'); +--fold-plus-image: url('plusd.svg'); +--fold-minus-image-relpath: url('../../minusd.svg'); +--fold-plus-image-relpath: url('../../plusd.svg'); + +/** font-family */ +--font-family-normal: Roboto,sans-serif; +--font-family-monospace: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed; +--font-family-nav: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif; +--font-family-title: Tahoma,Arial,sans-serif; +--font-family-toc: Verdana,'DejaVu Sans',Geneva,sans-serif; +--font-family-search: Arial,Verdana,sans-serif; +--font-family-icon: Arial,Helvetica; +--font-family-tooltip: Roboto,sans-serif; + +/** special sections */ +--warning-color-bg: #2e1917; +--warning-color-hl: #ad2617; +--warning-color-text: #f5b1aa; +--note-color-bg: #3b2e04; +--note-color-hl: #f1b602; +--note-color-text: #ceb670; +--todo-color-bg: #163750; +--todo-color-hl: #1982D2; +--todo-color-text: #dcf0fa; +--test-color-bg: #121258; +--test-color-hl: #4242cf; +--test-color-text: #c0c0da; +--deprecated-color-bg: #2e323b; +--deprecated-color-hl: #738396; +--deprecated-color-text: #abb0bd; +--bug-color-bg: #2a2536; +--bug-color-hl: #7661b3; +--bug-color-text: #ae9ed6; +--invariant-color-bg: #303a35; +--invariant-color-hl: #76ce96; +--invariant-color-text: #cceed5; +}} +body { + background-color: var(--page-background-color); + color: var(--page-foreground-color); +} + +body, table, div, p, dl { + font-weight: 400; + font-size: 14px; + font-family: var(--font-family-normal); + line-height: 22px; +} + +/* @group Heading Levels */ + +.title { + font-family: var(--font-family-normal); + line-height: 28px; + font-size: 150%; + font-weight: bold; + margin: 10px 2px; +} + +h1.groupheader { + font-size: 150%; +} + +h2.groupheader { + border-bottom: 1px solid var(--group-header-separator-color); + color: var(--group-header-color); + font-size: 150%; + font-weight: normal; + margin-top: 1.75em; + padding-top: 8px; + padding-bottom: 4px; + width: 100%; +} + +h3.groupheader { + font-size: 100%; +} + +h1, h2, h3, h4, h5, h6 { + -webkit-transition: text-shadow 0.5s linear; + -moz-transition: text-shadow 0.5s linear; + -ms-transition: text-shadow 0.5s linear; + -o-transition: text-shadow 0.5s linear; + transition: text-shadow 0.5s linear; + margin-right: 15px; +} + +h1.glow, h2.glow, h3.glow, h4.glow, h5.glow, h6.glow { + text-shadow: 0 0 15px var(--glow-color); +} + +dt { + font-weight: bold; +} + +p.startli, p.startdd { + margin-top: 2px; +} + +th p.starttd, th p.intertd, th p.endtd { + font-size: 100%; + font-weight: 700; +} + +p.starttd { + margin-top: 0px; +} + +p.endli { + margin-bottom: 0px; +} + +p.enddd { + margin-bottom: 4px; +} + +p.endtd { + margin-bottom: 2px; +} + +p.interli { +} + +p.interdd { +} + +p.intertd { +} + +/* @end */ + +caption { + font-weight: bold; +} + +span.legend { + font-size: 70%; + text-align: center; +} + +h3.version { + font-size: 90%; + text-align: center; +} + +div.navtab { + padding-right: 15px; + text-align: right; + line-height: 110%; +} + +div.navtab table { + border-spacing: 0; +} + +td.navtab { + padding-right: 6px; + padding-left: 6px; +} + +td.navtabHL { + background-image: var(--nav-gradient-active-image); + background-repeat:repeat-x; + padding-right: 6px; + padding-left: 6px; +} + +td.navtabHL a, td.navtabHL a:visited { + color: var(--nav-text-hover-color); + text-shadow: var(--nav-text-hover-shadow); +} + +a.navtab { + font-weight: bold; +} + +div.qindex{ + text-align: center; + width: 100%; + line-height: 140%; + font-size: 130%; + color: var(--index-separator-color); +} + +#main-menu a:focus { + outline: auto; + z-index: 10; + position: relative; +} + +dt.alphachar{ + font-size: 180%; + font-weight: bold; +} + +.alphachar a{ + color: var(--index-header-color); +} + +.alphachar a:hover, .alphachar a:visited{ + text-decoration: none; +} + +.classindex dl { + padding: 25px; + column-count:1 +} + +.classindex dd { + display:inline-block; + margin-left: 50px; + width: 90%; + line-height: 1.15em; +} + +.classindex dl.even { + background-color: var(--index-even-item-bg-color); +} + +.classindex dl.odd { + background-color: var(--index-odd-item-bg-color); +} + +@media(min-width: 1120px) { + .classindex dl { + column-count:2 + } +} + +@media(min-width: 1320px) { + .classindex dl { + column-count:3 + } +} + + +/* @group Link Styling */ + +a { + color: var(--page-link-color); + font-weight: normal; + text-decoration: none; +} + +.contents a:visited { + color: var(--page-visited-link-color); +} + +a:hover { + text-decoration: none; + background: linear-gradient(to bottom, transparent 0,transparent calc(100% - 1px), currentColor 100%); +} + +a:hover > span.arrow { + text-decoration: none; + background : var(--nav-background-color); +} + +a.el { + font-weight: bold; +} + +a.elRef { +} + +a.code, a.code:visited, a.line, a.line:visited { + color: var(--code-link-color); +} + +a.codeRef, a.codeRef:visited, a.lineRef, a.lineRef:visited { + color: var(--code-external-link-color); +} + +a.code.hl_class { /* style for links to class names in code snippets */ } +a.code.hl_struct { /* style for links to struct names in code snippets */ } +a.code.hl_union { /* style for links to union names in code snippets */ } +a.code.hl_interface { /* style for links to interface names in code snippets */ } +a.code.hl_protocol { /* style for links to protocol names in code snippets */ } +a.code.hl_category { /* style for links to category names in code snippets */ } +a.code.hl_exception { /* style for links to exception names in code snippets */ } +a.code.hl_service { /* style for links to service names in code snippets */ } +a.code.hl_singleton { /* style for links to singleton names in code snippets */ } +a.code.hl_concept { /* style for links to concept names in code snippets */ } +a.code.hl_namespace { /* style for links to namespace names in code snippets */ } +a.code.hl_package { /* style for links to package names in code snippets */ } +a.code.hl_define { /* style for links to macro names in code snippets */ } +a.code.hl_function { /* style for links to function names in code snippets */ } +a.code.hl_variable { /* style for links to variable names in code snippets */ } +a.code.hl_typedef { /* style for links to typedef names in code snippets */ } +a.code.hl_enumvalue { /* style for links to enum value names in code snippets */ } +a.code.hl_enumeration { /* style for links to enumeration names in code snippets */ } +a.code.hl_signal { /* style for links to Qt signal names in code snippets */ } +a.code.hl_slot { /* style for links to Qt slot names in code snippets */ } +a.code.hl_friend { /* style for links to friend names in code snippets */ } +a.code.hl_dcop { /* style for links to KDE3 DCOP names in code snippets */ } +a.code.hl_property { /* style for links to property names in code snippets */ } +a.code.hl_event { /* style for links to event names in code snippets */ } +a.code.hl_sequence { /* style for links to sequence names in code snippets */ } +a.code.hl_dictionary { /* style for links to dictionary names in code snippets */ } + +/* @end */ + +dl.el { + margin-left: -1cm; +} + +ul.check { + list-style:none; + text-indent: -16px; + padding-left: 38px; +} +li.unchecked:before { + content: "\2610\A0"; +} +li.checked:before { + content: "\2611\A0"; +} + +ol { + text-indent: 0px; +} + +ul { + text-indent: 0px; + overflow: visible; +} + +ul.multicol { + -moz-column-gap: 1em; + -webkit-column-gap: 1em; + column-gap: 1em; + -moz-column-count: 3; + -webkit-column-count: 3; + column-count: 3; + list-style-type: none; +} + +#side-nav ul { + overflow: visible; /* reset ul rule for scroll bar in GENERATE_TREEVIEW window */ +} + +#main-nav ul { + overflow: visible; /* reset ul rule for the navigation bar drop down lists */ +} + +.fragment { + text-align: left; + direction: ltr; + overflow-x: auto; + overflow-y: hidden; + position: relative; + min-height: 12px; + margin: 10px 0px; + padding: 10px 10px; + border: 1px solid var(--fragment-border-color); + border-radius: 4px; + background-color: var(--fragment-background-color); + color: var(--fragment-foreground-color); +} + +pre.fragment { + word-wrap: break-word; + font-size: 10pt; + line-height: 125%; + font-family: var(--font-family-monospace); +} + +.clipboard { + width: 24px; + height: 24px; + right: 5px; + top: 5px; + opacity: 0; + position: absolute; + display: inline; + overflow: auto; + fill: var(--fragment-foreground-color); + justify-content: center; + align-items: center; + cursor: pointer; +} + +.clipboard.success { + border: 1px solid var(--fragment-foreground-color); + border-radius: 4px; +} + +.fragment:hover .clipboard, .clipboard.success { + opacity: .28; +} + +.clipboard:hover, .clipboard.success { + opacity: 1 !important; +} + +.clipboard:active:not([class~=success]) svg { + transform: scale(.91); +} + +.clipboard.success svg { + fill: var(--fragment-copy-ok-color); +} + +.clipboard.success { + border-color: var(--fragment-copy-ok-color); +} + +div.line { + font-family: var(--font-family-monospace); + font-size: 13px; + min-height: 13px; + line-height: 1.2; + text-wrap: unrestricted; + white-space: -moz-pre-wrap; /* Moz */ + white-space: -pre-wrap; /* Opera 4-6 */ + white-space: -o-pre-wrap; /* Opera 7 */ + white-space: pre-wrap; /* CSS3 */ + word-wrap: break-word; /* IE 5.5+ */ + text-indent: -53px; + padding-left: 53px; + padding-bottom: 0px; + margin: 0px; + -webkit-transition-property: background-color, box-shadow; + -webkit-transition-duration: 0.5s; + -moz-transition-property: background-color, box-shadow; + -moz-transition-duration: 0.5s; + -ms-transition-property: background-color, box-shadow; + -ms-transition-duration: 0.5s; + -o-transition-property: background-color, box-shadow; + -o-transition-duration: 0.5s; + transition-property: background-color, box-shadow; + transition-duration: 0.5s; +} + +div.line:after { + content:"\000A"; + white-space: pre; +} + +div.line.glow { + background-color: var(--glow-color); + box-shadow: 0 0 10px var(--glow-color); +} + +span.fold { + margin-left: 5px; + margin-right: 1px; + margin-top: 0px; + margin-bottom: 0px; + padding: 0px; + display: inline-block; + width: 12px; + height: 12px; + background-repeat:no-repeat; + background-position:center; +} + +span.lineno { + padding-right: 4px; + margin-right: 9px; + text-align: right; + border-right: 2px solid var(--fragment-lineno-border-color); + color: var(--fragment-lineno-foreground-color); + background-color: var(--fragment-lineno-background-color); + white-space: pre; +} +span.lineno a, span.lineno a:visited { + color: var(--fragment-lineno-link-fg-color); + background-color: var(--fragment-lineno-link-bg-color); +} + +span.lineno a:hover { + color: var(--fragment-lineno-link-hover-fg-color); + background-color: var(--fragment-lineno-link-hover-bg-color); +} + +.lineno { + -webkit-touch-callout: none; + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; +} + +div.classindex ul { + list-style: none; + padding-left: 0; +} + +div.classindex span.ai { + display: inline-block; +} + +div.groupHeader { + margin-left: 16px; + margin-top: 12px; + font-weight: bold; +} + +div.groupText { + margin-left: 16px; + font-style: italic; +} + +body { + color: var(--page-foreground-color); + margin: 0; +} + +div.contents { + margin-top: 10px; + margin-left: 12px; + margin-right: 8px; +} + +p.formulaDsp { + text-align: center; +} + +img.dark-mode-visible { + display: none; +} +img.light-mode-visible { + display: none; +} + +img.formulaInl, img.inline { + vertical-align: middle; +} + +div.center { + text-align: center; + margin-top: 0px; + margin-bottom: 0px; + padding: 0px; +} + +div.center img { + border: 0px; +} + +address.footer { + text-align: right; + padding-right: 12px; +} + +img.footer { + border: 0px; + vertical-align: middle; + width: var(--footer-logo-width); +} + +.compoundTemplParams { + color: var(--memdecl-template-color); + font-size: 80%; + line-height: 120%; +} + +/* @group Code Colorization */ + +span.keyword { + color: var(--code-keyword-color); +} + +span.keywordtype { + color: var(--code-type-keyword-color); +} + +span.keywordflow { + color: var(--code-flow-keyword-color); +} + +span.comment { + color: var(--code-comment-color); +} + +span.preprocessor { + color: var(--code-preprocessor-color); +} + +span.stringliteral { + color: var(--code-string-literal-color); +} + +span.charliteral { + color: var(--code-char-literal-color); +} + +span.xmlcdata { + color: var(--code-xml-cdata-color); +} + +span.vhdldigit { + color: var(--code-vhdl-digit-color); +} + +span.vhdlchar { + color: var(--code-vhdl-char-color); +} + +span.vhdlkeyword { + color: var(--code-vhdl-keyword-color); +} + +span.vhdllogic { + color: var(--code-vhdl-logic-color); +} + +blockquote { + background-color: var(--blockquote-background-color); + border-left: 2px solid var(--blockquote-border-color); + margin: 0 24px 0 4px; + padding: 0 12px 0 16px; +} + +/* @end */ + +td.tiny { + font-size: 75%; +} + +.dirtab { + padding: 4px; + border-collapse: collapse; + border: 1px solid var(--table-cell-border-color); +} + +th.dirtab { + background-color: var(--table-header-background-color); + color: var(--table-header-foreground-color); + font-weight: bold; +} + +hr { + height: 0px; + border: none; + border-top: 1px solid var(--separator-color); +} + +hr.footer { + height: 1px; +} + +/* @group Member Descriptions */ + +table.memberdecls { + border-spacing: 0px; + padding: 0px; +} + +.memberdecls td, .fieldtable tr { + -webkit-transition-property: background-color, box-shadow; + -webkit-transition-duration: 0.5s; + -moz-transition-property: background-color, box-shadow; + -moz-transition-duration: 0.5s; + -ms-transition-property: background-color, box-shadow; + -ms-transition-duration: 0.5s; + -o-transition-property: background-color, box-shadow; + -o-transition-duration: 0.5s; + transition-property: background-color, box-shadow; + transition-duration: 0.5s; +} + +.memberdecls td.glow, .fieldtable tr.glow { + background-color: var(--glow-color); + box-shadow: 0 0 15px var(--glow-color); +} + +.mdescLeft, .mdescRight, +.memItemLeft, .memItemRight, +.memTemplItemLeft, .memTemplItemRight, .memTemplParams { + background-color: var(--memdecl-background-color); + border: none; + margin: 4px; + padding: 1px 0 0 8px; +} + +.mdescLeft, .mdescRight { + padding: 0px 8px 4px 8px; + color: var(--memdecl-foreground-color); +} + +.memSeparator { + border-bottom: 1px solid var(--memdecl-separator-color); + line-height: 1px; + margin: 0px; + padding: 0px; +} + +.memItemLeft, .memTemplItemLeft { + white-space: nowrap; +} + +.memItemRight, .memTemplItemRight { + width: 100%; +} + +.memTemplParams { + color: var(--memdecl-template-color); + white-space: nowrap; + font-size: 80%; +} + +/* @end */ + +/* @group Member Details */ + +/* Styles for detailed member documentation */ + +.memtitle { + padding: 8px; + border-top: 1px solid var(--memdef-border-color); + border-left: 1px solid var(--memdef-border-color); + border-right: 1px solid var(--memdef-border-color); + border-top-right-radius: 4px; + border-top-left-radius: 4px; + margin-bottom: -1px; + background-image: var(--memdef-title-gradient-image); + background-repeat: repeat-x; + background-color: var(--memdef-title-background-color); + line-height: 1.25; + font-weight: 300; + float:left; +} + +.permalink +{ + font-size: 65%; + display: inline-block; + vertical-align: middle; +} + +.memtemplate { + font-size: 80%; + color: var(--memdef-template-color); + font-weight: normal; + margin-left: 9px; +} + +.mempage { + width: 100%; +} + +.memitem { + padding: 0; + margin-bottom: 10px; + margin-right: 5px; + -webkit-transition: box-shadow 0.5s linear; + -moz-transition: box-shadow 0.5s linear; + -ms-transition: box-shadow 0.5s linear; + -o-transition: box-shadow 0.5s linear; + transition: box-shadow 0.5s linear; + display: table !important; + width: 100%; +} + +.memitem.glow { + box-shadow: 0 0 15px var(--glow-color); +} + +.memname { + font-weight: 400; + margin-left: 6px; +} + +.memname td { + vertical-align: bottom; +} + +.memproto, dl.reflist dt { + border-top: 1px solid var(--memdef-border-color); + border-left: 1px solid var(--memdef-border-color); + border-right: 1px solid var(--memdef-border-color); + padding: 6px 0px 6px 0px; + color: var(--memdef-proto-text-color); + font-weight: bold; + text-shadow: var(--memdef-proto-text-shadow); + background-color: var(--memdef-proto-background-color); + box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); + border-top-right-radius: 4px; +} + +.overload { + font-family: var(--font-family-monospace); + font-size: 65%; +} + +.memdoc, dl.reflist dd { + border-bottom: 1px solid var(--memdef-border-color); + border-left: 1px solid var(--memdef-border-color); + border-right: 1px solid var(--memdef-border-color); + padding: 6px 10px 2px 10px; + border-top-width: 0; + background-image:url('nav_g.png'); + background-repeat:repeat-x; + background-color: var(--memdef-doc-background-color); + /* opera specific markup */ + border-bottom-left-radius: 4px; + border-bottom-right-radius: 4px; + box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); + /* firefox specific markup */ + -moz-border-radius-bottomleft: 4px; + -moz-border-radius-bottomright: 4px; + -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px; + /* webkit specific markup */ + -webkit-border-bottom-left-radius: 4px; + -webkit-border-bottom-right-radius: 4px; + -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); +} + +dl.reflist dt { + padding: 5px; +} + +dl.reflist dd { + margin: 0px 0px 10px 0px; + padding: 5px; +} + +.paramkey { + text-align: right; +} + +.paramtype { + white-space: nowrap; + padding: 0px; + padding-bottom: 1px; +} + +.paramname { + white-space: nowrap; + padding: 0px; + padding-bottom: 1px; + margin-left: 2px; +} + +.paramname em { + color: var(--memdef-param-name-color); + font-style: normal; + margin-right: 1px; +} + +.paramname .paramdefval { + font-family: var(--font-family-monospace); +} + +.params, .retval, .exception, .tparams { + margin-left: 0px; + padding-left: 0px; +} + +.params .paramname, .retval .paramname, .tparams .paramname, .exception .paramname { + font-weight: bold; + vertical-align: top; +} + +.params .paramtype, .tparams .paramtype { + font-style: italic; + vertical-align: top; +} + +.params .paramdir, .tparams .paramdir { + font-family: var(--font-family-monospace); + vertical-align: top; +} + +table.mlabels { + border-spacing: 0px; +} + +td.mlabels-left { + width: 100%; + padding: 0px; +} + +td.mlabels-right { + vertical-align: bottom; + padding: 0px; + white-space: nowrap; +} + +span.mlabels { + margin-left: 8px; +} + +span.mlabel { + background-color: var(--label-background-color); + border-top:1px solid var(--label-left-top-border-color); + border-left:1px solid var(--label-left-top-border-color); + border-right:1px solid var(--label-right-bottom-border-color); + border-bottom:1px solid var(--label-right-bottom-border-color); + text-shadow: none; + color: var(--label-foreground-color); + margin-right: 4px; + padding: 2px 3px; + border-radius: 3px; + font-size: 7pt; + white-space: nowrap; + vertical-align: middle; +} + + + +/* @end */ + +/* these are for tree view inside a (index) page */ + +div.directory { + margin: 10px 0px; + border-top: 1px solid var(--directory-separator-color); + border-bottom: 1px solid var(--directory-separator-color); + width: 100%; +} + +.directory table { + border-collapse:collapse; +} + +.directory td { + margin: 0px; + padding: 0px; + vertical-align: top; +} + +.directory td.entry { + white-space: nowrap; + padding-right: 6px; + padding-top: 3px; +} + +.directory td.entry a { + outline:none; +} + +.directory td.entry a img { + border: none; +} + +.directory td.desc { + width: 100%; + padding-left: 6px; + padding-right: 6px; + padding-top: 3px; + border-left: 1px solid rgba(0,0,0,0.05); +} + +.directory tr.odd { + padding-left: 6px; + background-color: var(--index-odd-item-bg-color); +} + +.directory tr.even { + padding-left: 6px; + background-color: var(--index-even-item-bg-color); +} + +.directory img { + vertical-align: -30%; +} + +.directory .levels { + white-space: nowrap; + width: 100%; + text-align: right; + font-size: 9pt; +} + +.directory .levels span { + cursor: pointer; + padding-left: 2px; + padding-right: 2px; + color: var(--page-link-color); +} + +.arrow { + color: var(--nav-arrow-color); + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; + cursor: pointer; + font-size: 80%; + display: inline-block; + width: 16px; + height: 22px; +} + +.icon { + font-family: var(--font-family-icon); + line-height: normal; + font-weight: bold; + font-size: 12px; + height: 14px; + width: 16px; + display: inline-block; + background-color: var(--icon-background-color); + color: var(--icon-foreground-color); + text-align: center; + border-radius: 4px; + margin-left: 2px; + margin-right: 2px; +} + +.icona { + width: 24px; + height: 22px; + display: inline-block; +} + +.iconfopen { + width: 24px; + height: 18px; + margin-bottom: 4px; + background-image:var(--icon-folder-open-image); + background-repeat: repeat-y; + vertical-align:top; + display: inline-block; +} + +.iconfclosed { + width: 24px; + height: 18px; + margin-bottom: 4px; + background-image:var(--icon-folder-closed-image); + background-repeat: repeat-y; + vertical-align:top; + display: inline-block; +} + +.icondoc { + width: 24px; + height: 18px; + margin-bottom: 4px; + background-image:var(--icon-doc-image); + background-position: 0px -4px; + background-repeat: repeat-y; + vertical-align:top; + display: inline-block; +} + +/* @end */ + +div.dynheader { + margin-top: 8px; + -webkit-touch-callout: none; + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; +} + +address { + font-style: normal; + color: var(--footer-foreground-color); +} + +table.doxtable caption { + caption-side: top; +} + +table.doxtable { + border-collapse:collapse; + margin-top: 4px; + margin-bottom: 4px; +} + +table.doxtable td, table.doxtable th { + border: 1px solid var(--table-cell-border-color); + padding: 3px 7px 2px; +} + +table.doxtable th { + background-color: var(--table-header-background-color); + color: var(--table-header-foreground-color); + font-size: 110%; + padding-bottom: 4px; + padding-top: 5px; +} + +table.fieldtable { + margin-bottom: 10px; + border: 1px solid var(--memdef-border-color); + border-spacing: 0px; + border-radius: 4px; + box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15); +} + +.fieldtable td, .fieldtable th { + padding: 3px 7px 2px; +} + +.fieldtable td.fieldtype, .fieldtable td.fieldname, .fieldtable td.fieldinit { + white-space: nowrap; + border-right: 1px solid var(--memdef-border-color); + border-bottom: 1px solid var(--memdef-border-color); + vertical-align: top; +} + +.fieldtable td.fieldname { + padding-top: 3px; +} + +.fieldtable td.fieldinit { + padding-top: 3px; + text-align: right; +} + + +.fieldtable td.fielddoc { + border-bottom: 1px solid var(--memdef-border-color); +} + +.fieldtable td.fielddoc p:first-child { + margin-top: 0px; +} + +.fieldtable td.fielddoc p:last-child { + margin-bottom: 2px; +} + +.fieldtable tr:last-child td { + border-bottom: none; +} + +.fieldtable th { + background-image: var(--memdef-title-gradient-image); + background-repeat:repeat-x; + background-color: var(--memdef-title-background-color); + font-size: 90%; + color: var(--memdef-proto-text-color); + padding-bottom: 4px; + padding-top: 5px; + text-align:left; + font-weight: 400; + border-top-left-radius: 4px; + border-top-right-radius: 4px; + border-bottom: 1px solid var(--memdef-border-color); +} + + +.tabsearch { + top: 0px; + left: 10px; + height: 36px; + background-image: var(--nav-gradient-image); + z-index: 101; + overflow: hidden; + font-size: 13px; +} + +.navpath ul +{ + font-size: 11px; + background-image: var(--nav-gradient-image); + background-repeat:repeat-x; + background-position: 0 -5px; + height:30px; + line-height:30px; + color:var(--nav-text-normal-color); + border:solid 1px var(--nav-breadcrumb-border-color); + overflow:hidden; + margin:0px; + padding:0px; +} + +.navpath li +{ + list-style-type:none; + float:left; + padding-left:10px; + padding-right:15px; + background-image:var(--nav-breadcrumb-image); + background-repeat:no-repeat; + background-position:right; + color: var(--nav-foreground-color); +} + +.navpath li.navelem a +{ + height:32px; + display:block; + outline: none; + color: var(--nav-text-normal-color); + font-family: var(--font-family-nav); + text-shadow: var(--nav-text-normal-shadow); + text-decoration: none; +} + +.navpath li.navelem a:hover +{ + color: var(--nav-text-hover-color); + text-shadow: var(--nav-text-hover-shadow); +} + +.navpath li.footer +{ + list-style-type:none; + float:right; + padding-left:10px; + padding-right:15px; + background-image:none; + background-repeat:no-repeat; + background-position:right; + color: var(--footer-foreground-color); + font-size: 8pt; +} + + +div.summary +{ + float: right; + font-size: 8pt; + padding-right: 5px; + width: 50%; + text-align: right; +} + +div.summary a +{ + white-space: nowrap; +} + +table.classindex +{ + margin: 10px; + white-space: nowrap; + margin-left: 3%; + margin-right: 3%; + width: 94%; + border: 0; + border-spacing: 0; + padding: 0; +} + +div.ingroups +{ + font-size: 8pt; + width: 50%; + text-align: left; +} + +div.ingroups a +{ + white-space: nowrap; +} + +div.header +{ + background-image: var(--header-gradient-image); + background-repeat:repeat-x; + background-color: var(--header-background-color); + margin: 0px; + border-bottom: 1px solid var(--header-separator-color); +} + +div.headertitle +{ + padding: 5px 5px 5px 10px; +} + +.PageDocRTL-title div.headertitle { + text-align: right; + direction: rtl; +} + +dl { + padding: 0 0 0 0; +} + +/* + +dl.section { + margin-left: 0px; + padding-left: 0px; +} + +dl.note { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #D0C000; +} + +dl.warning, dl.attention, dl.important { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #FF0000; +} + +dl.pre, dl.post, dl.invariant { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #00D000; +} + +dl.deprecated { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #505050; +} + +dl.todo { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #00C0E0; +} + +dl.test { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #3030E0; +} + +dl.bug { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #C08050; +} + +*/ + +dl.bug dt a, dl.deprecated dt a, dl.todo dt a, dl.test a { + font-weight: bold !important; +} + +dl.warning, dl.attention, dl.important, dl.note, dl.deprecated, dl.bug, +dl.invariant, dl.pre, dl.post, dl.todo, dl.test, dl.remark { + padding: 10px; + margin: 10px 0px; + overflow: hidden; + margin-left: 0; + border-radius: 4px; +} + +dl.section dd { + margin-bottom: 2px; +} + +dl.warning, dl.attention, dl.important { + background: var(--warning-color-bg); + border-left: 8px solid var(--warning-color-hl); + color: var(--warning-color-text); +} + +dl.warning dt, dl.attention dt, dl.important dt { + color: var(--warning-color-hl); +} + +dl.note, dl.remark { + background: var(--note-color-bg); + border-left: 8px solid var(--note-color-hl); + color: var(--note-color-text); +} + +dl.note dt, dl.remark dt { + color: var(--note-color-hl); +} + +dl.todo { + background: var(--todo-color-bg); + border-left: 8px solid var(--todo-color-hl); + color: var(--todo-color-text); +} + +dl.todo dt { + color: var(--todo-color-hl); +} + +dl.test { + background: var(--test-color-bg); + border-left: 8px solid var(--test-color-hl); + color: var(--test-color-text); +} + +dl.test dt { + color: var(--test-color-hl); +} + +dl.bug dt a { + color: var(--bug-color-hl) !important; +} + +dl.bug { + background: var(--bug-color-bg); + border-left: 8px solid var(--bug-color-hl); + color: var(--bug-color-text); +} + +dl.bug dt a { + color: var(--bug-color-hl) !important; +} + +dl.deprecated { + background: var(--deprecated-color-bg); + border-left: 8px solid var(--deprecated-color-hl); + color: var(--deprecated-color-text); +} + +dl.deprecated dt a { + color: var(--deprecated-color-hl) !important; +} + +dl.note dd, dl.warning dd, dl.pre dd, dl.post dd, +dl.remark dd, dl.attention dd, dl.important dd, dl.invariant dd, +dl.bug dd, dl.deprecated dd, dl.todo dd, dl.test dd { + margin-inline-start: 0px; +} + +dl.invariant, dl.pre, dl.post { + background: var(--invariant-color-bg); + border-left: 8px solid var(--invariant-color-hl); + color: var(--invariant-color-text); +} + +dl.invariant dt, dl.pre dt, dl.post dt { + color: var(--invariant-color-hl); +} + + +#projectrow +{ + height: 56px; +} + +#projectlogo +{ + text-align: center; + vertical-align: bottom; + border-collapse: separate; +} + +#projectlogo img +{ + border: 0px none; +} + +#projectalign +{ + vertical-align: middle; + padding-left: 0.5em; +} + +#projectname +{ + font-size: 200%; + font-family: var(--font-family-title); + margin: 0px; + padding: 2px 0px; +} + +#projectbrief +{ + font-size: 90%; + font-family: var(--font-family-title); + margin: 0px; + padding: 0px; +} + +#projectnumber +{ + font-size: 50%; + font-family: 50% var(--font-family-title); + margin: 0px; + padding: 0px; +} + +#titlearea +{ + padding: 0px; + margin: 0px; + width: 100%; + border-bottom: 1px solid var(--title-separator-color); + background-color: var(--title-background-color); +} + +.image +{ + text-align: center; +} + +.dotgraph +{ + text-align: center; +} + +.mscgraph +{ + text-align: center; +} + +.plantumlgraph +{ + text-align: center; +} + +.diagraph +{ + text-align: center; +} + +.caption +{ + font-weight: bold; +} + +dl.citelist { + margin-bottom:50px; +} + +dl.citelist dt { + color:var(--citation-label-color); + float:left; + font-weight:bold; + margin-right:10px; + padding:5px; + text-align:right; + width:52px; +} + +dl.citelist dd { + margin:2px 0 2px 72px; + padding:5px 0; +} + +div.toc { + padding: 14px 25px; + background-color: var(--toc-background-color); + border: 1px solid var(--toc-border-color); + border-radius: 7px 7px 7px 7px; + float: right; + height: auto; + margin: 0 8px 10px 10px; + width: 200px; +} + +div.toc li { + background: var(--toc-down-arrow-image) no-repeat scroll 0 5px transparent; + font: 10px/1.2 var(--font-family-toc); + margin-top: 5px; + padding-left: 10px; + padding-top: 2px; +} + +div.toc h3 { + font: bold 12px/1.2 var(--font-family-toc); + color: var(--toc-header-color); + border-bottom: 0 none; + margin: 0; +} + +div.toc ul { + list-style: none outside none; + border: medium none; + padding: 0px; +} + +div.toc li[class^='level'] { + margin-left: 15px; +} + +div.toc li.level1 { + margin-left: 0px; +} + +div.toc li.empty { + background-image: none; + margin-top: 0px; +} + +span.emoji { + /* font family used at the site: https://unicode.org/emoji/charts/full-emoji-list.html + * font-family: "Noto Color Emoji", "Apple Color Emoji", "Segoe UI Emoji", Times, Symbola, Aegyptus, Code2000, Code2001, Code2002, Musica, serif, LastResort; + */ +} + +span.obfuscator { + display: none; +} + +.inherit_header { + font-weight: bold; + color: var(--inherit-header-color); + cursor: pointer; + -webkit-touch-callout: none; + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; +} + +.inherit_header td { + padding: 6px 0px 2px 5px; +} + +.inherit { + display: none; +} + +tr.heading h2 { + margin-top: 12px; + margin-bottom: 4px; +} + +/* tooltip related style info */ + +.ttc { + position: absolute; + display: none; +} + +#powerTip { + cursor: default; + /*white-space: nowrap;*/ + color: var(--tooltip-foreground-color); + background-color: var(--tooltip-background-color); + border: 1px solid var(--tooltip-border-color); + border-radius: 4px 4px 4px 4px; + box-shadow: var(--tooltip-shadow); + display: none; + font-size: smaller; + max-width: 80%; + opacity: 0.9; + padding: 1ex 1em 1em; + position: absolute; + z-index: 2147483647; +} + +#powerTip div.ttdoc { + color: var(--tooltip-doc-color); + font-style: italic; +} + +#powerTip div.ttname a { + font-weight: bold; +} + +#powerTip a { + color: var(--tooltip-link-color); +} + +#powerTip div.ttname { + font-weight: bold; +} + +#powerTip div.ttdeci { + color: var(--tooltip-declaration-color); +} + +#powerTip div { + margin: 0px; + padding: 0px; + font-size: 12px; + font-family: var(--font-family-tooltip); + line-height: 16px; +} + +#powerTip:before, #powerTip:after { + content: ""; + position: absolute; + margin: 0px; +} + +#powerTip.n:after, #powerTip.n:before, +#powerTip.s:after, #powerTip.s:before, +#powerTip.w:after, #powerTip.w:before, +#powerTip.e:after, #powerTip.e:before, +#powerTip.ne:after, #powerTip.ne:before, +#powerTip.se:after, #powerTip.se:before, +#powerTip.nw:after, #powerTip.nw:before, +#powerTip.sw:after, #powerTip.sw:before { + border: solid transparent; + content: " "; + height: 0; + width: 0; + position: absolute; +} + +#powerTip.n:after, #powerTip.s:after, +#powerTip.w:after, #powerTip.e:after, +#powerTip.nw:after, #powerTip.ne:after, +#powerTip.sw:after, #powerTip.se:after { + border-color: rgba(255, 255, 255, 0); +} + +#powerTip.n:before, #powerTip.s:before, +#powerTip.w:before, #powerTip.e:before, +#powerTip.nw:before, #powerTip.ne:before, +#powerTip.sw:before, #powerTip.se:before { + border-color: rgba(128, 128, 128, 0); +} + +#powerTip.n:after, #powerTip.n:before, +#powerTip.ne:after, #powerTip.ne:before, +#powerTip.nw:after, #powerTip.nw:before { + top: 100%; +} + +#powerTip.n:after, #powerTip.ne:after, #powerTip.nw:after { + border-top-color: var(--tooltip-background-color); + border-width: 10px; + margin: 0px -10px; +} +#powerTip.n:before, #powerTip.ne:before, #powerTip.nw:before { + border-top-color: var(--tooltip-border-color); + border-width: 11px; + margin: 0px -11px; +} +#powerTip.n:after, #powerTip.n:before { + left: 50%; +} + +#powerTip.nw:after, #powerTip.nw:before { + right: 14px; +} + +#powerTip.ne:after, #powerTip.ne:before { + left: 14px; +} + +#powerTip.s:after, #powerTip.s:before, +#powerTip.se:after, #powerTip.se:before, +#powerTip.sw:after, #powerTip.sw:before { + bottom: 100%; +} + +#powerTip.s:after, #powerTip.se:after, #powerTip.sw:after { + border-bottom-color: var(--tooltip-background-color); + border-width: 10px; + margin: 0px -10px; +} + +#powerTip.s:before, #powerTip.se:before, #powerTip.sw:before { + border-bottom-color: var(--tooltip-border-color); + border-width: 11px; + margin: 0px -11px; +} + +#powerTip.s:after, #powerTip.s:before { + left: 50%; +} + +#powerTip.sw:after, #powerTip.sw:before { + right: 14px; +} + +#powerTip.se:after, #powerTip.se:before { + left: 14px; +} + +#powerTip.e:after, #powerTip.e:before { + left: 100%; +} +#powerTip.e:after { + border-left-color: var(--tooltip-border-color); + border-width: 10px; + top: 50%; + margin-top: -10px; +} +#powerTip.e:before { + border-left-color: var(--tooltip-border-color); + border-width: 11px; + top: 50%; + margin-top: -11px; +} + +#powerTip.w:after, #powerTip.w:before { + right: 100%; +} +#powerTip.w:after { + border-right-color: var(--tooltip-border-color); + border-width: 10px; + top: 50%; + margin-top: -10px; +} +#powerTip.w:before { + border-right-color: var(--tooltip-border-color); + border-width: 11px; + top: 50%; + margin-top: -11px; +} + +@media print +{ + #top { display: none; } + #side-nav { display: none; } + #nav-path { display: none; } + body { overflow:visible; } + h1, h2, h3, h4, h5, h6 { page-break-after: avoid; } + .summary { display: none; } + .memitem { page-break-inside: avoid; } + #doc-content + { + margin-left:0 !important; + height:auto !important; + width:auto !important; + overflow:inherit; + display:inline; + } +} + +/* @group Markdown */ + +table.markdownTable { + border-collapse:collapse; + margin-top: 4px; + margin-bottom: 4px; +} + +table.markdownTable td, table.markdownTable th { + border: 1px solid var(--table-cell-border-color); + padding: 3px 7px 2px; +} + +table.markdownTable tr { +} + +th.markdownTableHeadLeft, th.markdownTableHeadRight, th.markdownTableHeadCenter, th.markdownTableHeadNone { + background-color: var(--table-header-background-color); + color: var(--table-header-foreground-color); + font-size: 110%; + padding-bottom: 4px; + padding-top: 5px; +} + +th.markdownTableHeadLeft, td.markdownTableBodyLeft { + text-align: left +} + +th.markdownTableHeadRight, td.markdownTableBodyRight { + text-align: right +} + +th.markdownTableHeadCenter, td.markdownTableBodyCenter { + text-align: center +} + +tt, code, kbd, samp +{ + display: inline-block; 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MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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features.hpp
+
+
+
1// Copyright (C) 2023 Alessandro Fornasier.
+
2// Control of Networked Systems, University of Klagenfurt, Austria.
+
3//
+
4// All rights reserved.
+
5//
+
6// This software is licensed under the terms of the BSD-2-Clause-License with
+
7// no commercial use allowed, the full terms of which are made available
+
8// in the LICENSE file. No license in patents is granted.
+
9//
+
10// You can contact the authors at <alessandro.fornasier@ieee.org>
+
11
+
12#ifndef FEATURES_HPP
+
13#define FEATURES_HPP
+
14
+
15#include <opencv2/opencv.hpp>
+
16
+
17#include "types/fptypes.hpp"
+
18
+
19namespace msceqf
+
20{
+
21using FeaturesCoordinates = std::vector<cv::Point2f>;
+
22
+
+
29struct Features
+
30{
+
31 using FeatureIds = std::vector<uint>;
+
32
+
38 inline bool empty() const noexcept { return uvs_.empty(); }
+
39
+
+
45 inline size_t size() const noexcept
+
46 {
+
47 assert(distorted_uvs_.size() == uvs_.size());
+
48 assert(distorted_uvs_.size() == normalized_uvs_.size());
+
49 assert(distorted_uvs_.size() == ids_.size());
+
50 return distorted_uvs_.size();
+
51 }
+
+
52
+
+
59 void removeInvalid(std::vector<bool>& invalid)
+
60 {
+
61 assert(invalid.size() == distorted_uvs_.size());
+
62 assert(distorted_uvs_.size() == uvs_.size());
+
63 assert(distorted_uvs_.size() == normalized_uvs_.size());
+
64 assert(distorted_uvs_.size() == ids_.size());
+
65
+
66 size_t i = 0;
+
67 size_t j = 0;
+
68
+
69 while (i < invalid.size())
+
70 {
+
71 if (!invalid[i])
+
72 {
+
73 distorted_uvs_[j] = distorted_uvs_[i];
+
74 uvs_[j] = uvs_[i];
+
75 normalized_uvs_[j] = normalized_uvs_[i];
+
76 ids_[j] = ids_[i];
+
77 ++j;
+
78 }
+
79 ++i;
+
80 }
+
81
+
82 distorted_uvs_.resize(j);
+
83 uvs_.resize(j);
+
84 normalized_uvs_.resize(j);
+
85 ids_.resize(j);
+
86 }
+
+
87
+
88 FeaturesCoordinates distorted_uvs_;
+
89 FeaturesCoordinates uvs_;
+
90 FeaturesCoordinates normalized_uvs_;
+
91 FeatureIds ids_;
+
92};
+
+
93
+
94} // namespace msceqf
+
95
+
96#endif // FEATURES_HPP
+
msceqf::Features
(Cache friendly) Features struct. Define a set of features detected/tracked.
Definition features.hpp:30
+
msceqf::Features::distorted_uvs_
FeaturesCoordinates distorted_uvs_
Distorted (u, v) coordinates of the features detected/tracked.
Definition features.hpp:88
+
msceqf::Features::uvs_
FeaturesCoordinates uvs_
Undistorted (u, v) coordinates of the features detected/tracked.
Definition features.hpp:89
+
msceqf::Features::removeInvalid
void removeInvalid(std::vector< bool > &invalid)
Remove invalid features coordinates, normalized feature coordinates and ids given a vector of boolean...
Definition features.hpp:59
+
msceqf::Features::ids_
FeatureIds ids_
Id of the features detected/tracked.
Definition features.hpp:91
+
msceqf::Features::normalized_uvs_
FeaturesCoordinates normalized_uvs_
Undistorted normalized (u, v) coordinates of features detected/tracked.
Definition features.hpp:90
+
msceqf::Features::FeatureIds
std::vector< uint > FeatureIds
Vector of feature ids.
Definition features.hpp:31
+
msceqf::Features::empty
bool empty() const noexcept
Check if there valid coordinates in uvs_.
Definition features.hpp:38
+
msceqf::Features::size
size_t size() const noexcept
Return the amount of features (size of uvs_)
Definition features.hpp:45
+
+
+ + + + diff --git a/files.html b/files.html new file mode 100644 index 0000000..5e9e8a2 --- /dev/null +++ b/files.html @@ -0,0 +1,161 @@ + + + + + + + +MSCEqF: File List + + + + + + + + + + + + + + + +
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MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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+
[detail level 12345]
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
 ▼ include
 ▼ msceqf
 ▼ filter
 ▼ checker
 checker.hpp
 ▼ initializer
 static_initializer.hpp
 ▼ propagator
 propagator.hpp
 ▼ updater
 updater.hpp
 updater_helper.hpp
 zero_velocity_updater.hpp
 ▼ options
 msceqf_option_parser.hpp
 msceqf_options.hpp
 ▼ state
 state.hpp
 state_elements.hpp
 ▼ symmetry
 symmetry.hpp
 ▼ system
 system.hpp
 system_elements.hpp
 msceqf.hpp
 ▼ sensors
 sensor_data.hpp
 ▼ types
 fptypes.hpp
 ▼ utils
 logger.hpp
 tools.hpp
 visualizer.hpp
 ▼ vision
 camera.hpp
 features.hpp
 track.hpp
 track_manager.hpp
 tracker.hpp
 ▼ wrappers
 ▼ ros
 ▼ ros1
 ▼ include
 msceqf_ros.hpp
+
+
+
+ + + + diff --git a/files_dup.js b/files_dup.js new file mode 100644 index 0000000..a82eb40 --- /dev/null +++ b/files_dup.js @@ -0,0 +1,5 @@ +var files_dup = +[ + [ "include", "dir_d44c64559bbebec7f509842c48db8b23.html", "dir_d44c64559bbebec7f509842c48db8b23" ], + [ "wrappers", "dir_5cec92fd47c0900910bbc2480fdfd7be.html", "dir_5cec92fd47c0900910bbc2480fdfd7be" ] +]; \ No newline at end of file diff --git a/folderclosed.svg b/folderclosed.svg new file mode 100644 index 0000000..b04bed2 --- /dev/null +++ b/folderclosed.svg @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/folderclosedd.svg b/folderclosedd.svg new file mode 100644 index 0000000..52f0166 --- /dev/null +++ b/folderclosedd.svg @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/folderopen.svg b/folderopen.svg new file mode 100644 index 0000000..f6896dd --- /dev/null +++ b/folderopen.svg @@ -0,0 +1,17 @@ + + + + + + + + + + diff --git a/folderopend.svg b/folderopend.svg new file mode 100644 index 0000000..2d1f06e --- /dev/null +++ b/folderopend.svg @@ -0,0 +1,12 @@ + + + + + + + + + + + diff --git a/fptypes_8hpp_source.html b/fptypes_8hpp_source.html new file mode 100644 index 0000000..7f51671 --- /dev/null +++ b/fptypes_8hpp_source.html @@ -0,0 +1,227 @@ + + + + + + + +MSCEqF: include/types/fptypes.hpp Source File + + + + + + + + + + + + + + + +
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Multi State Constraint Equivariant Filter for visual inertial navigation
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fptypes.hpp
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+
1// Copyright (C) 2023 Alessandro Fornasier.
+
2// Control of Networked Systems, University of Klagenfurt, Austria.
+
3//
+
4// All rights reserved.
+
5//
+
6// This software is licensed under the terms of the BSD-2-Clause-License with
+
7// no commercial use allowed, the full terms of which are made available
+
8// in the LICENSE file. No license in patents is granted.
+
9//
+
10// You can contact the authors at <alessandro.fornasier@ieee.org>
+
11
+
12#ifndef FPTYPES_HPP
+
13#define FPTYPES_HPP
+
14
+
15#include <groups/In.hpp>
+
16#include <groups/SDB.hpp>
+
17#include <groups/TG.hpp>
+
18#include <groups/SOT3.hpp>
+
19
+
20namespace msceqf
+
21{
+
22#ifdef SINGLE_PRECISION
+
23
+
24using fp = float;
+
25
+
26#else
+
27
+
28using fp = double;
+
29
+
30#endif
+
31
+
32using SO3 = group::SO3<fp>;
+
33
+
34using SE3 = group::SEn3<fp, 1>;
+
35
+
36using SE23 = group::SEn3<fp, 2>;
+
37
+
38using SOT3 = group::SOT3<fp>;
+
39
+
40using In = group::In<fp>;
+
41
+
42using SDB = group::SemiDirectBias<fp>;
+
43
+
44using TG = group::Tangent<fp>;
+
45
+
46using Vector2 = Eigen::Matrix<fp, 2, 1>;
+
47
+
48using Vector3 = Eigen::Matrix<fp, 3, 1>;
+
49
+
50using Vector4 = Eigen::Matrix<fp, 4, 1>;
+
51
+
52using Vector6 = Eigen::Matrix<fp, 6, 1>;
+
53
+
54using Vector9 = Eigen::Matrix<fp, 9, 1>;
+
55
+
56using Vector15 = Eigen::Matrix<fp, 15, 1>;
+
57
+
58using Vector18 = Eigen::Matrix<fp, 18, 1>;
+
59
+
60using Vector21 = Eigen::Matrix<fp, 21, 1>;
+
61
+
62using Vector24 = Eigen::Matrix<fp, 24, 1>;
+
63
+
64using Vector25 = Eigen::Matrix<fp, 25, 1>;
+
65
+
66using Vector29 = Eigen::Matrix<fp, 29, 1>;
+
67
+
68using VectorX = Eigen::Matrix<fp, Eigen::Dynamic, 1>;
+
69
+
70using Matrix2 = Eigen::Matrix<fp, 2, 2>;
+
71
+
72using Matrix3 = Eigen::Matrix<fp, 3, 3>;
+
73
+
74using Matrix4 = Eigen::Matrix<fp, 4, 4>;
+
75
+
76using Matrix5 = Eigen::Matrix<fp, 5, 5>;
+
77
+
78using Matrix6 = Eigen::Matrix<fp, 6, 6>;
+
79
+
80using Matrix7 = Eigen::Matrix<fp, 7, 7>;
+
81
+
82using Matrix9 = Eigen::Matrix<fp, 9, 9>;
+
83
+
84using Matrix12 = Eigen::Matrix<fp, 12, 12>;
+
85
+
86using Matrix15 = Eigen::Matrix<fp, 15, 15>;
+
87
+
88using Matrix18 = Eigen::Matrix<fp, 18, 18>;
+
89
+
90using Matrix21 = Eigen::Matrix<fp, 21, 21>;
+
91
+
92using Matrix24 = Eigen::Matrix<fp, 24, 24>;
+
93
+
94using Matrix25 = Eigen::Matrix<fp, 25, 25>;
+
95
+
96using Matrix29 = Eigen::Matrix<fp, 24, 24>;
+
97
+
98using MatrixX = Eigen::MatrixXd;
+
99
+
100using Quaternion = Eigen::Quaternion<fp>;
+
101
+
102template <int R, int C, int T = Eigen::ColMajor>
+
103using Matrix = Eigen::Matrix<fp, R, C, T>;
+
104
+
105template <typename T>
+
106using Ref = Eigen::Ref<T>;
+
107
+
108template <typename T>
+
109using Map = Eigen::Map<T>;
+
110
+
111} // namespace msceqf
+
112
+
113#endif // FPTYPES_HPP
+
+
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Multi State Constraint Equivariant Filter for visual inertial navigation
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public Undocumented,
+
public Templ<int>
+
{
+
private:
+
Used *m_usedClass;
+
};
+

This will result in the following graph:

+

The boxes in the above graph have the following meaning:

+
    +
  • +A filled gray box represents the struct or class for which the graph is generated.
    • +
  • +A box with a black border denotes a documented struct or class.
    • +
  • +A box with a gray border denotes an undocumented struct or class.
    • +
  • +A box with a red border denotes a documented struct or class forwhich not all inheritance/containment relations are shown. A graph is truncated if it does not fit within the specified boundaries.
    • +
+

The arrows have the following meaning:

+
    +
  • +A blue arrow is used to visualize a public inheritance relation between two classes.
    • +
  • +A dark green arrow is used for protected inheritance.
    • +
  • +A dark red arrow is used for private inheritance.
    • +
  • +A purple dashed arrow is used if a class is contained or used by another class. The arrow is labelled with the variable(s) through which the pointed class or struct is accessible.
    • +
  • +A yellow dashed arrow denotes a relation between a template instance and the template class it was instantiated from. The arrow is labelled with the template parameters of the instance.
    • +
+
+
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Hierarchy + + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
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Class Hierarchy
+
+
+
+

Go to the graphical class hierarchy

+This inheritance list is sorted roughly, but not completely, alphabetically:
+
[detail level 12]
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
 Cmsceqf::Camera
 Cmsceqf::CameraOptions
 Cmsceqf::CheckerSimple class to perform various checks
 Cmsceqf::CheckerOptions
 ▼Cstd::false_type
 Cutils::is_streamable< S, C, typename >
 Cmsceqf::FastOptions
 Cmsceqf::FeatHelperFeatHelper struct. This struct implements a helper structure holding all the information related to a single feature measurement to be used in the computation of the C matrix, Cf matrix and residual delta, for the MSCEqF update
 Cmsceqf::Features(Cache friendly) Features struct. Define a set of features detected/tracked
 Cmsceqf::GFTTOptions
 Cmsceqf::ImuStruct for one IMU reading. It includes timestamp, angular velocity and linear acceleration. -1 indicates an invalid timestamp
 Cmsceqf::InitializerOptions
 Cutils::InsertionOrderedMap< Key, Value >This calss define a map that keeps the insertion order
 Cutils::InsertionOrderedMap< MSCEqFState::MSCEqFKey, size_t >
 Cutils::LoggerLogger
 Cmsceqf::MSCEqF
 Cmsceqf::MSCEqFOptions
 CMSCEqFRos
 Cmsceqf::MSCEqFStateThis class represent the state of the MSCEqF. This includes the state of the lifted system (element of the symmetry group) and the covariance
 ▼Cmsceqf::MSCEqFStateElementThis class represent the base class for a general element of the MSCEqF state. This include the index of the variable (index in the residual, and in the covariance), and the degrees of freedom
 Cmsceqf::MSCEqFInStateThis struct represent the Intrinsic state of the MSCEqF
 Cmsceqf::MSCEqFSDBStateThis struct represent the Semi Direct bias state of the MSCEqF
 Cmsceqf::MSCEqFSE3StateThis struct represent the Special Euclidean Group of dimension 3 state of the MSCEqF
 Cmsceqf::MSCEqFSOT3StateThis struct represent the Scaled Orthogonal Transforms state of the MSCEqF
 Cmsceqf::OptionParser
 ▼Cmsceqf::PinholeCameraThis class represnt the base class for any pinhole camera type
 Cmsceqf::EquidistantCamera
 Cmsceqf::RadtanCameraThis class represent a pinhole camera with radtan distortion model
 ▼Cmsceqf::ProjectionHelperProjectionHelper interface. This class provides an interface to the implementation of the projection function as well as its differential
 Cmsceqf::ProjectionHelperS2ProjectionHelperS2 class. This class provides an implementation of the projection on the unit sphere as well as its differential
 Cmsceqf::ProjectionHelperZ1ProjectionHelperZ1 class. This class provides an implementation of the projection on the unit plane as well as its differential
 Cmsceqf::Propagator
 Cmsceqf::PropagatorOptions
 Cmsceqf::StateOptions
 Cmsceqf::StaticInitializer
 Cmsceqf::Symmetry
 Cmsceqf::SystemStateRepresent the state of the system posed on the Homogenous space
 ▼Cmsceqf::SystemStateElementThis struct represent the base struct for a general element of the system state
 Cmsceqf::BiasStateThis struct represent the IMU bias state of the system
 Cmsceqf::CameraExtrinsicStateThis struct represent the camera extrinsics state of the system
 Cmsceqf::CameraIntrinsicStateThis struct represent the camera intrinsics state of the system
 Cmsceqf::ExtendedPoseStateThis struct represent the extended pose state of the system
 Cmsceqf::FeatureStateThis struct represent a single persistent feature state of the system
 Cmsceqf::Track(Cache friendly) Track struct. Define a feature (labeled via a feature id) detected/tracked at different points in time
 Cmsceqf::TrackerThis class implement the feature tracker module based on Lucas-Kanade optical flow. The tracker tracks feature temporally in subsequent images and produces a set of matches
 Cmsceqf::TrackerOptions
 Cmsceqf::TrackManagerThis class manages the multiple tracks of feature traked in time
 Cmsceqf::TrackManagerOptions
 Cmsceqf::TriangulatedFeatures
 ▼Cstd::true_type
 Cutils::is_streamable< S, C, decltype(void(std::declval< S & >()<< std::declval< C const & >()))>
 Cmsceqf::UpdaterUpdater class. This class implements the Multi State Constraint update step of the MSCEqF filter
 Cmsceqf::UpdaterHelperUpdater helper struct. This structs implements common helper methods for MSCEqF update
 Cmsceqf::UpdaterOptions
 Cmsceqf::Visualizer
 Cmsceqf::ZeroVelocityUpdaterZero velocity updater class. This class implements the Equivariant Zero Velocity Update (ZVU) of the MSCEqF filter
 Cmsceqf::ZeroVelocityUpdaterOptions
+
+
+
+ + + + diff --git a/hierarchy.js b/hierarchy.js new file mode 100644 index 0000000..60be614 --- /dev/null +++ b/hierarchy.js @@ -0,0 +1,66 @@ +var hierarchy = +[ + [ "msceqf::Camera", "structmsceqf_1_1_camera.html", null ], + [ "msceqf::CameraOptions", "structmsceqf_1_1_camera_options.html", null ], + [ "msceqf::Checker", "classmsceqf_1_1_checker.html", null ], + [ "msceqf::CheckerOptions", "structmsceqf_1_1_checker_options.html", null ], + [ "std::false_type", null, [ + [ "utils::is_streamable< S, C, typename >", "structutils_1_1is__streamable.html", null ] + ] ], + [ "msceqf::FastOptions", "structmsceqf_1_1_fast_options.html", null ], + [ "msceqf::FeatHelper", "structmsceqf_1_1_feat_helper.html", null ], + [ "msceqf::Features", "structmsceqf_1_1_features.html", null ], + [ "msceqf::GFTTOptions", "structmsceqf_1_1_g_f_t_t_options.html", null ], + [ "msceqf::Imu", "structmsceqf_1_1_imu.html", null ], + [ "msceqf::InitializerOptions", "structmsceqf_1_1_initializer_options.html", null ], + [ "utils::InsertionOrderedMap< Key, Value >", "classutils_1_1_insertion_ordered_map.html", null ], + [ "utils::InsertionOrderedMap< MSCEqFState::MSCEqFKey, size_t >", "classutils_1_1_insertion_ordered_map.html", null ], + [ "utils::Logger", "classutils_1_1_logger.html", null ], + [ "msceqf::MSCEqF", "classmsceqf_1_1_m_s_c_eq_f.html", null ], + [ "msceqf::MSCEqFOptions", "structmsceqf_1_1_m_s_c_eq_f_options.html", null ], + [ "MSCEqFRos", "class_m_s_c_eq_f_ros.html", null ], + [ "msceqf::MSCEqFState", "classmsceqf_1_1_m_s_c_eq_f_state.html", null ], + [ "msceqf::MSCEqFStateElement", "classmsceqf_1_1_m_s_c_eq_f_state_element.html", [ + [ "msceqf::MSCEqFInState", "structmsceqf_1_1_m_s_c_eq_f_in_state.html", null ], + [ "msceqf::MSCEqFSDBState", "structmsceqf_1_1_m_s_c_eq_f_s_d_b_state.html", null ], + [ "msceqf::MSCEqFSE3State", "structmsceqf_1_1_m_s_c_eq_f_s_e3_state.html", null ], + [ "msceqf::MSCEqFSOT3State", "structmsceqf_1_1_m_s_c_eq_f_s_o_t3_state.html", null ] + ] ], + [ "msceqf::OptionParser", "classmsceqf_1_1_option_parser.html", null ], + [ "msceqf::PinholeCamera", "classmsceqf_1_1_pinhole_camera.html", [ + [ "msceqf::EquidistantCamera", "structmsceqf_1_1_equidistant_camera.html", null ], + [ "msceqf::RadtanCamera", "structmsceqf_1_1_radtan_camera.html", null ] + ] ], + [ "msceqf::ProjectionHelper", "classmsceqf_1_1_projection_helper.html", [ + [ "msceqf::ProjectionHelperS2", "classmsceqf_1_1_projection_helper_s2.html", null ], + [ "msceqf::ProjectionHelperZ1", "classmsceqf_1_1_projection_helper_z1.html", null ] + ] ], + [ "msceqf::Propagator", "classmsceqf_1_1_propagator.html", null ], + [ "msceqf::PropagatorOptions", "structmsceqf_1_1_propagator_options.html", null ], + [ "msceqf::StateOptions", "structmsceqf_1_1_state_options.html", null ], + [ "msceqf::StaticInitializer", "classmsceqf_1_1_static_initializer.html", null ], + [ "msceqf::Symmetry", "classmsceqf_1_1_symmetry.html", null ], + [ "msceqf::SystemState", "classmsceqf_1_1_system_state.html", null ], + [ "msceqf::SystemStateElement", "classmsceqf_1_1_system_state_element.html", [ + [ "msceqf::BiasState", "structmsceqf_1_1_bias_state.html", null ], + [ "msceqf::CameraExtrinsicState", "structmsceqf_1_1_camera_extrinsic_state.html", null ], + [ "msceqf::CameraIntrinsicState", "structmsceqf_1_1_camera_intrinsic_state.html", null ], + [ "msceqf::ExtendedPoseState", "structmsceqf_1_1_extended_pose_state.html", null ], + [ "msceqf::FeatureState", "structmsceqf_1_1_feature_state.html", null ] + ] ], + [ "msceqf::Track", "structmsceqf_1_1_track.html", null ], + [ "msceqf::Tracker", "classmsceqf_1_1_tracker.html", null ], + [ "msceqf::TrackerOptions", "structmsceqf_1_1_tracker_options.html", null ], + [ "msceqf::TrackManager", "classmsceqf_1_1_track_manager.html", null ], + [ "msceqf::TrackManagerOptions", "structmsceqf_1_1_track_manager_options.html", null ], + [ "msceqf::TriangulatedFeatures", "structmsceqf_1_1_triangulated_features.html", null ], + [ "std::true_type", null, [ + [ "utils::is_streamable< S, C, decltype(void(std::declval< S & >()<< std::declval< C const & >()))>", "structutils_1_1is__streamable_3_01_s_00_01_c_00_01decltype_07void_07std_1_1declval_3_01_s_01_6_0f58e90958705880955bd917882569c69.html", null ] + ] ], + [ "msceqf::Updater", "classmsceqf_1_1_updater.html", null ], + [ "msceqf::UpdaterHelper", "structmsceqf_1_1_updater_helper.html", null ], + [ "msceqf::UpdaterOptions", "structmsceqf_1_1_updater_options.html", null ], + [ "msceqf::Visualizer", "classmsceqf_1_1_visualizer.html", null ], + [ "msceqf::ZeroVelocityUpdater", "classmsceqf_1_1_zero_velocity_updater.html", null ], + [ "msceqf::ZeroVelocityUpdaterOptions", "structmsceqf_1_1_zero_velocity_updater_options.html", null ] +]; \ No newline at end of file diff --git a/index.html b/index.html new file mode 100644 index 0000000..4c8c7da --- /dev/null +++ b/index.html @@ -0,0 +1,328 @@ + + + + + + + +MSCEqF: MSCEqF + + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
+
+
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MSCEqF
+
+
+

License

+

MSCEqF logo

+
+

‍MSCEqF: Multi State Constraint Equivariant Filter

+
+

MSCEqF is a multi-state constraint equivariant filter for visual-inertial navigation. It is based on the recent advances in equivaraint inertial navigation systems [1, 2, 3, 4].

+

+Features

+

+Design features

+
    +
  • Developed as a pure C++ library with ROS1 and ROS2 wrappers available
    • +
+

+Filter features

+
    +
  • Supports online camera extrinsic and intrinsic parameters calibration
    • +
  • Supports unit-plane projection method
    • +
  • Supports anchored euclidean, anchored inverse depth and anchored polar feature representation methods
    • +
  • Includes a static initialization routine as well as parametric initialization with custom origin
    • +
  • Includes an equivariant zero velocity update routine
    • +
+

+Vision frontend features

+
    +
  • OpenCV based
    • +
  • Supports a grid-based multi-thread parallel feature extraction
    • +
  • Supports different features detector including FAST and Shi-Tomasi
    • +
  • Supports different image enhancment tecniques, including Histogram and CLAHE
    • +
+

+Future roadmap

+
    +
  • ROS1 wrapper
    • +
+
    +
  • ROS2 wrapper
    • +
+
    +
  • Equivariant Zero velocity Update (EqZVU)
    • +
  • Unit-sphere projection method support
    • +
+
    +
  • Equivariant Persistent (SLAM) features update support
    • +
+

+Documentation

+

Doxygen documentation is available here: MSCEqF documentation

+

+Dependencies

+

MSCEqF has the following dependencies which are automatically downloaded and linked against:

+ +

+Getting started

+

+ROS free setup

+
$ git clone <url> msceqf
+
$ cd msceqf
+
$ mkdir -p build/<build_type>
+
$ cd build/<build_type> && cmake -DCMAKE_BUILD_TYPE=<build_type> -DBUILD_TESTS=ON ../..
+
$ cmake --build . --config Debug --target all -j && cd ../..
+

+Run tests

+
$ cd msceqf/build/<build_type>
+
$ ./msceqf_tests
+

+Run example (Euroc)

+

After downloading the Euroc follows

+
$ cd msceqf/build/<build_type>
+
$ ./msceqf_euroc <sequence_name> <euroc_dataset_folder> <euroc_example_folder>
+

+ROS1 setup

+
$ cd ws/src
+
$ git clone <url> msceqf
+
$ cd msceqf
+
$ catkin build -DCMAKE_BUILD_TYPE=<build_type> -DROS_BUILD=ON
+

+ROS2 setup

+
$ cd ws/src
+
$ git clone <url> msceqf
+
$ cd msceqf
+
$ colcon build --event-handlers console_cohesion+ --cmake-args -DCMAKE_BUILD_TYPE=<build_type> --cmake-args -DROS_BUILD=ON
+

+Docker setup

+
$ sudo apt update
+
$ sudo apt install -y nvidia-docker2
+
$ sudo systemctl restart docker
+
$ cd <path_to_msceqf_folder>
+
$ docker build --network=host -t msceqf:ros<ros_version> -f docker/Dockerfile_ros<ros_version>
+
$ xhost +
+
$ docker run --net=host -it --gpus all --env="NVIDIA_DRIVER_CAPABILITIES=all" --env="DISPLAY" --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" msceqf:ros<ros_version> .
+

If Nvidia drivere are not supported, simply run docker as follows

+
$ docker run --net=host -it --gpus all --env="NVIDIA_DRIVER_CAPABILITIES=all" --env="DISPLAY" --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" msceqf:ros<ros_version> .
+

+Usage with custom dataset and/or with ROS

+

Utilizing MSCEqF with a custom dataset or specific sensors is a straightforward process. Follow these steps for seamless integration:

+

+Dataset/Sensor preparation

+

Ensure you possess the camera intrinsic and extrinsic parameters calibration if working with a custom dataset. In case you are working with real sensors, perform a camera calibration before starting. We recommend using Kalibr for efficient camera calibration.

+

+MSCEqF configuration file

+

Navigate to the desired location to store the filter configuration file:

+
cd <path_where_to_store_the_filter_configfile>
+
nano <configfile_name>.yaml
+

Populate your configuration file with the following settings:

+
# Initial standard deviations (attitude, velocity, position, bias, extrinsics, instrinsics)
+
extended_pose_std: [1.0e-1, 1.0e-1, 1.0e-9, 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-9, 1.0e-9, 1.0e-9]
+
bias_std: [1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1]
+
extrinsics_std: [1.0e-2, 1.0e-2, 1.0e-2, 1.0e-2, 1.0e-2, 1.0e-2]
+
intrinsics_std: [1.0, 1.0, 1.0, 1.0]
+
+
# IMU noise statistics
+
accelerometer_noise_density: 1.0-2
+
accelerometer_random_walk: 1.0e-3
+
gyroscope_noise_density: 1.0e-3
+
gyroscope_random_walk: 1.0e-4
+
+
# Camera calibration (according to kalibr format, both T_imu_cam and T_cam_imu)
+
distortion_coeffs: [0.0, 0.0, 0.0, 0.0]
+
distortion_model: radtan
+
resolution: [320, 240]
+
intrinsics: [250.0, 250.0, 160.0, 120.0]
+
T_imu_cam:
+
- [1.0, 0.0, 0.0, 0.0]
+
- [0.0, -1.0, 0.0, 0.0]
+
- [0.0, 0.0, -1.0, 0.0]
+
- [0.0, 0.0, 0.0, 1.0]
+
+
# Initializer options
+
# For IMU only motion detection set static_initializer_disparity_threshold: 0.0
+
# For DISPARITY only motion detection set static_initializer_acc_threshold: 0.0
+
static_initializer_imu_window: 1.0
+
static_initializer_disparity_window: 0.5
+
static_initializer_acc_threshold: 0.25
+
static_initializer_disparity_threshold: 1.0
+
+
# Propagator options
+
# For numerical exponential computation (costly) set state_transition_order: -1
+
# For approximated first-order exponential computation (recommended on low-power hardware) set state_transition_order: 0
+
state_transition_order: 0
+
imu_buffer_max_size: 1000
+
+
# Updater options
+
# Possible options for zero_velocity_update are enabled, disabled, beginning
+
refine_traingulation: true
+
feature_min_depth: 0.1
+
feature_max_depth: 20
+
feature_refinement_max_iterations: 20
+
feature_refinement_tollerance: 1e-10
+
measurement_projection_method: unit_plane
+
feature_representation: anchored_inverse_depth
+
pixel_standerd_deviation: 1.0
+
curvature_correction: true
+
zero_velocity_update: enabled
+
+
# State options
+
enable_camera_intrinsic_calibration: false
+
gravity: 9.81
+
num_clones: 11
+
+
# Tracker options
+
# Possible options for feature_detector are fast and shi-tomasi
+
equalization_method: histogram
+
optical_flow_pyramid_levels: 3
+
detector_pyramid_levels: 1
+
feature_detector: fast
+
grid_x_size: 4
+
grid_y_size: 4
+
min_feature_pixel_distance: 15
+
min_features: 100
+
max_features: 120
+
fast_threshold: 20
+
shi_tomasi_quality_level: 0.75
+
+
# Track Manager
+
max_track_length: 400
+
+
# Logger level
+
# Possible levels are 0: Full, 1: INFO, 2: WARN, 3: ERR, 4: INACTIVE
+
logger_level: 1
+

Adjust values as needed and customize settings thresholds based on your specific requirements.

+

+License

+

This software is made available to the public to use (source-available), licensed under the terms of the BSD-2-Clause-License with no commercial use allowed, the full terms of which are made available in the [LICENSE](LICENSE) file.

+

+Usage for academic purposes

+

If you use this software in an academic research setting, please cite the corresponding papers.

+
@article{fornasier2023msceqf,
+
title={MSCEqF: A Multi State Constraint Equivariant Filter for Vision-aided Inertial Navigation},
+
author={Fornasier, Alessandro and van Goor, Pieter and Allak, Eren and Mahony, Robert and Weiss, Stephan},
+
journal={arXiv preprint arXiv:2311.11649},
+
year={2023}
+
}
+
+
@article{fornasier2023equivariant,
+
title={Equivariant Symmetries for Inertial Navigation Systems},
+
author={Fornasier, Alessandro and Ge, Yixiao and van Goor, Pieter and Mahony, Robert and Weiss, Stephan},
+
journal={arXiv preprint arXiv:2309.03765},
+
year={2023}
+
}
+

+References

+

[1] van Goor, Pieter, Tarek Hamel, and Robert Mahony. "Equivariant filter (eqf)." IEEE Transactions on Automatic Control (2022).

+

[2] Fornasier, Alessandro, et al. "Equivariant filter design for inertial navigation systems with input measurement biases." 2022 International Conference on Robotics and Automation (ICRA). IEEE, 2022.

+

[3] Fornasier, Alessandro, et al. "Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation with Online Calibration." IEEE Robotics and Automation Letters 7.4 (2022): 12118-12125.

+

[4] Fornasier, Alessandro, et al. "Equivariant Symmetries for Inertial Navigation Systems." ArXiv preprint.

+
+ +
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Multi State Constraint Equivariant Filter for visual inertial navigation
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Class Hierarchy
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SmartMenus jQuery Plugin - v1.1.0 - September 17, 2017 + * http://www.smartmenus.org/ + * Copyright Vasil Dinkov, Vadikom Web Ltd. http://vadikom.com; Licensed MIT */(function(t){"function"==typeof define&&define.amd?define(["jquery"],t):"object"==typeof module&&"object"==typeof module.exports?module.exports=t(require("jquery")):t(jQuery)})(function($){function initMouseDetection(t){var e=".smartmenus_mouse";if(mouseDetectionEnabled||t)mouseDetectionEnabled&&t&&($(document).off(e),mouseDetectionEnabled=!1);else{var i=!0,s=null,o={mousemove:function(t){var e={x:t.pageX,y:t.pageY,timeStamp:(new Date).getTime()};if(s){var o=Math.abs(s.x-e.x),a=Math.abs(s.y-e.y);if((o>0||a>0)&&2>=o&&2>=a&&300>=e.timeStamp-s.timeStamp&&(mouse=!0,i)){var n=$(t.target).closest("a");n.is("a")&&$.each(menuTrees,function(){return $.contains(this.$root[0],n[0])?(this.itemEnter({currentTarget:n[0]}),!1):void 0}),i=!1}}s=e}};o[touchEvents?"touchstart":"pointerover pointermove pointerout MSPointerOver MSPointerMove 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i=this.activatedItems[e].dataSM("sub");i&&this.menuHide(i)}},menuInit:function(t){if(!t.dataSM("in-mega")){ +t.hasClass("mega-menu")&&t.find("ul").dataSM("in-mega",!0);for(var e=2,i=t[0];(i=i.parentNode.parentNode)!=this.$root[0];)e++;var s=t.prevAll("a").eq(-1);s.length||(s=t.prevAll().find("a").eq(-1)),s.addClass("has-submenu").dataSM("sub",t),t.dataSM("parent-a",s).dataSM("level",e).parent().dataSM("sub",t);var o=s.attr("id")||this.accessIdPrefix+ ++this.idInc,a=t.attr("id")||this.accessIdPrefix+ ++this.idInc;s.attr({id:o,"aria-haspopup":"true","aria-controls":a,"aria-expanded":"false"}),t.attr({id:a,role:"group","aria-hidden":"true","aria-labelledby":o,"aria-expanded":"false"}),this.opts.subIndicators&&s[this.opts.subIndicatorsPos](this.$subArrow.clone())}},menuPosition:function(t){var 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e=t.dataSM("scroll"),i=$(window).scrollTop()-t.dataSM("parent-a").offset().top-e.itemH;this.cssTransforms3d&&(i=-(parseFloat(t.css("margin-top"))-i)),$.extend(e,{upEnd:i, +downEnd:i+this.getViewportHeight()-e.subH})},menuScrollStop:function(t){return this.scrollTimeout?(cancelAnimationFrame(this.scrollTimeout),this.scrollTimeout=0,t.dataSM("scroll").step=1,!0):void 0},menuScrollTouch:function(t,e){if(e=e.originalEvent,isTouchEvent(e)){var i=this.getTouchPoint(e);if(this.getClosestMenu(i.target)==t[0]){var s=t.dataSM("scroll");if(/(start|down)$/i.test(e.type))this.menuScrollStop(t)?(e.preventDefault(),this.$touchScrollingSub=t):this.$touchScrollingSub=null,this.menuScrollRefreshData(t),$.extend(s,{touchStartY:i.pageY,touchStartTime:e.timeStamp});else if(/move$/i.test(e.type)){var o=void 0!==s.touchY?s.touchY:s.touchStartY;if(void 0!==o&&o!=i.pageY){this.$touchScrollingSub=t;var a=i.pageY>o;void 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e=t.dataSM("parent-a"),i=this.isCollapsible();if((this.opts.keepHighlighted||i)&&e.addClass("highlighted"),i)t.removeClass("sm-nowrap").css({zIndex:"",width:"auto",minWidth:"",maxWidth:"",top:"",left:"",marginLeft:"",marginTop:""});else{if(t.css("z-index",this.zIndexInc=(this.zIndexInc||this.getStartZIndex())+1),(this.opts.subMenusMinWidth||this.opts.subMenusMaxWidth)&&(t.css({width:"auto",minWidth:"",maxWidth:""}).addClass("sm-nowrap"),this.opts.subMenusMinWidth&&t.css("min-width",this.opts.subMenusMinWidth),this.opts.subMenusMaxWidth)){var s=this.getWidth(t);t.css("max-width",this.opts.subMenusMaxWidth),s>this.getWidth(t +)&&t.removeClass("sm-nowrap").css("width",this.opts.subMenusMaxWidth)}this.menuPosition(t)}var o=function(){t.css("overflow","")};i?canAnimate&&this.opts.collapsibleShowFunction?this.opts.collapsibleShowFunction.call(this,t,o):t.show(this.opts.collapsibleShowDuration,o):canAnimate&&this.opts.showFunction?this.opts.showFunction.call(this,t,o):t.show(this.opts.showDuration,o),e.attr("aria-expanded","true"),t.attr({"aria-expanded":"true","aria-hidden":"false"}),this.visibleSubMenus.push(t),this.$root.triggerHandler("show.smapi",t[0])}},popupHide:function(t){this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0);var e=this;this.hideTimeout=setTimeout(function(){e.menuHideAll()},t?1:this.opts.hideTimeout)},popupShow:function(t,e){if(!this.opts.isPopup)return alert('SmartMenus jQuery Error:\n\nIf you want to show this menu via the "popupShow" method, set the isPopup:true option.'),void 0;if(this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0),this.$root.dataSM("shown-before",!0), +canAnimate&&this.$root.stop(!0,!0),!this.$root.is(":visible")){this.$root.css({left:t,top:e});var i=this,s=function(){i.$root.css("overflow","")};canAnimate&&this.opts.showFunction?this.opts.showFunction.call(this,this.$root,s):this.$root.show(this.opts.showDuration,s),this.visibleSubMenus[0]=this.$root}},refresh:function(){this.destroy(!0),this.init(!0)},rootKeyDown:function(t){if(this.handleEvents())switch(t.keyCode){case 27:var e=this.activatedItems[0];if(e){this.menuHideAll(),e[0].focus();var i=e.dataSM("sub");i&&this.menuHide(i)}break;case 32:var s=$(t.target);if(s.is("a")&&this.handleItemEvents(s)){var i=s.dataSM("sub");i&&!i.is(":visible")&&(this.itemClick({currentTarget:t.target}),t.preventDefault())}}},rootOut:function(t){if(this.handleEvents()&&!this.isTouchMode()&&t.target!=this.$root[0]&&(this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0),!this.opts.showOnClick||!this.opts.hideOnClick)){var e=this;this.hideTimeout=setTimeout(function(){e.menuHideAll()},this.opts.hideTimeout)}}, +rootOver:function(t){this.handleEvents()&&!this.isTouchMode()&&t.target!=this.$root[0]&&this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0)},winResize:function(t){if(this.handleEvents()){if(!("onorientationchange"in window)||"orientationchange"==t.type){var e=this.isCollapsible();this.wasCollapsible&&e||(this.activatedItems.length&&this.activatedItems[this.activatedItems.length-1][0].blur(),this.menuHideAll()),this.wasCollapsible=e}}else if(this.$disableOverlay){var i=this.$root.offset();this.$disableOverlay.css({top:i.top,left:i.left,width:this.$root.outerWidth(),height:this.$root.outerHeight()})}}}}),$.fn.dataSM=function(t,e){return e?this.data(t+"_smartmenus",e):this.data(t+"_smartmenus")},$.fn.removeDataSM=function(t){return this.removeData(t+"_smartmenus")},$.fn.smartmenus=function(options){if("string"==typeof options){var args=arguments,method=options;return 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+1,229 @@ + + + + + + + +MSCEqF: include/utils/logger.hpp Source File + + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
MSCEqF 1.0 +
+
Multi State Constraint Equivariant Filter for visual inertial navigation
+
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logger.hpp
+
+
+
1// Copyright (C) 2023 Alessandro Fornasier.
+
2// Control of Networked Systems, University of Klagenfurt, Austria.
+
3//
+
4// All rights reserved.
+
5//
+
6// This software is licensed under the terms of the BSD-2-Clause-License with
+
7// no commercial use allowed, the full terms of which are made available
+
8// in the LICENSE file. No license in patents is granted.
+
9//
+
10// You can contact the authors at <alessandro.fornasier@ieee.org>
+
11
+
12#ifndef LOGGER_HPP_
+
13#define LOGGER_HPP_
+
14
+
15#include <iostream>
+
16#include <memory>
+
17
+
18namespace utils
+
19{
+
20template <class S, class C, typename = void>
+
+
21struct is_streamable : ::std::false_type
+
22{
+
23};
+
+
24
+
25template <class S, class C>
+
+
26struct is_streamable<S, C, decltype(void(std::declval<S&>() << std::declval<C const&>()))> : ::std::true_type
+
27{
+
28};
+
+
29
+
30enum class LoggerLevel
+
31{
+
32 FULL,
+
33 INFO,
+
34 WARN,
+
35 ERR,
+
36 INACTIVE,
+
37};
+
38
+
+
43class Logger
+
44{
+
45 public:
+
51 static const LoggerLevel& getlevel() { return level_; }
+
52
+
58 static void setLevel(const LoggerLevel& level) { level_ = level; }
+
59
+
66 template <typename T>
+
+
67 static void info(const T& msg)
+
68 {
+
69 static_assert(is_streamable<std::ostream, T>::value);
+
70 if (level_ == LoggerLevel::INFO || level_ == LoggerLevel::FULL)
+
71 {
+
72 std::cout << "[ INFO]: " << msg << '.' << std::endl;
+
73 }
+
74 }
+
+
75
+
82 template <typename T>
+
+
83 static void err(const T& msg)
+
84 {
+
85 static_assert(is_streamable<std::ostream, T>::value);
+
86 if (level_ == LoggerLevel::INFO || level_ == LoggerLevel::WARN || level_ == LoggerLevel::ERR ||
+
87 level_ == LoggerLevel::FULL)
+
88 {
+
89 std::cout << "\033[31m[ ERROR]: " << msg << ".\033[0m" << std::endl;
+
90 }
+
91 }
+
+
92
+
99 template <typename T>
+
+
100 static void warn(const T& msg)
+
101 {
+
102 static_assert(is_streamable<std::ostream, T>::value);
+
103 if (level_ == LoggerLevel::INFO || level_ == LoggerLevel::WARN || level_ == LoggerLevel::FULL)
+
104 {
+
105 std::cout << "\033[33m[ WARNING]: " << msg << ".\033[0m" << std::endl;
+
106 }
+
107 }
+
+
108
+
115 template <typename T>
+
+
116 static void debug(const T& msg)
+
117 {
+
118 static_assert(is_streamable<std::ostream, T>::value);
+
119 if (level_ == LoggerLevel::FULL)
+
120 {
+
121 std::cout << "\033[34m[ DEBUG]: " << msg << ".\033[0m" << std::endl;
+
122 }
+
123 }
+
+
124
+
125 private:
+
126 static inline LoggerLevel level_ = LoggerLevel::INFO;
+
127};
+
+
128
+
129} // namespace utils
+
130
+
131#endif // LOGGER_HPP_
+
utils::Logger
Logger.
Definition logger.hpp:44
+
utils::Logger::warn
static void warn(const T &msg)
Format a warn message and log it in yellow.
Definition logger.hpp:100
+
utils::Logger::getlevel
static const LoggerLevel & getlevel()
Get the logger level (see LoggerLevel)
Definition logger.hpp:51
+
utils::Logger::debug
static void debug(const T &msg)
Format a debug message and log it in blue.
Definition logger.hpp:116
+
utils::Logger::err
static void err(const T &msg)
Format a error message and log it in red.
Definition logger.hpp:83
+
utils::Logger::info
static void info(const T &msg)
Format a info message and log it in white.
Definition logger.hpp:67
+
utils::Logger::setLevel
static void setLevel(const LoggerLevel &level)
Set the logger level (see LoggerLevel)
Definition logger.hpp:58
+
utils::is_streamable
Definition logger.hpp:22
+
+
+ + + + diff --git a/menu.js b/menu.js new file mode 100644 index 0000000..0fd1e99 --- /dev/null +++ b/menu.js @@ -0,0 +1,134 @@ +/* + @licstart The following is the entire license notice for the JavaScript code in this file. + + The MIT License (MIT) + + Copyright (C) 1997-2020 by Dimitri van Heesch + + Permission is hereby granted, free of charge, to any person obtaining a copy of this software + and associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, + sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or + substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file + */ +function initMenu(relPath,searchEnabled,serverSide,searchPage,search,treeview) { + function makeTree(data,relPath) { + let result=''; + if ('children' in data) { + result+='
    '; + for (let i in data.children) { + let url; + const link = data.children[i].url; + if (link.substring(0,1)=='^') { + url = link.substring(1); + } else { + url = relPath+link; + } + result+='
  • '+ + data.children[i].text+''+ + makeTree(data.children[i],relPath)+'
    • '; + } + result+='
'; + } + return result; + } + let searchBoxHtml; + if (searchEnabled) { + if (serverSide) { + searchBoxHtml='
'+ + '
'+ + '
 '+ + ''+ + '
'+ + '
'+ + '
'+ + '
'; + } else { + searchBoxHtml='
'+ + ''+ + ' '+ + ''+ + ''+ + ''+ + ''+ + ''+ + '
'; + } + } + + $('#main-nav').before('
'+ + ''+ + ''+ + '
'); + $('#main-nav').append(makeTree(menudata,relPath)); + $('#main-nav').children(':first').addClass('sm sm-dox').attr('id','main-menu'); + if (searchBoxHtml) { + $('#main-menu').append('
  • '); + } + const $mainMenuState = $('#main-menu-state'); + let prevWidth = 0; + if ($mainMenuState.length) { + const initResizableIfExists = function() { + if (typeof initResizable==='function') initResizable(treeview); + } + // animate mobile menu + $mainMenuState.change(function() { + const $menu = $('#main-menu'); + let options = { duration: 250, step: initResizableIfExists }; + if (this.checked) { + options['complete'] = () => $menu.css('display', 'block'); + $menu.hide().slideDown(options); + } else { + options['complete'] = () => $menu.css('display', 'none'); + $menu.show().slideUp(options); + } + }); + // set default menu visibility + const resetState = function() { + const $menu = $('#main-menu'); + const newWidth = $(window).outerWidth(); + if (newWidth!=prevWidth) { + if ($(window).outerWidth()<768) { + $mainMenuState.prop('checked',false); $menu.hide(); + $('#searchBoxPos1').html(searchBoxHtml); + $('#searchBoxPos2').hide(); + } else { + $menu.show(); + $('#searchBoxPos1').empty(); + $('#searchBoxPos2').html(searchBoxHtml); + $('#searchBoxPos2').show(); + } + if (typeof searchBox!=='undefined') { + searchBox.CloseResultsWindow(); + } + prevWidth = newWidth; + } + } + $(window).ready(function() { resetState(); initResizableIfExists(); }); + $(window).resize(resetState); + } + $('#main-menu').smartmenus(); +} +/* @license-end */ diff --git a/menudata.js b/menudata.js new file mode 100644 index 0000000..86685fe --- /dev/null +++ b/menudata.js @@ -0,0 +1,107 @@ +/* + @licstart The following is the entire license notice for the JavaScript code in this file. + + The MIT License (MIT) + + Copyright (C) 1997-2020 by Dimitri van Heesch + + Permission is hereby granted, free of charge, to any person obtaining a copy of this software + and associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, + sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or + substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file +*/ +var menudata={children:[ +{text:"Main Page",url:"index.html"}, +{text:"Classes",url:"annotated.html",children:[ +{text:"Class List",url:"annotated.html"}, +{text:"Class Index",url:"classes.html"}, +{text:"Class Hierarchy",url:"inherits.html"}, +{text:"Class Members",url:"functions.html",children:[ +{text:"All",url:"functions.html",children:[ +{text:"a",url:"functions.html#index_a"}, +{text:"b",url:"functions_b.html#index_b"}, +{text:"c",url:"functions_c.html#index_c"}, +{text:"d",url:"functions_d.html#index_d"}, +{text:"e",url:"functions_e.html#index_e"}, +{text:"f",url:"functions_f.html#index_f"}, +{text:"g",url:"functions_g.html#index_g"}, +{text:"h",url:"functions_h.html#index_h"}, +{text:"i",url:"functions_i.html#index_i"}, +{text:"k",url:"functions_k.html#index_k"}, +{text:"l",url:"functions_l.html#index_l"}, +{text:"m",url:"functions_m.html#index_m"}, +{text:"n",url:"functions_n.html#index_n"}, +{text:"o",url:"functions_o.html#index_o"}, +{text:"p",url:"functions_p.html#index_p"}, +{text:"q",url:"functions_q.html#index_q"}, +{text:"r",url:"functions_r.html#index_r"}, +{text:"s",url:"functions_s.html#index_s"}, +{text:"t",url:"functions_t.html#index_t"}, +{text:"u",url:"functions_u.html#index_u"}, +{text:"v",url:"functions_v.html#index_v"}, +{text:"w",url:"functions_w.html#index_w"}, +{text:"x",url:"functions_x.html#index_x"}, +{text:"z",url:"functions_z.html#index_z"}]}, +{text:"Functions",url:"functions_func.html",children:[ +{text:"a",url:"functions_func.html#index_a"}, +{text:"b",url:"functions_func.html#index_b"}, +{text:"c",url:"functions_func.html#index_c"}, +{text:"d",url:"functions_func.html#index_d"}, +{text:"e",url:"functions_func.html#index_e"}, +{text:"f",url:"functions_func.html#index_f"}, +{text:"g",url:"functions_func.html#index_g"}, +{text:"i",url:"functions_func.html#index_i"}, +{text:"k",url:"functions_func.html#index_k"}, +{text:"l",url:"functions_func.html#index_l"}, +{text:"m",url:"functions_func.html#index_m"}, +{text:"n",url:"functions_func.html#index_n"}, +{text:"o",url:"functions_func.html#index_o"}, +{text:"p",url:"functions_func.html#index_p"}, +{text:"q",url:"functions_func.html#index_q"}, +{text:"r",url:"functions_func.html#index_r"}, +{text:"s",url:"functions_func.html#index_s"}, +{text:"t",url:"functions_func.html#index_t"}, +{text:"u",url:"functions_func.html#index_u"}, +{text:"v",url:"functions_func.html#index_v"}, +{text:"w",url:"functions_func.html#index_w"}, +{text:"x",url:"functions_func.html#index_x"}, +{text:"z",url:"functions_func.html#index_z"}]}, +{text:"Variables",url:"functions_vars.html",children:[ +{text:"a",url:"functions_vars.html#index_a"}, +{text:"b",url:"functions_vars.html#index_b"}, +{text:"c",url:"functions_vars.html#index_c"}, +{text:"d",url:"functions_vars.html#index_d"}, +{text:"e",url:"functions_vars.html#index_e"}, +{text:"f",url:"functions_vars.html#index_f"}, +{text:"g",url:"functions_vars.html#index_g"}, +{text:"h",url:"functions_vars.html#index_h"}, +{text:"i",url:"functions_vars.html#index_i"}, +{text:"k",url:"functions_vars.html#index_k"}, +{text:"l",url:"functions_vars.html#index_l"}, +{text:"m",url:"functions_vars.html#index_m"}, +{text:"n",url:"functions_vars.html#index_n"}, +{text:"o",url:"functions_vars.html#index_o"}, +{text:"p",url:"functions_vars.html#index_p"}, +{text:"q",url:"functions_vars.html#index_q"}, +{text:"r",url:"functions_vars.html#index_r"}, +{text:"s",url:"functions_vars.html#index_s"}, +{text:"t",url:"functions_vars.html#index_t"}, +{text:"u",url:"functions_vars.html#index_u"}, +{text:"w",url:"functions_vars.html#index_w"}, +{text:"z",url:"functions_vars.html#index_z"}]}, +{text:"Typedefs",url:"functions_type.html"}, +{text:"Related Symbols",url:"functions_rela.html"}]}]}, +{text:"Files",url:"files.html",children:[ +{text:"File List",url:"files.html"}]}]} diff --git a/minus.svg b/minus.svg new file mode 100644 index 0000000..f70d0c1 --- /dev/null +++ b/minus.svg @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/minusd.svg b/minusd.svg new file mode 100644 index 0000000..5f8e879 --- /dev/null +++ b/minusd.svg @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/msceqf_8hpp_source.html b/msceqf_8hpp_source.html new file mode 100644 index 0000000..708bb97 --- /dev/null +++ b/msceqf_8hpp_source.html @@ -0,0 +1,248 @@ + + + + + + + +MSCEqF: include/msceqf/msceqf.hpp Source File + + + + + + + + + + + + + + + +
    +
    + + + + + + + +
    +
    MSCEqF 1.0 +
    +
    Multi State Constraint Equivariant Filter for visual inertial navigation
    +
    +
    + + + + + + + + +
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    msceqf.hpp
    +
    +
    +
    1// Copyright (C) 2023 Alessandro Fornasier.
    +
    2// Control of Networked Systems, University of Klagenfurt, Austria.
    +
    3//
    +
    4// All rights reserved.
    +
    5//
    +
    6// This software is licensed under the terms of the BSD-2-Clause-License with
    +
    7// no commercial use allowed, the full terms of which are made available
    +
    8// in the LICENSE file. No license in patents is granted.
    +
    9//
    +
    10// You can contact the authors at <alessandro.fornasier@ieee.org>
    +
    11
    +
    12#ifndef MSCEQF_HPP
    +
    13#define MSCEQF_HPP
    +
    14
    +
    15#include <future>
    +
    16
    +
    17#include "msceqf/filter/initializer/static_initializer.hpp"
    +
    18#include "msceqf/filter/propagator/propagator.hpp"
    +
    19#include "msceqf/filter/updater/updater.hpp"
    +
    20#include "msceqf/filter/updater/zero_velocity_updater.hpp"
    +
    21#include "msceqf/options/msceqf_option_parser.hpp"
    +
    22#include "msceqf/state/state.hpp"
    +
    23#include "vision/track_manager.hpp"
    +
    24#include "utils/visualizer.hpp"
    +
    25
    +
    26namespace msceqf
    +
    27{
    +
    +
    28class MSCEqF
    +
    29{
    +
    30 public:
    +
    36 MSCEqF(const std::string& params_filepath);
    +
    37
    +
    43 void processMeasurement(const Imu& meas) { processImuMeasurement(meas); }
    +
    44
    +
    50 void processMeasurement(Camera& meas) { processCameraMeasurement(meas); }
    +
    51
    +
    57 void processMeasurement(TriangulatedFeatures& meas) { processFeaturesMeasurement(meas); }
    +
    58
    +
    64 const MSCEqFOptions& options() const;
    +
    65
    +
    71 const StateOptions& stateOptions() const;
    +
    72
    +
    78 const MatrixX& covariance() const;
    +
    79
    +
    85 const MatrixX coreCovariance() const;
    +
    86
    +
    92 const SystemState& stateEstimate() const;
    +
    93
    +
    99 const SystemState& stateOrigin() const;
    +
    100
    +
    108 void setGivenOrigin(const SE23& T0, const Vector6& b0, const fp& timestamp);
    +
    109
    +
    115 const cv::Mat3b imageWithTracks(const Camera& cam) const;
    +
    116
    +
    122 void visualizeImageWithTracks(const Camera& cam) const;
    +
    123
    +
    129 [[nodiscard]] const bool& isInit() const;
    +
    130
    +
    136 [[nodiscard]] const bool& zvuPerformed() const;
    +
    137
    +
    138 private:
    +
    145 void processImuMeasurement(const Imu& imu);
    +
    146
    +
    158 void processCameraMeasurement(Camera& cam);
    +
    159
    +
    171 void processFeaturesMeasurement(TriangulatedFeatures& features);
    +
    172
    +
    180 void initialize(Camera& cam);
    +
    181
    +
    189 void initialize(TriangulatedFeatures& features);
    +
    190
    +
    195 void setGivenOrigin();
    +
    196
    +
    201 void logInit() const;
    +
    202
    +
    203 OptionParser parser_;
    +
    204 MSCEqFOptions opts_;
    +
    205
    +
    206 SystemState xi0_;
    +
    207 MSCEqFState X_;
    +
    208 SystemState xi_;
    +
    209
    +
    210 TrackManager track_manager_;
    +
    211 Checker checker_;
    +
    212 StaticInitializer initializer_;
    +
    213 Propagator propagator_;
    +
    214 Updater updater_;
    +
    215 ZeroVelocityUpdater zvupdater_;
    +
    216 Visualizer visualizer_; //<! The MSCEqF visualizer
    +
    217
    +
    218 std::unordered_set<uint> ids_to_update_;
    +
    219
    +
    220 fp timestamp_;
    +
    221
    +
    222 bool is_filter_initialized_;
    +
    223 bool zvu_performed_;
    +
    224};
    +
    +
    225
    +
    226} // namespace msceqf
    +
    227
    +
    228#endif // MSCEQF_HPP
    +
    msceqf::Checker
    Simple class to perform various checks.
    Definition checker.hpp:27
    +
    msceqf::MSCEqF
    Definition msceqf.hpp:29
    +
    msceqf::MSCEqF::setGivenOrigin
    void setGivenOrigin(const SE23 &T0, const Vector6 &b0, const fp &timestamp)
    Set origin xi0 with given state programatically.
    +
    msceqf::MSCEqF::processMeasurement
    void processMeasurement(TriangulatedFeatures &meas)
    Process triangulated features measurement.
    Definition msceqf.hpp:57
    +
    msceqf::MSCEqF::visualizeImageWithTracks
    void visualizeImageWithTracks(const Camera &cam) const
    Visualize the processed image with overlayed tracks.
    +
    msceqf::MSCEqF::zvuPerformed
    const bool & zvuPerformed() const
    Check if a zero velocity update has been performed.
    +
    msceqf::MSCEqF::covariance
    const MatrixX & covariance() const
    Get a constant reference to the covariance matrix of the MSCEqF state.
    +
    msceqf::MSCEqF::stateOptions
    const StateOptions & stateOptions() const
    Get a constant reference to the MSCEqF state options.
    +
    msceqf::MSCEqF::processMeasurement
    void processMeasurement(const Imu &meas)
    Process IMU measurement.
    Definition msceqf.hpp:43
    +
    msceqf::MSCEqF::isInit
    const bool & isInit() const
    Check if the filter is initialized.
    +
    msceqf::MSCEqF::coreCovariance
    const MatrixX coreCovariance() const
    Get the covariance of the navigation states (D, delta)
    +
    msceqf::MSCEqF::imageWithTracks
    const cv::Mat3b imageWithTracks(const Camera &cam) const
    Get the processed image with overlayed tracks.
    +
    msceqf::MSCEqF::MSCEqF
    MSCEqF(const std::string &params_filepath)
    MSCEqF Constructor.
    +
    msceqf::MSCEqF::processMeasurement
    void processMeasurement(Camera &meas)
    Process camera measurement.
    Definition msceqf.hpp:50
    +
    msceqf::MSCEqF::options
    const MSCEqFOptions & options() const
    Get a constant reference to the MSCEqF options.
    +
    msceqf::MSCEqF::stateEstimate
    const SystemState & stateEstimate() const
    Get a constant reference to the estimated state.
    +
    msceqf::MSCEqF::stateOrigin
    const SystemState & stateOrigin() const
    Get a constant reference to the origin state.
    +
    msceqf::MSCEqFState
    this class represent the state of the MSCEqF. This includes the state of the lifted system (element o...
    Definition state.hpp:30
    +
    msceqf::OptionParser
    Definition msceqf_option_parser.hpp:29
    +
    msceqf::Propagator
    Definition propagator.hpp:25
    +
    msceqf::StaticInitializer
    Definition static_initializer.hpp:21
    +
    msceqf::SystemState
    The SystemState class represent the state of the system posed on the Homogenous space.
    Definition system.hpp:29
    +
    msceqf::TrackManager
    This class manages the multiple tracks of feature traked in time.
    Definition track_manager.hpp:28
    +
    msceqf::Updater
    Updater class. This class implements the Multi State Constraint update step of the MSCEqF filter.
    Definition updater.hpp:30
    +
    msceqf::Visualizer
    Definition visualizer.hpp:23
    +
    msceqf::ZeroVelocityUpdater
    Zero velocity updater class. This class implements the Equivariant Zero Velocity Update (ZVU) of the ...
    Definition zero_velocity_updater.hpp:26
    +
    msceqf::Camera
    Definition sensor_data.hpp:78
    +
    msceqf::Imu
    Struct for one IMU reading. It includes timestamp, angular velocity and linear acceleration....
    Definition sensor_data.hpp:29
    +
    msceqf::MSCEqFOptions
    Definition msceqf_options.hpp:206
    +
    msceqf::StateOptions
    Definition msceqf_options.hpp:98
    +
    msceqf::TriangulatedFeatures
    Definition sensor_data.hpp:98
    +
    +
    + + + + diff --git a/msceqf__option__parser_8hpp_source.html b/msceqf__option__parser_8hpp_source.html new file mode 100644 index 0000000..6045d27 --- /dev/null +++ b/msceqf__option__parser_8hpp_source.html @@ -0,0 +1,290 @@ + + + + + + + +MSCEqF: include/msceqf/options/msceqf_option_parser.hpp Source File + + + + + + + + + + + + + + + +
    +
    + + + + + + + +
    +
    MSCEqF 1.0 +
    +
    Multi State Constraint Equivariant Filter for visual inertial navigation
    +
    +
    + + + + + + + + +
    +
    + +
    +
    +
    + +
    + +
    +
    + + +
    +
    +
    +
    +
    +
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    +
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    +
    +
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    +
    + +
    +
    msceqf_option_parser.hpp
    +
    +
    +
    1// Copyright (C) 2023 Alessandro Fornasier.
    +
    2// Control of Networked Systems, University of Klagenfurt, Austria.
    +
    3//
    +
    4// All rights reserved.
    +
    5//
    +
    6// This software is licensed under the terms of the BSD-2-Clause-License with
    +
    7// no commercial use allowed, the full terms of which are made available
    +
    8// in the LICENSE file. No license in patents is granted.
    +
    9//
    +
    10// You can contact the authors at <alessandro.fornasier@ieee.org>
    +
    11
    +
    12#ifndef OPTIONS_PARSER_HPP
    +
    13#define OPTIONS_PARSER_HPP
    +
    14
    +
    15#include <yaml-cpp/yaml.h>
    +
    16
    +
    17#include <numeric>
    +
    18#include <sstream>
    +
    19#include <opencv2/opencv.hpp>
    +
    20
    +
    21#include "msceqf/options/msceqf_options.hpp"
    +
    22#include "types/fptypes.hpp"
    +
    23#include "utils/logger.hpp"
    +
    24#include "utils/tools.hpp"
    +
    25
    +
    26namespace msceqf
    +
    27{
    +
    +
    28 class OptionParser
    +
    29 {
    +
    30 public:
    +
    36 OptionParser(const std::string &filepath);
    +
    37
    +
    43 MSCEqFOptions parseOptions();
    +
    44
    +
    45 private:
    +
    58 template <int Rows, int Cols>
    +
    59 [[nodiscard]] bool read(Matrix<Rows, Cols> &x, const std::string &param)
    +
    60 {
    +
    61 if (node_[param])
    +
    62 {
    +
    63 using vector = std::vector<fp>;
    +
    64 using vectorvector = std::vector<std::vector<fp>>;
    +
    65
    +
    66 int rows = Rows;
    +
    67 int cols = Cols;
    +
    68
    +
    69 if constexpr (Rows == 1 || Cols == 1)
    +
    70 {
    +
    71 vector vec = node_[param].as<vector>();
    +
    72 if constexpr (Rows == -1)
    +
    73 {
    +
    74 rows = vec.size();
    +
    75 }
    +
    76 else if (Cols == -1)
    +
    77 {
    +
    78 cols = vec.size();
    +
    79 }
    +
    80 x = Map<Matrix<Rows, Cols>>(vec.data(), rows, cols);
    +
    81 }
    +
    82 else
    +
    83 {
    +
    84 vectorvector mat = node_[param].as<vectorvector>();
    +
    85 vector vec = utils::flatten(mat);
    +
    86 if constexpr (Rows == 1 && Cols == 1)
    +
    87 {
    +
    88 rows = mat.size();
    +
    89 cols = vec.size() / mat.size();
    +
    90 }
    +
    91 x = Map<Matrix<Rows, Cols, Eigen::RowMajor>>(vec.data(), rows, cols);
    +
    92 }
    +
    93 if constexpr (Rows == 1)
    +
    94 {
    +
    95 utils::Logger::info("Parameter: [" + param + "] found. Option set to:" +
    +
    96 (std::ostringstream{} << x).str());
    +
    97 }
    +
    98 else if (Cols == 1)
    +
    99 {
    +
    100 utils::Logger::info("Parameter: [" + param + "] found. Option set to: " +
    +
    101 (std::ostringstream{} << x.transpose()).str());
    +
    102 }
    +
    103 else
    +
    104 {
    +
    105 utils::Logger::info("Parameter: [" + param + "] found. Option set to: \n" +
    +
    106 (std::ostringstream{} << x).str());
    +
    107 }
    +
    108
    +
    109 return true;
    +
    110 }
    +
    111 utils::Logger::warn("Parameter: [" + param + "] not found");
    +
    112 return false;
    +
    113 }
    +
    114
    +
    125 template <typename Scalar>
    +
    126 [[nodiscard]] bool read(Quaternion &q, const std::string &param)
    +
    127 {
    +
    128 if (node_[param])
    +
    129 {
    +
    130 using vector = std::vector<fp>;
    +
    131 vector vec = node_[param].as<vector>();
    +
    132 q = Quaternion(vec).normalize();
    +
    133 utils::Logger::info("Parameter: [" + param + "] found. Option set to: \n" +
    +
    134 (std::ostringstream{} << q).str());
    +
    135 return true;
    +
    136 }
    +
    137 utils::Logger::warn("Parameter: [" + param + "] not found");
    +
    138 return false;
    +
    139 }
    +
    140
    +
    149 template <typename T>
    +
    150 [[nodiscard]] bool read(T &p, const std::string &param)
    +
    151 {
    +
    152 if (node_[param])
    +
    153 {
    +
    154 p = node_[param].as<T>();
    +
    155 utils::Logger::info("Parameter: [" + param + "] found. Option set to: " +
    +
    156 (std::ostringstream{} << p).str());
    +
    157 return true;
    +
    158 }
    +
    159 utils::Logger::warn("Parameter: [" + param + "] not found");
    +
    160 return false;
    +
    161 }
    +
    162
    +
    163 template <typename T, typename Convertible>
    +
    164 void readDefault(T &p, const Convertible &def, const std::string &param)
    +
    165 {
    +
    166 static_assert(std::is_convertible_v<Convertible, T>);
    +
    167 if (!read(p, param))
    +
    168 {
    +
    169 p = def;
    +
    170 utils::Logger::warn("Parameter: [" + param + "] set to default value: " +
    +
    171 (std::ostringstream{} << p).str());
    +
    172 }
    +
    173 }
    +
    174
    +
    188 void parseCameraParameters(SE3 &extrinsics,
    +
    189 In &intrinsics,
    +
    190 DistortionModel &distortion_model,
    +
    191 VectorX &distortion_coefficients,
    +
    192 Vector2 &resolution,
    +
    193 fp &timeshift_cam_imu,
    +
    194 cv::Mat &mask,
    +
    195 MaskType &mask_type);
    +
    196
    +
    204 void parseGivenOrigin(SE23 &T, Vector6 &b, fp &t0);
    +
    205
    +
    211 void parseEqualizationMethod(EqualizationMethod &eq);
    +
    212
    +
    218 void parseFeatureRepresentation(FeatureRepresentation &rep);
    +
    219
    +
    225 void parseProjectionMethod(ProjectionMethod &proj);
    +
    226
    +
    232 void parseDetectorType(FeatureDetector &detector);
    +
    233
    +
    243 void parseInitialCovariance(Matrix9 &D_cov, Matrix6 &delta_cov, Matrix6 &E_cov, Matrix4 &L_cov);
    +
    244
    +
    253 void parseProcessNoise(fp &w_std, fp &a_std, fp &bw_std, fp &ba_std);
    +
    254
    +
    262 void parsePixStd(fp &pix_std, const StateOptions &opts);
    +
    263
    +
    269 void parseZeroVelocityUpdate(ZeroVelocityUpdate &zvu);
    +
    270
    +
    271 YAML::Node node_;
    +
    272 std::string filepath_;
    +
    273 };
    +
    +
    274
    +
    275} // namespace msceqf
    +
    276
    +
    277#endif // OPTIONS_HPP
    +
    msceqf::OptionParser
    Definition msceqf_option_parser.hpp:29
    +
    msceqf::OptionParser::parseOptions
    MSCEqFOptions parseOptions()
    Parse oprion and create MSCEqFOptions struct.
    +
    msceqf::OptionParser::OptionParser
    OptionParser(const std::string &filepath)
    Option parser constructor.
    +
    utils::Logger::warn
    static void warn(const T &msg)
    Format a warn message and log it in yellow.
    Definition logger.hpp:100
    +
    utils::Logger::info
    static void info(const T &msg)
    Format a info message and log it in white.
    Definition logger.hpp:67
    +
    msceqf::MSCEqFOptions
    Definition msceqf_options.hpp:206
    +
    +
    + + + + diff --git a/msceqf__options_8hpp_source.html b/msceqf__options_8hpp_source.html new file mode 100644 index 0000000..4e1f3ce --- /dev/null +++ b/msceqf__options_8hpp_source.html @@ -0,0 +1,408 @@ + + + + + + + +MSCEqF: include/msceqf/options/msceqf_options.hpp Source File + + + + + + + + + + + + + + + +
    +
    + + + + + + + +
    +
    MSCEqF 1.0 +
    +
    Multi State Constraint Equivariant Filter for visual inertial navigation
    +
    +
    + + + + + + + + +
    +
    + +
    +
    +
    + +
    + +
    +
    + + +
    +
    +
    +
    +
    +
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    +
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    +
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    +
    +
    +
    +
    + +
    +
    msceqf_options.hpp
    +
    +
    +
    1// Copyright (C) 2023 Alessandro Fornasier.
    +
    2// Control of Networked Systems, University of Klagenfurt, Austria.
    +
    3//
    +
    4// All rights reserved.
    +
    5//
    +
    6// This software is licensed under the terms of the BSD-2-Clause-License with
    +
    7// no commercial use allowed, the full terms of which are made available
    +
    8// in the LICENSE file. No license in patents is granted.
    +
    9//
    +
    10// You can contact the authors at <alessandro.fornasier@ieee.org>
    +
    11
    +
    12#ifndef OPTIONS_HPP
    +
    13#define OPTIONS_HPP
    +
    14
    +
    15#include <opencv2/opencv.hpp>
    +
    16
    +
    17#include "types/fptypes.hpp"
    +
    18
    +
    19namespace msceqf
    +
    20{
    +
    25enum class FeatureRepresentation
    +
    26{
    +
    27 ANCHORED_EUCLIDEAN,
    +
    28 ANCHORED_POLAR,
    +
    29 ANCHORED_INVERSE_DEPTH,
    +
    30};
    +
    31
    +
    36enum class ProjectionMethod
    +
    37{
    +
    38 UNIT_SPHERE,
    +
    39 UNIT_PLANE,
    +
    40};
    +
    41
    +
    46enum class DistortionModel
    +
    47{
    +
    48 RADTAN,
    +
    49 EQUIDISTANT,
    +
    50};
    +
    51
    +
    56enum class EqualizationMethod
    +
    57{
    +
    58 HISTOGRAM,
    +
    59 CLAHE,
    +
    60 NONE,
    +
    61};
    +
    62
    +
    67enum class FeatureDetector
    +
    68{
    +
    69 FAST,
    +
    70 GFTT,
    +
    71};
    +
    72
    +
    77enum class ZeroVelocityUpdate
    +
    78{
    +
    79 DISABLE,
    +
    80 ENABLE,
    +
    81 BEGINNING,
    +
    82};
    +
    83
    +
    89enum class MaskType
    +
    90{
    +
    91 STATIC,
    +
    92 DYNAMIC,
    +
    93};
    +
    94
    + +
    110
    + +
    120
    + +
    135
    +
    +
    136struct ZeroVelocityUpdaterOptions
    +
    137{
    +
    138 ZeroVelocityUpdate zero_velocity_update_;
    +
    139 bool curvature_correction_;
    +
    140};
    +
    +
    141
    + +
    153
    + +
    159
    +
    +
    160struct CameraOptions
    +
    161{
    +
    162 VectorX distortion_coefficients_;
    +
    163 Vector2 resolution_;
    +
    164 fp timeshift_cam_imu_;
    +
    165 cv::Mat static_mask_;
    +
    166 MaskType mask_type_;
    +
    167};
    +
    +
    168
    +
    +
    169struct FastOptions
    +
    170{
    +
    171 int fast_threshold_;
    +
    172};
    +
    +
    173
    +
    +
    174struct GFTTOptions
    +
    175{
    +
    176 fp quality_level_;
    +
    177};
    +
    +
    178
    + +
    198
    + +
    204
    + +
    215
    +
    216} // namespace msceqf
    +
    217
    +
    218#endif // OPTIONS_HPP
    +
    msceqf::CameraOptions
    Definition msceqf_options.hpp:161
    +
    msceqf::CameraOptions::timeshift_cam_imu_
    fp timeshift_cam_imu_
    The time shift between camera and imu (t_imu = t_cam + shift)
    Definition msceqf_options.hpp:164
    +
    msceqf::CameraOptions::static_mask_
    cv::Mat static_mask_
    The static image mask.
    Definition msceqf_options.hpp:165
    +
    msceqf::CameraOptions::distortion_coefficients_
    VectorX distortion_coefficients_
    Distortion coefficients.
    Definition msceqf_options.hpp:162
    +
    msceqf::CameraOptions::resolution_
    Vector2 resolution_
    Width, Height.
    Definition msceqf_options.hpp:163
    +
    msceqf::CameraOptions::mask_type_
    MaskType mask_type_
    The mask type.
    Definition msceqf_options.hpp:166
    +
    msceqf::CheckerOptions
    Definition msceqf_options.hpp:155
    +
    msceqf::CheckerOptions::disparity_window_
    fp disparity_window_
    The window is seconds used to check disparity.
    Definition msceqf_options.hpp:157
    +
    msceqf::CheckerOptions::disparity_threshold_
    fp disparity_threshold_
    the disparity threshold for the disparity check
    Definition msceqf_options.hpp:156
    +
    msceqf::FastOptions
    Definition msceqf_options.hpp:170
    +
    msceqf::FastOptions::fast_threshold_
    int fast_threshold_
    Fast detector threshold (The lower the more feature are detected/accepted)
    Definition msceqf_options.hpp:171
    +
    msceqf::GFTTOptions
    Definition msceqf_options.hpp:175
    +
    msceqf::GFTTOptions::quality_level_
    fp quality_level_
    Shi-Tomasi detector quality level (The lower the more feature are detected/accepted)
    Definition msceqf_options.hpp:176
    +
    msceqf::InitializerOptions
    Definition msceqf_options.hpp:143
    +
    msceqf::InitializerOptions::imu_init_window_
    fp imu_init_window_
    The window in seconds used to check for acceleration spikes.
    Definition msceqf_options.hpp:145
    +
    msceqf::InitializerOptions::initial_extended_pose_
    SE23 initial_extended_pose_
    Initial extended pose.
    Definition msceqf_options.hpp:149
    +
    msceqf::InitializerOptions::identity_b0_
    bool identity_b0_
    Boolean to fix identity bias origin (b0)git.
    Definition msceqf_options.hpp:147
    +
    msceqf::InitializerOptions::acc_threshold_
    fp acc_threshold_
    The acceleration threshold for the static initializer.
    Definition msceqf_options.hpp:144
    +
    msceqf::InitializerOptions::initial_timestamp_
    fp initial_timestamp_
    Initial timestamp.
    Definition msceqf_options.hpp:151
    +
    msceqf::InitializerOptions::init_with_given_state_
    bool init_with_given_state_
    Boolean to initialize the state with the given state.
    Definition msceqf_options.hpp:148
    +
    msceqf::InitializerOptions::initial_bias_
    Vector6 initial_bias_
    Initial bias.
    Definition msceqf_options.hpp:150
    +
    msceqf::InitializerOptions::gravity_
    fp gravity_
    The magnitude of the gravity vector in m/s^2.
    Definition msceqf_options.hpp:146
    +
    msceqf::MSCEqFOptions
    Definition msceqf_options.hpp:206
    +
    msceqf::MSCEqFOptions::track_manager_options_
    TrackManagerOptions track_manager_options_
    The track manager options.
    Definition msceqf_options.hpp:207
    +
    msceqf::MSCEqFOptions::state_options_
    StateOptions state_options_
    The state options.
    Definition msceqf_options.hpp:208
    +
    msceqf::MSCEqFOptions::init_options_
    InitializerOptions init_options_
    The initializer options.
    Definition msceqf_options.hpp:210
    +
    msceqf::MSCEqFOptions::zvupdater_options_
    ZeroVelocityUpdaterOptions zvupdater_options_
    The zero velocity updater options.
    Definition msceqf_options.hpp:213
    +
    msceqf::MSCEqFOptions::updater_options_
    UpdaterOptions updater_options_
    The updater options.
    Definition msceqf_options.hpp:212
    +
    msceqf::MSCEqFOptions::propagator_options_
    PropagatorOptions propagator_options_
    The propagator options.
    Definition msceqf_options.hpp:211
    +
    msceqf::MSCEqFOptions::checker_options_
    CheckerOptions checker_options_
    The checker options.
    Definition msceqf_options.hpp:209
    +
    msceqf::PropagatorOptions
    Definition msceqf_options.hpp:112
    +
    msceqf::PropagatorOptions::acceleration_bias_std_
    fp acceleration_bias_std_
    Continuous time acceleration bias (random walk) standard deviation.
    Definition msceqf_options.hpp:116
    +
    msceqf::PropagatorOptions::angular_velocity_std_
    fp angular_velocity_std_
    Continuous time angular velocity standard deviation.
    Definition msceqf_options.hpp:113
    +
    msceqf::PropagatorOptions::state_transition_order_
    int state_transition_order_
    The order for the computation of the state transition matrix.
    Definition msceqf_options.hpp:118
    +
    msceqf::PropagatorOptions::imu_buffer_max_size_
    uint imu_buffer_max_size_
    The maximum size of the propagator's imu buffer.
    Definition msceqf_options.hpp:117
    +
    msceqf::PropagatorOptions::acceleration_std_
    fp acceleration_std_
    Continuous time acceleration standard deviation.
    Definition msceqf_options.hpp:114
    +
    msceqf::PropagatorOptions::angular_velocity_bias_std_
    fp angular_velocity_bias_std_
    Continuous time angular velocity bias (random walk) standard deviation.
    Definition msceqf_options.hpp:115
    +
    msceqf::StateOptions
    Definition msceqf_options.hpp:98
    +
    msceqf::StateOptions::gravity_
    fp gravity_
    The magnitude of the gravity vector in m/s^2.
    Definition msceqf_options.hpp:106
    +
    msceqf::StateOptions::E_init_cov_
    Matrix6 E_init_cov_
    Initial covariance of the E element of the state.
    Definition msceqf_options.hpp:101
    +
    msceqf::StateOptions::enable_camera_intrinsics_calibration_
    bool enable_camera_intrinsics_calibration_
    Boolean to enable intinsic camera calibration.
    Definition msceqf_options.hpp:105
    +
    msceqf::StateOptions::D_init_cov_
    Matrix9 D_init_cov_
    Initial covariance of the D element of the state.
    Definition msceqf_options.hpp:99
    +
    msceqf::StateOptions::num_persistent_features_
    uint num_persistent_features_
    The maximum number of persistent (SLAM) features.
    Definition msceqf_options.hpp:108
    +
    msceqf::StateOptions::num_clones_
    uint num_clones_
    The maximum number of stochastic clones.
    Definition msceqf_options.hpp:107
    +
    msceqf::StateOptions::L_init_cov_
    Matrix4 L_init_cov_
    Initial covariance of the L element of the state.
    Definition msceqf_options.hpp:102
    +
    msceqf::StateOptions::initial_camera_intrinsics_
    In initial_camera_intrinsics_
    Initial camera intrinsics.
    Definition msceqf_options.hpp:104
    +
    msceqf::StateOptions::delta_init_cov_
    Matrix6 delta_init_cov_
    Initial covariance of the delta element of the state.
    Definition msceqf_options.hpp:100
    +
    msceqf::StateOptions::initial_camera_extrinsics_
    SE3 initial_camera_extrinsics_
    Initial camera extrinsics.
    Definition msceqf_options.hpp:103
    +
    msceqf::TrackManagerOptions
    Definition msceqf_options.hpp:200
    +
    msceqf::TrackManagerOptions::max_track_length_
    size_t max_track_length_
    The maximul length of a track.
    Definition msceqf_options.hpp:202
    +
    msceqf::TrackManagerOptions::tracker_options_
    TrackerOptions tracker_options_
    The vision tracker options.
    Definition msceqf_options.hpp:201
    +
    msceqf::TrackerOptions
    Definition msceqf_options.hpp:180
    +
    msceqf::TrackerOptions::optical_flow_win_size_
    uint optical_flow_win_size_
    Window size for optical flow.
    Definition msceqf_options.hpp:192
    +
    msceqf::TrackerOptions::min_px_dist_
    uint min_px_dist_
    Minimum pixel distance between features.
    Definition msceqf_options.hpp:189
    +
    msceqf::TrackerOptions::min_features_
    uint min_features_
    Minimum feature to track/detect.
    Definition msceqf_options.hpp:186
    +
    msceqf::TrackerOptions::fast_opts_
    FastOptions fast_opts_
    Fast feature detector options.
    Definition msceqf_options.hpp:195
    +
    msceqf::TrackerOptions::grid_y_size_
    uint grid_y_size_
    y size of the grid
    Definition msceqf_options.hpp:188
    +
    msceqf::TrackerOptions::max_features_
    uint max_features_
    Maximum feature to track/detect.
    Definition msceqf_options.hpp:185
    +
    msceqf::TrackerOptions::ransac_reprojection_
    fp ransac_reprojection_
    RANSAC reprojection threshold.
    Definition msceqf_options.hpp:194
    +
    msceqf::TrackerOptions::detector_
    FeatureDetector detector_
    The feature detector.
    Definition msceqf_options.hpp:184
    +
    msceqf::TrackerOptions::opencv_threads_
    int opencv_threads_
    Number of threads for opencv.
    Definition msceqf_options.hpp:193
    +
    msceqf::TrackerOptions::cam_options_
    CameraOptions cam_options_
    The camera options.
    Definition msceqf_options.hpp:181
    +
    msceqf::TrackerOptions::optical_flow_pyramid_levels_
    uint optical_flow_pyramid_levels_
    Pyramids levels for optical flow (1-based)
    Definition msceqf_options.hpp:190
    +
    msceqf::TrackerOptions::distortion_model_
    DistortionModel distortion_model_
    Distortion Model.
    Definition msceqf_options.hpp:182
    +
    msceqf::TrackerOptions::grid_x_size_
    uint grid_x_size_
    x size of the grid
    Definition msceqf_options.hpp:187
    +
    msceqf::TrackerOptions::equalizer_
    EqualizationMethod equalizer_
    The image equalization method.
    Definition msceqf_options.hpp:183
    +
    msceqf::TrackerOptions::gftt_opts_
    GFTTOptions gftt_opts_
    Shi-Tomasi feature detector options.
    Definition msceqf_options.hpp:196
    +
    msceqf::TrackerOptions::detector_pyramid_levels_
    uint detector_pyramid_levels_
    Pyramids levels for feature detection (1-based)
    Definition msceqf_options.hpp:191
    +
    msceqf::UpdaterOptions
    Definition msceqf_options.hpp:122
    +
    msceqf::UpdaterOptions::msc_features_representation_
    FeatureRepresentation msc_features_representation_
    Multi State Constraint features representation.
    Definition msceqf_options.hpp:128
    +
    msceqf::UpdaterOptions::min_depth_
    fp min_depth_
    Minimum depth of triangulated features.
    Definition msceqf_options.hpp:124
    +
    msceqf::UpdaterOptions::projection_method_
    ProjectionMethod projection_method_
    The feature projection method.
    Definition msceqf_options.hpp:129
    +
    msceqf::UpdaterOptions::pixel_std_
    fp pixel_std_
    The pixel standard deviation.
    Definition msceqf_options.hpp:132
    +
    msceqf::UpdaterOptions::curvature_correction_
    bool curvature_correction_
    Boolean to enable the curvature correction.
    Definition msceqf_options.hpp:133
    +
    msceqf::UpdaterOptions::tollerance_
    fp tollerance_
    Tollerance for features triangulation refinement.
    Definition msceqf_options.hpp:127
    +
    msceqf::UpdaterOptions::min_angle_
    fp min_angle_
    Minimum angle (in degrees) between views for trianglulation.
    Definition msceqf_options.hpp:131
    +
    msceqf::UpdaterOptions::max_iterations_
    uint max_iterations_
    Maximum number of iteration for features triangulation refinement.
    Definition msceqf_options.hpp:126
    +
    msceqf::UpdaterOptions::refine_traingulation_
    bool refine_traingulation_
    Boolean to enable feature triangulation refinement via nonlinear optimization.
    Definition msceqf_options.hpp:123
    +
    msceqf::UpdaterOptions::max_depth_
    fp max_depth_
    Maximum depth of triangulated features.
    Definition msceqf_options.hpp:125
    +
    msceqf::UpdaterOptions::min_track_lenght_
    uint min_track_lenght_
    Minimum track length for triangulation.
    Definition msceqf_options.hpp:130
    +
    msceqf::ZeroVelocityUpdaterOptions
    Definition msceqf_options.hpp:137
    +
    msceqf::ZeroVelocityUpdaterOptions::curvature_correction_
    bool curvature_correction_
    Boolean to enable the curvature correction on the zero velocity update.
    Definition msceqf_options.hpp:139
    +
    msceqf::ZeroVelocityUpdaterOptions::zero_velocity_update_
    ZeroVelocityUpdate zero_velocity_update_
    The zero velocity update method.
    Definition msceqf_options.hpp:138
    +
    +
    + + + + diff --git a/msceqf__ros_8hpp_source.html b/msceqf__ros_8hpp_source.html new file mode 100644 index 0000000..4955bb7 --- /dev/null +++ b/msceqf__ros_8hpp_source.html @@ -0,0 +1,205 @@ + + + + + + + +MSCEqF: wrappers/ros/ros1/include/msceqf_ros.hpp Source File + + + + + + + + + + + + + + + +
    +
    + + + + + + + +
    +
    MSCEqF 1.0 +
    +
    Multi State Constraint Equivariant Filter for visual inertial navigation
    +
    +
    + + + + + + + + +
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    msceqf_ros.hpp
    +
    +
    +
    1// Copyright (C) 2023 Alessandro Fornasier.
    +
    2// Control of Networked Systems, University of Klagenfurt, Austria.
    +
    3//
    +
    4// All rights reserved.
    +
    5//
    +
    6// This software is licensed under the terms of the BSD-2-Clause-License with
    +
    7// no commercial use allowed, the full terms of which are made available
    +
    8// in the LICENSE file. No license in patents is granted.
    +
    9//
    +
    10// You can contact the authors at <alessandro.fornasier@ieee.org>
    +
    11
    +
    12#ifndef MSCEQF_ROS_H
    +
    13#define MSCEQF_ROS_H
    +
    14
    +
    15#include <ros/ros.h>
    +
    16#include <Eigen/Eigen>
    +
    17#include <atomic>
    +
    18#include <sensor_msgs/Image.h>
    +
    19#include <sensor_msgs/Imu.h>
    +
    20#include <sensor_msgs/CameraInfo.h>
    +
    21#include <sensor_msgs/PointCloud.h>
    +
    22#include <geometry_msgs/PoseWithCovarianceStamped.h>
    +
    23#include <nav_msgs/Path.h>
    +
    24#include <opencv2/opencv.hpp>
    +
    25#include <cv_bridge/cv_bridge.h>
    +
    26#include <rosbag/bag.h>
    +
    27
    +
    28#include "msceqf/msceqf.hpp"
    +
    29
    +
    +
    30class MSCEqFRos
    +
    31{
    +
    32 public:
    +
    47 MSCEqFRos(const ros::NodeHandle &nh,
    +
    48 const std::string &msceqf_config_filepath,
    +
    49 const std::string &imu_topic,
    +
    50 const std::string &cam_topic,
    +
    51 const std::string &pose_topic,
    +
    52 const std::string &path_topic,
    +
    53 const std::string &image_topic,
    +
    54 const std::string &extrinsics_topic,
    +
    55 const std::string &intrinsics_topic,
    +
    56 const std::string &origin_topic,
    +
    57 const bool &record,
    +
    58 const std::string &bagfile);
    +
    59
    +
    64 void callback_image(const sensor_msgs::Image::ConstPtr &msg);
    +
    65
    +
    70 void callback_imu(const sensor_msgs::Imu::ConstPtr &msg);
    +
    71
    +
    72 private:
    +
    78 void publish(const msceqf::Camera &cam);
    +
    79
    +
    80 ros::NodeHandle nh_;
    +
    81
    +
    82 msceqf::MSCEqF sys_;
    +
    83
    +
    84 ros::Subscriber sub_cam_;
    +
    85 ros::Subscriber sub_imu_;
    +
    86
    +
    87 ros::Publisher pub_pose_;
    +
    88 ros::Publisher pub_image_;
    +
    89 ros::Publisher pub_path_;
    +
    90 ros::Publisher pub_extrinsics_;
    +
    91 ros::Publisher pub_intrinsics_;
    +
    92 ros::Publisher pub_origin_;
    +
    93
    +
    94 geometry_msgs::PoseWithCovarianceStamped pose_;
    +
    95 nav_msgs::Path path_;
    +
    96 geometry_msgs::PoseStamped extrinsics_;
    +
    97 sensor_msgs::CameraInfo intrinsics_;
    +
    98 geometry_msgs::PoseStamped origin_;
    +
    99
    +
    100 std::deque<msceqf::Camera> cams_;
    +
    101 std::mutex mutex_;
    +
    102 std::atomic<bool> processing_ = false;
    +
    103
    +
    104 bool record_;
    +
    105 rosbag::Bag bag_;
    +
    106
    +
    107 uint seq_ = 0;
    +
    108};
    +
    +
    109
    +
    110#endif // MSCEQF_ROS_H
    +
    MSCEqFRos
    Definition msceqf_ros.hpp:31
    +
    MSCEqFRos::MSCEqFRos
    MSCEqFRos(const ros::NodeHandle &nh, const std::string &msceqf_config_filepath, const std::string &imu_topic, const std::string &cam_topic, const std::string &pose_topic, const std::string &path_topic, const std::string &image_topic, const std::string &extrinsics_topic, const std::string &intrinsics_topic, const std::string &origin_topic, const bool &record, const std::string &bagfile)
    Constructor.
    +
    MSCEqFRos::callback_imu
    void callback_imu(const sensor_msgs::Imu::ConstPtr &msg)
    IMU callback.
    +
    MSCEqFRos::callback_image
    void callback_image(const sensor_msgs::Image::ConstPtr &msg)
    Image callback.
    +
    msceqf::MSCEqF
    Definition msceqf.hpp:29
    +
    msceqf::Camera
    Definition sensor_data.hpp:78
    +
    +
    + + + + diff --git a/msceqf_logo_docs.png b/msceqf_logo_docs.png new file mode 100644 index 0000000000000000000000000000000000000000..e461ce627adfd24264bb68a89608a77e3394314a GIT binary patch literal 14800 zcmZvjb8sim^YD{Pat&45jwr$(K*tTuFle{mv*tTt(zkI$`&wtNW?daO}x*?6yPOYgk#s!<5!Ie5lt*_P0W`__LxCx@5)W9BiLVb7ilko8&{e@s+1DLn` zdZt_Jj2Mos&uT(VLGf;bd(@azbkEMEJ{s+t5f4T&BU zG*KsMZ})Hr*`bC}XRHAYaqDpQ3nt<@z`%NW>-$~JHNV@T4wFY`u>E_1!#E{Tn)XAG|Di#^AT^6&<(5k<=)dk|F1};HzM1cact(ET$dKj_sZ;)~t71 z@H{UY0$Lx0VoV|Scp2vtE2pF1mX|>cTJ!c%x1Ay^_-e9T#bpJEjrm5t4`DfYp6(C3I2sF8kPJE@7M z`ZUt{InwE ztqKL_pD@$9@wlp#9W=n^34hURs@pS&QSHVyky6tz<)R5{B}TnF_VpfoSyWCfD3DK9 zc0ufDyLPCJhqF9Q*xVXRk6KC1J_Sx{vq|9p;?7@!Cf=1Tc#As1Y?;FbjPB58UJiC} z;y(LQj^=QCec`FGW}&!eumEnkBi@mY7j?V>OoQ}!+zj%vvJ@dds|*48d{`WXoDViS zo>|V%_U}tu^rc=0aY$GY$#%9MF>VOzlR7-(s$9mQ8@$&&zaRlGEWG#7j5LAvV?s;7KFAOU;5kB9TB%RqMM7IK>P znOFCo@DSoTb5Vm=o!4WITq@0L@W1%MQ7aIJ%7LOx0lZqHVPc%&G>5c2H0kG-QtXls z1gX!H&|Gu0_`8!a;5~5;!9{q%FGTb=tIba|(JgtV+YXBp 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padding:0px; +} + +#nav-tree .plus { + margin:0px; +} + +#nav-tree .selected { + background-image: url('tab_a.png'); + background-repeat:repeat-x; + color: var(--nav-text-active-color); + text-shadow: var(--nav-text-active-shadow); +} + +#nav-tree .selected .arrow { + color: var(--nav-arrow-selected-color); + text-shadow: none; +} + +#nav-tree img { + margin:0px; + padding:0px; + border:0px; + vertical-align: middle; +} + +#nav-tree a { + text-decoration:none; + padding:0px; + margin:0px; +} + +#nav-tree .label { + margin:0px; + padding:0px; + font: 12px var(--font-family-nav); +} + +#nav-tree .label a { + padding:2px; +} + +#nav-tree .selected a { + text-decoration:none; + color:var(--nav-text-active-color); +} + +#nav-tree .children_ul { + margin:0px; + padding:0px; +} + +#nav-tree .item { + margin:0px; + padding:0px; +} + +#nav-tree { + padding: 0px 0px; + font-size:14px; + overflow:auto; +} + +#doc-content { + overflow:auto; + display:block; + padding:0px; + margin:0px; + -webkit-overflow-scrolling : touch; /* iOS 5+ */ +} + +#side-nav { + padding:0 6px 0 0; + margin: 0px; + display:block; + position: absolute; + left: 0px; + width: $width; + overflow : hidden; +} + +.ui-resizable .ui-resizable-handle { + display:block; +} + +.ui-resizable-e { + background-image:var(--nav-splitbar-image); + background-size:100%; + background-repeat:repeat-y; + background-attachment: scroll; + cursor:ew-resize; + height:100%; + right:0; + top:0; + width:6px; +} + +.ui-resizable-handle { + display:none; + font-size:0.1px; + position:absolute; + z-index:1; +} + +#nav-tree-contents { + margin: 6px 0px 0px 0px; +} + +#nav-tree { + background-repeat:repeat-x; + background-color: var(--nav-background-color); + -webkit-overflow-scrolling : touch; /* iOS 5+ */ +} + +#nav-sync { + position:absolute; + top:5px; + right:24px; + z-index:0; +} + +#nav-sync img { + opacity:0.3; +} + +#nav-sync img:hover { + opacity:0.9; +} + +@media print +{ + #nav-tree { display: none; } + div.ui-resizable-handle { display: none; position: relative; } +} + diff --git a/navtree.js b/navtree.js new file mode 100644 index 0000000..9027ce6 --- /dev/null +++ b/navtree.js @@ -0,0 +1,483 @@ +/* + @licstart The following is the entire license notice for the JavaScript code in this file. + + The MIT License (MIT) + + Copyright (C) 1997-2020 by Dimitri van Heesch + + Permission is hereby granted, free of charge, to any person obtaining a copy of this software + and associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, + sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or + substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file + */ + +function initNavTree(toroot,relpath) { + let navTreeSubIndices = []; + const ARROW_DOWN = '▼'; + const ARROW_RIGHT = '►'; + const NAVPATH_COOKIE_NAME = ''+'navpath'; + + const getData = function(varName) { + const i = varName.lastIndexOf('/'); + const n = i>=0 ? varName.substring(i+1) : varName; + return eval(n.replace(/-/g,'_')); + } + + const stripPath = function(uri) { + return uri.substring(uri.lastIndexOf('/')+1); + } + + const stripPath2 = function(uri) { + const i = uri.lastIndexOf('/'); + const s = uri.substring(i+1); + const m = uri.substring(0,i+1).match(/\/d\w\/d\w\w\/$/); + return m ? uri.substring(i-6) : s; + } + + const hashValue = function() { + return $(location).attr('hash').substring(1).replace(/[^\w-]/g,''); + } + + const hashUrl = function() { + return '#'+hashValue(); + } + + const pathName = function() { + return $(location).attr('pathname').replace(/[^-A-Za-z0-9+&@#/%?=~_|!:,.;()]/g, ''); + } + + const storeLink = function(link) { + if (!$("#nav-sync").hasClass('sync')) { + Cookie.writeSetting(NAVPATH_COOKIE_NAME,link,0); + } + } + + const deleteLink = function() { + Cookie.eraseSetting(NAVPATH_COOKIE_NAME); + } + + const cachedLink = function() { + return Cookie.readSetting(NAVPATH_COOKIE_NAME,''); + } + + const getScript = function(scriptName,func) { + const head = document.getElementsByTagName("head")[0]; + const script = document.createElement('script'); + script.id = scriptName; + script.type = 'text/javascript'; + script.onload = func; + script.src = scriptName+'.js'; + head.appendChild(script); + } + + const createIndent = function(o,domNode,node) { + let level=-1; + let n = node; + while (n.parentNode) { level++; n=n.parentNode; } + if (node.childrenData) { + const imgNode = document.createElement("span"); + imgNode.className = 'arrow'; + imgNode.style.paddingLeft=(16*level).toString()+'px'; + imgNode.innerHTML=ARROW_RIGHT; + node.plus_img = imgNode; + node.expandToggle = document.createElement("a"); + node.expandToggle.href = "javascript:void(0)"; + node.expandToggle.onclick = function() { + if (node.expanded) { + $(node.getChildrenUL()).slideUp("fast"); + node.plus_img.innerHTML=ARROW_RIGHT; + node.expanded = false; + } else { + expandNode(o, node, false, true); + } + } + node.expandToggle.appendChild(imgNode); + domNode.appendChild(node.expandToggle); + } else { + let span = document.createElement("span"); + span.className = 'arrow'; + span.style.width = 16*(level+1)+'px'; + span.innerHTML = ' '; + domNode.appendChild(span); + } + } + + let animationInProgress = false; + + const gotoAnchor = function(anchor,aname) { + let pos, docContent = $('#doc-content'); + let ancParent = $(anchor.parent()); + if (ancParent.hasClass('memItemLeft') || ancParent.hasClass('memtitle') || + ancParent.hasClass('fieldname') || ancParent.hasClass('fieldtype') || + ancParent.is(':header')) { + pos = ancParent.position().top; + } else if (anchor.position()) { + pos = anchor.position().top; + } + if (pos) { + const dcOffset = docContent.offset().top; + const dcHeight = docContent.height(); + const dcScrHeight = docContent[0].scrollHeight + const dcScrTop = docContent.scrollTop(); + let dist = Math.abs(Math.min(pos-dcOffset,dcScrHeight-dcHeight-dcScrTop)); + animationInProgress = true; + docContent.animate({ + scrollTop: pos + dcScrTop - dcOffset + },Math.max(50,Math.min(500,dist)),function() { + animationInProgress=false; + if (anchor.parent().attr('class')=='memItemLeft') { + let rows = $('.memberdecls tr[class$="'+hashValue()+'"]'); + glowEffect(rows.children(),300); // member without details + } else if (anchor.parent().attr('class')=='fieldname') { + glowEffect(anchor.parent().parent(),1000); // enum value + } else if (anchor.parent().attr('class')=='fieldtype') { + glowEffect(anchor.parent().parent(),1000); // struct field + } else if (anchor.parent().is(":header")) { + glowEffect(anchor.parent(),1000); // section header + } else { + glowEffect(anchor.next(),1000); // normal member + } + }); + } + } + + const newNode = function(o, po, text, link, childrenData, lastNode) { + const node = { + children : [], + childrenData : childrenData, + depth : po.depth + 1, + relpath : po.relpath, + isLast : lastNode, + li : document.createElement("li"), + parentNode : po, + itemDiv : document.createElement("div"), + labelSpan : document.createElement("span"), + label : document.createTextNode(text), + expanded : false, + childrenUL : null, + getChildrenUL : function() { + if (!this.childrenUL) { + this.childrenUL = document.createElement("ul"); + this.childrenUL.className = "children_ul"; + this.childrenUL.style.display = "none"; + this.li.appendChild(node.childrenUL); + } + return node.childrenUL; + }, + }; + + node.itemDiv.className = "item"; + node.labelSpan.className = "label"; + createIndent(o,node.itemDiv,node); + node.itemDiv.appendChild(node.labelSpan); + node.li.appendChild(node.itemDiv); + + const a = document.createElement("a"); + node.labelSpan.appendChild(a); + po.getChildrenUL().appendChild(node.li); + a.appendChild(node.label); + if (link) { + let url; + if (link.substring(0,1)=='^') { + url = link.substring(1); + link = url; + } else { + url = node.relpath+link; + } + a.className = stripPath(link.replace('#',':')); + if (link.indexOf('#')!=-1) { + const aname = '#'+link.split('#')[1]; + const srcPage = stripPath(pathName()); + const targetPage = stripPath(link.split('#')[0]); + a.href = srcPage!=targetPage ? url : aname; + a.onclick = function() { + storeLink(link); + aPPar = $(a).parent().parent(); + if (!aPPar.hasClass('selected')) { + $('.item').removeClass('selected'); + $('.item').removeAttr('id'); + aPPar.addClass('selected'); + aPPar.attr('id','selected'); + } + const anchor = $(aname); + gotoAnchor(anchor,aname); + }; + } else { + a.href = url; + a.onclick = () => storeLink(link); + } + } else if (childrenData != null) { + a.className = "nolink"; + a.href = "javascript:void(0)"; + a.onclick = node.expandToggle.onclick; + } + return node; + } + + const showRoot = function() { + const headerHeight = $("#top").height(); + const footerHeight = $("#nav-path").height(); + const windowHeight = $(window).height() - headerHeight - footerHeight; + (function() { // retry until we can scroll to the selected item + try { + const navtree=$('#nav-tree'); + navtree.scrollTo('#selected',100,{offset:-windowHeight/2}); + } catch (err) { + setTimeout(arguments.callee, 0); + } + })(); + } + + const expandNode = function(o, node, imm, setFocus) { + if (node.childrenData && !node.expanded) { + if (typeof(node.childrenData)==='string') { + const varName = node.childrenData; + getScript(node.relpath+varName,function() { + node.childrenData = getData(varName); + expandNode(o, node, imm, setFocus); + }); + } else { + if (!node.childrenVisited) { + getNode(o, node); + } + $(node.getChildrenUL()).slideDown("fast"); + node.plus_img.innerHTML = ARROW_DOWN; + node.expanded = true; + if (setFocus) { + $(node.expandToggle).focus(); + } + } + } + } + + const glowEffect = function(n,duration) { + n.addClass('glow').delay(duration).queue(function(next) { + $(this).removeClass('glow');next(); + }); + } + + const highlightAnchor = function() { + const aname = hashUrl(); + const anchor = $(aname); + gotoAnchor(anchor,aname); + } + + const selectAndHighlight = function(hash,n) { + let a; + if (hash) { + const link=stripPath(pathName())+':'+hash.substring(1); + a=$('.item a[class$="'+link+'"]'); + } + if (a && a.length) { + a.parent().parent().addClass('selected'); + a.parent().parent().attr('id','selected'); + highlightAnchor(); + } else if (n) { + $(n.itemDiv).addClass('selected'); + $(n.itemDiv).attr('id','selected'); + } + let topOffset=5; + if ($('#nav-tree-contents .item:first').hasClass('selected')) { + topOffset+=25; + } + $('#nav-sync').css('top',topOffset+'px'); + showRoot(); + } + + const showNode = function(o, node, index, hash) { + if (node && node.childrenData) { + if (typeof(node.childrenData)==='string') { + const varName = node.childrenData; + getScript(node.relpath+varName,function() { + node.childrenData = getData(varName); + showNode(o,node,index,hash); + }); + } else { + if (!node.childrenVisited) { + getNode(o, node); + } + $(node.getChildrenUL()).css({'display':'block'}); + node.plus_img.innerHTML = ARROW_DOWN; + node.expanded = true; + const n = node.children[o.breadcrumbs[index]]; + if (index+11 ? '#'+parts[1].replace(/[^\w-]/g,'') : ''; + } + if (hash.match(/^#l\d+$/)) { + const anchor=$('a[name='+hash.substring(1)+']'); + glowEffect(anchor.parent(),1000); // line number + hash=''; // strip line number anchors + } + const url=root+hash; + let i=-1; + while (NAVTREEINDEX[i+1]<=url) i++; + if (i==-1) { i=0; root=NAVTREE[0][1]; } // fallback: show index + if (navTreeSubIndices[i]) { + gotoNode(o,i,root,hash,relpath) + } else { + getScript(relpath+'navtreeindex'+i,function() { + navTreeSubIndices[i] = eval('NAVTREEINDEX'+i); + if (navTreeSubIndices[i]) { + gotoNode(o,i,root,hash,relpath); + } + }); + } + } + + const showSyncOff = function(n,relpath) { + n.html(''); + } + + const showSyncOn = function(n,relpath) { + n.html(''); + } + + const o = { + toroot : toroot, + node : { + childrenData : NAVTREE, + children : [], + childrenUL : document.createElement("ul"), + getChildrenUL : function() { return this.childrenUL }, + li : document.getElementById("nav-tree-contents"), + depth : 0, + relpath : relpath, + expanded : false, + isLast : true, + plus_img : document.createElement("span"), + }, + }; + o.node.li.appendChild(o.node.childrenUL); + o.node.plus_img.className = 'arrow'; + o.node.plus_img.innerHTML = ARROW_RIGHT; + + const navSync = $('#nav-sync'); + if (cachedLink()) { + showSyncOff(navSync,relpath); + navSync.removeClass('sync'); + } else { + showSyncOn(navSync,relpath); + } + + navSync.click(() => { + const navSync = $('#nav-sync'); + if (navSync.hasClass('sync')) { + navSync.removeClass('sync'); + showSyncOff(navSync,relpath); + storeLink(stripPath2(pathName())+hashUrl()); + } else { + navSync.addClass('sync'); + showSyncOn(navSync,relpath); + deleteLink(); + } + }); + + navTo(o,toroot,hashUrl(),relpath); + showRoot(); + + $(window).bind('hashchange', () => { + if (!animationInProgress) { + if (window.location.hash && window.location.hash.length>1) { + let a; + if ($(location).attr('hash')) { + const clslink=stripPath(pathName())+':'+hashValue(); + a=$('.item a[class$="'+clslink.replace(/1|%O$WD@{VPM$7~Ar*{o?;hlAFyLXmaDC0y znK1_#cQqJWPES%4Uujug^TE?jMft$}Eq^WaR~)%f)vSNs&gek&x%A9X9sM + + + + + + + + diff --git a/plusd.svg b/plusd.svg new file mode 100644 index 0000000..0c65bfe --- /dev/null +++ b/plusd.svg @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/propagator_8hpp_source.html b/propagator_8hpp_source.html new file mode 100644 index 0000000..12721b4 --- /dev/null +++ b/propagator_8hpp_source.html @@ -0,0 +1,188 @@ + + + + + + + +MSCEqF: include/msceqf/filter/propagator/propagator.hpp Source File + + + + + + + + + + + + + + + +
    +
    + + + + + + + +
    +
    MSCEqF 1.0 +
    +
    Multi State Constraint Equivariant Filter for visual inertial navigation
    +
    +
    + + + + + + + + +
    +
    + +
    +
    +
    + +
    + +
    +
    + + +
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    +
    propagator.hpp
    +
    +
    +
    1// Copyright (C) 2023 Alessandro Fornasier.
    +
    2// Control of Networked Systems, University of Klagenfurt, Austria.
    +
    3//
    +
    4// All rights reserved.
    +
    5//
    +
    6// This software is licensed under the terms of the BSD-2-Clause-License with
    +
    7// no commercial use allowed, the full terms of which are made available
    +
    8// in the LICENSE file. No license in patents is granted.
    +
    9//
    +
    10// You can contact the authors at <alessandro.fornasier@ieee.org>
    +
    11
    +
    12#ifndef PROPAGATOR_HPP
    +
    13#define PROPAGATOR_HPP
    +
    14
    +
    15#include "msceqf/options/msceqf_options.hpp"
    +
    16#include "msceqf/symmetry/symmetry.hpp"
    +
    17#include "sensors/sensor_data.hpp"
    +
    18#include "msceqf/state/state.hpp"
    +
    19#include "types/fptypes.hpp"
    +
    20#include "utils/tools.hpp"
    +
    21
    +
    22namespace msceqf
    +
    23{
    +
    +
    24class Propagator
    +
    25{
    +
    26 public:
    +
    27 using ImuBuffer = std::deque<Imu>;
    +
    28
    +
    34 Propagator(const PropagatorOptions& opts);
    +
    35
    +
    48 void insertImu(MSCEqFState& X, const SystemState& xi0, const Imu& imu, fp& timestamp);
    +
    49
    +
    59 bool propagate(MSCEqFState& X, const SystemState& xi0, fp& timestamp, const fp& new_timestamp);
    +
    60
    +
    61 private:
    +
    76 ImuBuffer getImuReadings(const fp& t0, const fp& t1);
    +
    77
    +
    86 Imu lerp(const Imu& pre, const Imu& post, const fp& alpha);
    +
    87
    +
    96 void propagateMean(MSCEqFState& X, const SystemState& xi0, const Imu& u, const fp& dt);
    +
    97
    +
    106 void propagateCovariance(MSCEqFState& X, const SystemState& xi0, const Imu& u, const fp& dt);
    +
    107
    +
    118 const MatrixX stateMatrix(MSCEqFState& X, const SystemState& xi0, const Imu& u) const;
    +
    119
    +
    127 const MatrixX inputMatrix(MSCEqFState& X, const SystemState& xi0) const;
    +
    128
    +
    146 const MatrixX discreteTimeMatrix(const MatrixX& A, const MatrixX& B, const fp& dt) const;
    +
    147
    +
    148 ImuBuffer imu_buffer_;
    +
    149 Matrix12 Q_;
    +
    150
    +
    151 int state_transition_order_;
    +
    152 uint imu_buffer_max_size_;
    +
    153
    +
    154 std::mutex mutex_;
    +
    155
    +
    156 static constexpr fp eps_ = 1e-6;
    +
    157};
    +
    +
    158
    +
    159} // namespace msceqf
    +
    160
    +
    161#endif // PROPAGATOR_HPP
    +
    msceqf::MSCEqFState
    this class represent the state of the MSCEqF. This includes the state of the lifted system (element o...
    Definition state.hpp:30
    +
    msceqf::Propagator
    Definition propagator.hpp:25
    +
    msceqf::Propagator::Propagator
    Propagator(const PropagatorOptions &opts)
    Construct a Propagator object given the options.
    +
    msceqf::Propagator::ImuBuffer
    std::deque< Imu > ImuBuffer
    The Imu measurement buffer.
    Definition propagator.hpp:27
    +
    msceqf::Propagator::insertImu
    void insertImu(MSCEqFState &X, const SystemState &xi0, const Imu &imu, fp &timestamp)
    insert a new IMU measurement into the imu buffer, if the given IMU measurement has a grater timestamp...
    +
    msceqf::Propagator::propagate
    bool propagate(MSCEqFState &X, const SystemState &xi0, fp &timestamp, const fp &new_timestamp)
    This function implements the mean and covariance propagation from timestamp to new_timestamp for the ...
    +
    msceqf::SystemState
    The SystemState class represent the state of the system posed on the Homogenous space.
    Definition system.hpp:29
    +
    msceqf::Imu
    Struct for one IMU reading. It includes timestamp, angular velocity and linear acceleration....
    Definition sensor_data.hpp:29
    +
    msceqf::PropagatorOptions
    Definition msceqf_options.hpp:112
    +
    +
    + + + + diff --git a/resize.js b/resize.js new file mode 100644 index 0000000..178d03b --- /dev/null +++ b/resize.js @@ -0,0 +1,147 @@ +/* + @licstart The following is the entire license notice for the JavaScript code in this file. + + The MIT License (MIT) + + Copyright (C) 1997-2020 by Dimitri van Heesch + + Permission is hereby granted, free of charge, to any person obtaining a copy of this software + and associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, + sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or + substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file + */ + +function initResizable(treeview) { + let sidenav,navtree,content,header,footer,barWidth=6; + const RESIZE_COOKIE_NAME = ''+'width'; + + function resizeWidth() { + const sidenavWidth = $(sidenav).outerWidth(); + content.css({marginLeft:parseInt(sidenavWidth)+"px"}); + if (typeof page_layout!=='undefined' && page_layout==1) { + footer.css({marginLeft:parseInt(sidenavWidth)+"px"}); + } + Cookie.writeSetting(RESIZE_COOKIE_NAME,sidenavWidth-barWidth); + } + + function restoreWidth(navWidth) { + content.css({marginLeft:parseInt(navWidth)+barWidth+"px"}); + if (typeof page_layout!=='undefined' && page_layout==1) { + footer.css({marginLeft:parseInt(navWidth)+barWidth+"px"}); + } + sidenav.css({width:navWidth + "px"}); + } + + function resizeHeight(treeview) { + const headerHeight = header.outerHeight(); + const windowHeight = $(window).height(); + let contentHeight; + if (treeview) + { + const footerHeight = footer.outerHeight(); + let navtreeHeight,sideNavHeight; + if (typeof page_layout==='undefined' || page_layout==0) { /* DISABLE_INDEX=NO */ + contentHeight = windowHeight - headerHeight - footerHeight; + navtreeHeight = contentHeight; + sideNavHeight = contentHeight; + } else if (page_layout==1) { /* DISABLE_INDEX=YES */ + contentHeight = windowHeight - footerHeight; + navtreeHeight = windowHeight - headerHeight; + sideNavHeight = windowHeight; + } + navtree.css({height:navtreeHeight + "px"}); + sidenav.css({height:sideNavHeight + "px"}); + } + else + { + contentHeight = windowHeight - headerHeight; + } + content.css({height:contentHeight + "px"}); + if (location.hash.slice(1)) { + (document.getElementById(location.hash.slice(1))||document.body).scrollIntoView(); + } + } + + function collapseExpand() { + let newWidth; + if (sidenav.width()>0) { + newWidth=0; + } else { + const width = Cookie.readSetting(RESIZE_COOKIE_NAME,250); + newWidth = (width>250 && width<$(window).width()) ? width : 250; + } + restoreWidth(newWidth); + const sidenavWidth = $(sidenav).outerWidth(); + Cookie.writeSetting(RESIZE_COOKIE_NAME,sidenavWidth-barWidth); + } + + header = $("#top"); + content = $("#doc-content"); + footer = $("#nav-path"); + sidenav = $("#side-nav"); + if (!treeview) { +// title = $("#titlearea"); +// titleH = $(title).height(); +// let animating = false; +// content.on("scroll", function() { +// slideOpts = { duration: 200, +// step: function() { +// contentHeight = $(window).height() - header.outerHeight(); +// content.css({ height : contentHeight + "px" }); +// }, +// done: function() { animating=false; } +// }; +// if (content.scrollTop()>titleH && title.css('display')!='none' && !animating) { +// title.slideUp(slideOpts); +// animating=true; +// } else if (content.scrollTop()<=titleH && title.css('display')=='none' && !animating) { +// title.slideDown(slideOpts); +// animating=true; +// } +// }); + } else { + navtree = $("#nav-tree"); + $(".side-nav-resizable").resizable({resize: function(e, ui) { resizeWidth(); } }); + $(sidenav).resizable({ minWidth: 0 }); + } + $(window).resize(function() { resizeHeight(treeview); }); + if (treeview) + { + const device = navigator.userAgent.toLowerCase(); + const touch_device = device.match(/(iphone|ipod|ipad|android)/); + if (touch_device) { /* wider split bar for touch only devices */ + $(sidenav).css({ paddingRight:'20px' }); + $('.ui-resizable-e').css({ width:'20px' }); + $('#nav-sync').css({ right:'34px' }); + barWidth=20; + } + const width = Cookie.readSetting(RESIZE_COOKIE_NAME,250); + if (width) { restoreWidth(width); } else { resizeWidth(); } + } + resizeHeight(treeview); + const url = location.href; + const i=url.indexOf("#"); + if (i>=0) window.location.hash=url.substr(i); + const _preventDefault = function(evt) { evt.preventDefault(); }; + if (treeview) + { + $("#splitbar").bind("dragstart", _preventDefault).bind("selectstart", _preventDefault); + $(".ui-resizable-handle").dblclick(collapseExpand); + // workaround for firefox + $("body").css({overflow: "hidden"}); + } + $(window).on('load',function() { resizeHeight(treeview); }); +} +/* @license-end */ diff --git a/search/all_0.js b/search/all_0.js new file mode 100644 index 0000000..f9464a1 --- /dev/null +++ b/search/all_0.js @@ -0,0 +1,16 @@ +var searchData= +[ + ['a_5ff_5f_0',['A_f_',['../structmsceqf_1_1_feat_helper.html#a2bb785571bb0f5a5e2ffd1d7c4df4703',1,'msceqf::FeatHelper']]], + ['academic_20purposes_1',['Usage for academic purposes',['../index.html#autotoc_md18',1,'']]], + ['acc_5f_2',['acc_',['../structmsceqf_1_1_imu.html#a1b29298f3701300d491570bd8cd5c4f0',1,'msceqf::Imu']]], + 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+} + +.hl { + font-weight: bold; +} + +#searchresults { + margin-bottom: 20px; +} + +.searchpages { + margin-top: 10px; +} + diff --git a/search/search.js b/search/search.js new file mode 100644 index 0000000..666af01 --- /dev/null +++ b/search/search.js @@ -0,0 +1,694 @@ +/* + @licstart The following is the entire license notice for the JavaScript code in this file. + + The MIT License (MIT) + + Copyright (C) 1997-2020 by Dimitri van Heesch + + Permission is hereby granted, free of charge, to any person obtaining a copy of this software + and associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, + sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or + substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file + */ +const SEARCH_COOKIE_NAME = ''+'search_grp'; + +const searchResults = new SearchResults(); + +/* A class handling everything associated with the search panel. + + Parameters: + name - The name of the global variable that will be + storing this instance. Is needed to be able to set timeouts. + resultPath - path to use for external files +*/ +function SearchBox(name, resultsPath, extension) { + if (!name || !resultsPath) { alert("Missing parameters to SearchBox."); } + if (!extension || extension == "") { extension = ".html"; } + + function getXPos(item) { + let x = 0; + if (item.offsetWidth) { + while (item && item!=document.body) { + x += item.offsetLeft; + item = item.offsetParent; + } + } + return x; + } + + function getYPos(item) { + let y = 0; + if (item.offsetWidth) { + while (item && item!=document.body) { + y += item.offsetTop; + item = item.offsetParent; + } + } + return y; + } + + // ---------- Instance variables + this.name = name; + this.resultsPath = resultsPath; + this.keyTimeout = 0; + this.keyTimeoutLength = 500; + this.closeSelectionTimeout = 300; + this.lastSearchValue = ""; + this.lastResultsPage = ""; + this.hideTimeout = 0; + this.searchIndex = 0; + this.searchActive = false; + this.extension = extension; + + // ----------- DOM Elements + + this.DOMSearchField = () => document.getElementById("MSearchField"); + this.DOMSearchSelect = () => document.getElementById("MSearchSelect"); + this.DOMSearchSelectWindow = () => document.getElementById("MSearchSelectWindow"); + this.DOMPopupSearchResults = () => document.getElementById("MSearchResults"); + this.DOMPopupSearchResultsWindow = () => document.getElementById("MSearchResultsWindow"); + this.DOMSearchClose = () => document.getElementById("MSearchClose"); + this.DOMSearchBox = () => document.getElementById("MSearchBox"); + + // ------------ Event Handlers + + // Called when focus is added or removed from the search field. + this.OnSearchFieldFocus = function(isActive) { + this.Activate(isActive); + } + + this.OnSearchSelectShow = function() { + const searchSelectWindow = this.DOMSearchSelectWindow(); + const searchField = this.DOMSearchSelect(); + + const left = getXPos(searchField); + const top = getYPos(searchField) + searchField.offsetHeight; + + // show search selection popup + searchSelectWindow.style.display='block'; + searchSelectWindow.style.left = left + 'px'; + searchSelectWindow.style.top = top + 'px'; + + // stop selection hide timer + if (this.hideTimeout) { + clearTimeout(this.hideTimeout); + this.hideTimeout=0; + } + return false; // to avoid "image drag" default event + } + + this.OnSearchSelectHide = function() { + this.hideTimeout = setTimeout(this.CloseSelectionWindow.bind(this), + this.closeSelectionTimeout); + } + + // Called when the content of the search field is changed. + this.OnSearchFieldChange = function(evt) { + if (this.keyTimeout) { // kill running timer + clearTimeout(this.keyTimeout); + this.keyTimeout = 0; + } + + const e = evt ? evt : window.event; // for IE + if (e.keyCode==40 || e.keyCode==13) { + if (e.shiftKey==1) { + this.OnSearchSelectShow(); + const win=this.DOMSearchSelectWindow(); + for (let i=0;i do a search + this.Search(); + } + } + + this.OnSearchSelectKey = function(evt) { + const e = (evt) ? evt : window.event; // for IE + if (e.keyCode==40 && this.searchIndex0) { // Up + this.searchIndex--; + this.OnSelectItem(this.searchIndex); + } else if (e.keyCode==13 || e.keyCode==27) { + e.stopPropagation(); + this.OnSelectItem(this.searchIndex); + this.CloseSelectionWindow(); + this.DOMSearchField().focus(); + } + return false; + } + + // --------- Actions + + // Closes the results window. + this.CloseResultsWindow = function() { + this.DOMPopupSearchResultsWindow().style.display = 'none'; + this.DOMSearchClose().style.display = 'none'; + this.Activate(false); + } + + this.CloseSelectionWindow = function() { + this.DOMSearchSelectWindow().style.display = 'none'; + } + + // Performs a search. + this.Search = function() { + this.keyTimeout = 0; + + // strip leading whitespace + const searchValue = this.DOMSearchField().value.replace(/^ +/, ""); + + const code = searchValue.toLowerCase().charCodeAt(0); + let idxChar = searchValue.substr(0, 1).toLowerCase(); + if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) { // surrogate pair + idxChar = searchValue.substr(0, 2); + } + + let jsFile; + let idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar); + if (idx!=-1) { + const hexCode=idx.toString(16); + jsFile = this.resultsPath + indexSectionNames[this.searchIndex] + '_' + hexCode + '.js'; + } + + const loadJS = function(url, impl, loc) { + const scriptTag = document.createElement('script'); + scriptTag.src = url; + scriptTag.onload = impl; + scriptTag.onreadystatechange = impl; + loc.appendChild(scriptTag); + } + + const domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow(); + const domSearchBox = this.DOMSearchBox(); + const domPopupSearchResults = this.DOMPopupSearchResults(); + const domSearchClose = this.DOMSearchClose(); + const resultsPath = this.resultsPath; + + const handleResults = function() { + document.getElementById("Loading").style.display="none"; + if (typeof searchData !== 'undefined') { + createResults(resultsPath); + document.getElementById("NoMatches").style.display="none"; + } + + if (idx!=-1) { + searchResults.Search(searchValue); + } else { // no file with search results => force empty search results + searchResults.Search('===='); + } + + if (domPopupSearchResultsWindow.style.display!='block') { + domSearchClose.style.display = 'inline-block'; + let left = getXPos(domSearchBox) + 150; + let top = getYPos(domSearchBox) + 20; + domPopupSearchResultsWindow.style.display = 'block'; + left -= domPopupSearchResults.offsetWidth; + const maxWidth = document.body.clientWidth; + const maxHeight = document.body.clientHeight; + let width = 300; + if (left<10) left=10; + if (width+left+8>maxWidth) width=maxWidth-left-8; + let height = 400; + if (height+top+8>maxHeight) height=maxHeight-top-8; + domPopupSearchResultsWindow.style.top = top + 'px'; + domPopupSearchResultsWindow.style.left = left + 'px'; + domPopupSearchResultsWindow.style.width = width + 'px'; + domPopupSearchResultsWindow.style.height = height + 'px'; + } + } + + if (jsFile) { + loadJS(jsFile, handleResults, this.DOMPopupSearchResultsWindow()); + } else { + handleResults(); + } + + this.lastSearchValue = searchValue; + } + + // -------- Activation Functions + + // Activates or deactivates the search panel, resetting things to + // their default values if necessary. + this.Activate = function(isActive) { + if (isActive || // open it + this.DOMPopupSearchResultsWindow().style.display == 'block' + ) { + this.DOMSearchBox().className = 'MSearchBoxActive'; + this.searchActive = true; + } else if (!isActive) { // directly remove the panel + this.DOMSearchBox().className = 'MSearchBoxInactive'; + this.searchActive = false; + this.lastSearchValue = '' + this.lastResultsPage = ''; + this.DOMSearchField().value = ''; + } + } +} + +// ----------------------------------------------------------------------- + +// The class that handles everything on the search results page. +function SearchResults() { + + function convertToId(search) { + let result = ''; + for (let i=0;i. + this.lastMatchCount = 0; + this.lastKey = 0; + this.repeatOn = false; + + // Toggles the visibility of the passed element ID. + this.FindChildElement = function(id) { + const parentElement = document.getElementById(id); + let element = parentElement.firstChild; + + while (element && element!=parentElement) { + if (element.nodeName.toLowerCase() == 'div' && element.className == 'SRChildren') { + return element; + } + + if (element.nodeName.toLowerCase() == 'div' && element.hasChildNodes()) { + element = element.firstChild; + } else if (element.nextSibling) { + element = element.nextSibling; + } else { + do { + element = element.parentNode; + } + while (element && element!=parentElement && !element.nextSibling); + + if (element && element!=parentElement) { + element = element.nextSibling; + } + } + } + } + + this.Toggle = function(id) { + const element = this.FindChildElement(id); + if (element) { + if (element.style.display == 'block') { + element.style.display = 'none'; + } else { + element.style.display = 'block'; + } + } + } + + // Searches for the passed string. If there is no parameter, + // it takes it from the URL query. + // + // Always returns true, since other documents may try to call it + // and that may or may not be possible. + this.Search = function(search) { + if (!search) { // get search word from URL + search = window.location.search; + search = search.substring(1); // Remove the leading '?' + search = unescape(search); + } + + search = search.replace(/^ +/, ""); // strip leading spaces + search = search.replace(/ +$/, ""); // strip trailing spaces + search = search.toLowerCase(); + search = convertToId(search); + + const resultRows = document.getElementsByTagName("div"); + let matches = 0; + + let i = 0; + while (i < resultRows.length) { + const row = resultRows.item(i); + if (row.className == "SRResult") { + let rowMatchName = row.id.toLowerCase(); + rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_' + + if (search.length<=rowMatchName.length && + rowMatchName.substr(0, search.length)==search) { + row.style.display = 'block'; + matches++; + } else { + row.style.display = 'none'; + } + } + i++; + } + document.getElementById("Searching").style.display='none'; + if (matches == 0) { // no results + document.getElementById("NoMatches").style.display='block'; + } else { // at least one result + document.getElementById("NoMatches").style.display='none'; + } + this.lastMatchCount = matches; + return true; + } + + // return the first item with index index or higher that is visible + this.NavNext = function(index) { + let focusItem; + for (;;) { + const focusName = 'Item'+index; + focusItem = document.getElementById(focusName); + if (focusItem && focusItem.parentNode.parentNode.style.display=='block') { + break; + } else if (!focusItem) { // last element + break; + } + focusItem=null; + index++; + } + return focusItem; + } + + this.NavPrev = function(index) { + let focusItem; + for (;;) { + const focusName = 'Item'+index; + focusItem = document.getElementById(focusName); + if (focusItem && focusItem.parentNode.parentNode.style.display=='block') { + break; + } else if (!focusItem) { // last element + break; + } + focusItem=null; + index--; + } + return focusItem; + } + + this.ProcessKeys = function(e) { + if (e.type == "keydown") { + this.repeatOn = false; + this.lastKey = e.keyCode; + } else if (e.type == "keypress") { + if (!this.repeatOn) { + if (this.lastKey) this.repeatOn = true; + return false; // ignore first keypress after keydown + } + } else if (e.type == "keyup") { + this.lastKey = 0; + this.repeatOn = false; + } + return this.lastKey!=0; + } + + this.Nav = function(evt,itemIndex) { + const e = (evt) ? evt : window.event; // for IE + if (e.keyCode==13) return true; + if (!this.ProcessKeys(e)) return false; + + if (this.lastKey==38) { // Up + const newIndex = itemIndex-1; + let focusItem = this.NavPrev(newIndex); + if (focusItem) { + let child = this.FindChildElement(focusItem.parentNode.parentNode.id); + if (child && child.style.display == 'block') { // children visible + let n=0; + let tmpElem; + for (;;) { // search for last child + tmpElem = document.getElementById('Item'+newIndex+'_c'+n); + if (tmpElem) { + focusItem = tmpElem; + } else { // found it! + break; + } + n++; + } + } + } + if (focusItem) { + focusItem.focus(); + } else { // return focus to search field + document.getElementById("MSearchField").focus(); + } + } else if (this.lastKey==40) { // Down + const newIndex = itemIndex+1; + let focusItem; + const item = document.getElementById('Item'+itemIndex); + const elem = this.FindChildElement(item.parentNode.parentNode.id); + if (elem && elem.style.display == 'block') { // children visible + focusItem = document.getElementById('Item'+itemIndex+'_c0'); + } + if (!focusItem) focusItem = this.NavNext(newIndex); + if (focusItem) focusItem.focus(); + } else if (this.lastKey==39) { // Right + const item = document.getElementById('Item'+itemIndex); + const elem = this.FindChildElement(item.parentNode.parentNode.id); + if (elem) elem.style.display = 'block'; + } else if (this.lastKey==37) { // Left + const item = document.getElementById('Item'+itemIndex); + const elem = this.FindChildElement(item.parentNode.parentNode.id); + if (elem) elem.style.display = 'none'; + } else if (this.lastKey==27) { // Escape + e.stopPropagation(); + searchBox.CloseResultsWindow(); + document.getElementById("MSearchField").focus(); + } else if (this.lastKey==13) { // Enter + return true; + } + return false; + } + + this.NavChild = function(evt,itemIndex,childIndex) { + const e = (evt) ? evt : window.event; // for IE + if (e.keyCode==13) return true; + if (!this.ProcessKeys(e)) return false; + + if (this.lastKey==38) { // Up + if (childIndex>0) { + const newIndex = childIndex-1; + document.getElementById('Item'+itemIndex+'_c'+newIndex).focus(); + } else { // already at first child, jump to parent + document.getElementById('Item'+itemIndex).focus(); + } + } else if (this.lastKey==40) { // Down + const newIndex = childIndex+1; + let elem = document.getElementById('Item'+itemIndex+'_c'+newIndex); + if (!elem) { // last child, jump to parent next parent + elem = this.NavNext(itemIndex+1); + } + if (elem) { + elem.focus(); + } + } else if (this.lastKey==27) { // Escape + e.stopPropagation(); + searchBox.CloseResultsWindow(); + document.getElementById("MSearchField").focus(); + } else if (this.lastKey==13) { // Enter + return true; + } + return false; + } +} + +function createResults(resultsPath) { + + function setKeyActions(elem,action) { + elem.setAttribute('onkeydown',action); + elem.setAttribute('onkeypress',action); + elem.setAttribute('onkeyup',action); + } + + function setClassAttr(elem,attr) { + elem.setAttribute('class',attr); + elem.setAttribute('className',attr); + } + + const results = document.getElementById("SRResults"); + results.innerHTML = ''; + searchData.forEach((elem,index) => { + const id = elem[0]; + const srResult = document.createElement('div'); + srResult.setAttribute('id','SR_'+id); + setClassAttr(srResult,'SRResult'); + const srEntry = document.createElement('div'); + setClassAttr(srEntry,'SREntry'); + const srLink = document.createElement('a'); + srLink.setAttribute('id','Item'+index); + setKeyActions(srLink,'return searchResults.Nav(event,'+index+')'); + setClassAttr(srLink,'SRSymbol'); + srLink.innerHTML = elem[1][0]; + srEntry.appendChild(srLink); + if (elem[1].length==2) { // single result + srLink.setAttribute('href',resultsPath+elem[1][1][0]); + srLink.setAttribute('onclick','searchBox.CloseResultsWindow()'); + if (elem[1][1][1]) { + srLink.setAttribute('target','_parent'); + } else { + srLink.setAttribute('target','_blank'); + } + const srScope = document.createElement('span'); + setClassAttr(srScope,'SRScope'); + srScope.innerHTML = elem[1][1][2]; + srEntry.appendChild(srScope); + } else { // multiple results + srLink.setAttribute('href','javascript:searchResults.Toggle("SR_'+id+'")'); + const srChildren = document.createElement('div'); + setClassAttr(srChildren,'SRChildren'); + for (let c=0; c + + + + + + +MSCEqF: include/sensors/sensor_data.hpp Source File + + + + + + + + + + + + + + + +
    +
    + + + + + + + +
    +
    MSCEqF 1.0 +
    +
    Multi State Constraint Equivariant Filter for visual inertial navigation
    +
    +
    + + + + + + + + +
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    sensor_data.hpp
    +
    +
    +
    1// Copyright (C) 2023 Alessandro Fornasier.
    +
    2// Control of Networked Systems, University of Klagenfurt, Austria.
    +
    3//
    +
    4// All rights reserved.
    +
    5//
    +
    6// This software is licensed under the terms of the BSD-2-Clause-License with
    +
    7// no commercial use allowed, the full terms of which are made available
    +
    8// in the LICENSE file. No license in patents is granted.
    +
    9//
    +
    10// You can contact the authors at <alessandro.fornasier@ieee.org>
    +
    11
    +
    12#ifndef INPUT_HPP
    +
    13#define INPUT_HPP
    +
    14
    +
    15#include <opencv2/opencv.hpp>
    +
    16
    +
    17#include "types/fptypes.hpp"
    +
    18#include "vision/features.hpp"
    +
    19
    +
    20namespace msceqf
    +
    21{
    +
    +
    28struct Imu
    +
    29{
    +
    35 const Vector6 w() const { return (Vector6() << ang_, acc_).finished(); }
    +
    36
    +
    +
    42 const Matrix5 W() const
    +
    43 {
    +
    44 Matrix5 W = Matrix5::Zero();
    +
    45 W.block<3, 3>(0, 0) = SO3::wedge(ang_);
    +
    46 W.block<3, 1>(0, 3) = acc_;
    +
    47 return W;
    +
    48 }
    +
    +
    49
    +
    54 friend bool operator<(const Imu& lhs, const Imu& rhs) { return lhs.timestamp_ < rhs.timestamp_; }
    +
    55
    +
    60 friend bool operator<(const Imu& lhs, const fp& timestamp) { return lhs.timestamp_ < timestamp; }
    +
    61 friend bool operator<(const fp& timestamp, const Imu& rhs) { return timestamp < rhs.timestamp_; }
    +
    62
    +
    +
    67 friend std::ostream& operator<<(std::ostream& stream, Imu const& imu)
    +
    68 {
    +
    69 return stream << "(" << imu.timestamp_ << ", " << imu.ang_.transpose() << ", " << imu.acc_.transpose() << ")";
    +
    70 }
    +
    +
    71
    +
    72 Vector3 ang_ = Vector3::Zero();
    +
    73 Vector3 acc_ = Vector3::Zero();
    +
    74 fp timestamp_ = -1;
    +
    75};
    +
    +
    76
    +
    +
    77struct Camera
    +
    78{
    +
    83 friend bool operator<(const Camera& lhs, const Camera& rhs) { return lhs.timestamp_ < rhs.timestamp_; }
    +
    84
    +
    89 friend bool operator<(const Camera& lhs, const fp& timestamp) { return lhs.timestamp_ < timestamp; }
    +
    90 friend bool operator<(const fp& timestamp, const Camera& rhs) { return timestamp < rhs.timestamp_; }
    +
    91
    +
    92 cv::Mat image_;
    +
    93 cv::Mat mask_;
    +
    94 fp timestamp_ = -1;
    +
    95};
    +
    +
    96
    +
    +
    97struct TriangulatedFeatures
    +
    98{
    +
    +
    103 friend bool operator<(const TriangulatedFeatures& lhs, const TriangulatedFeatures& rhs)
    +
    104 {
    +
    105 return lhs.timestamp_ < rhs.timestamp_;
    +
    106 }
    +
    +
    107
    +
    112 friend bool operator<(const TriangulatedFeatures& lhs, const fp& timestamp) { return lhs.timestamp_ < timestamp; }
    +
    113 friend bool operator<(const fp& timestamp, const TriangulatedFeatures& rhs) { return timestamp < rhs.timestamp_; }
    +
    114
    +
    115 Features features_;
    +
    116 std::vector<Vector3> points_;
    +
    117 fp timestamp_ = -1;
    +
    118};
    +
    +
    119
    +
    120} // namespace msceqf
    +
    121
    +
    122#endif // INPUT_HPP
    +
    msceqf::Camera
    Definition sensor_data.hpp:78
    +
    msceqf::Camera::mask_
    cv::Mat mask_
    The mask for the given image, 255 in valid reagions, 0 in regions to be masked out.
    Definition sensor_data.hpp:93
    +
    msceqf::Camera::timestamp_
    fp timestamp_
    Timestamp of the Camera reading.
    Definition sensor_data.hpp:94
    +
    msceqf::Camera::image_
    cv::Mat image_
    The image taken from the camera.
    Definition sensor_data.hpp:92
    +
    msceqf::Camera::operator<
    friend bool operator<(const Camera &lhs, const Camera &rhs)
    Comparison operator with other camera.
    Definition sensor_data.hpp:83
    +
    msceqf::Camera::operator<
    friend bool operator<(const Camera &lhs, const fp &timestamp)
    Comparison operator with timestamp.
    Definition sensor_data.hpp:89
    +
    msceqf::Features
    (Cache friendly) Features struct. Define a set of features detected/tracked.
    Definition features.hpp:30
    +
    msceqf::Imu
    Struct for one IMU reading. It includes timestamp, angular velocity and linear acceleration....
    Definition sensor_data.hpp:29
    +
    msceqf::Imu::timestamp_
    fp timestamp_
    Timestamp of the IMU reading.
    Definition sensor_data.hpp:74
    +
    msceqf::Imu::acc_
    Vector3 acc_
    Acceleration vector.
    Definition sensor_data.hpp:73
    +
    msceqf::Imu::operator<
    friend bool operator<(const Imu &lhs, const Imu &rhs)
    Comparison operator with other imu.
    Definition sensor_data.hpp:54
    +
    msceqf::Imu::operator<
    friend bool operator<(const Imu &lhs, const fp &timestamp)
    Comparison operator with timestamp.
    Definition sensor_data.hpp:60
    +
    msceqf::Imu::w
    const Vector6 w() const
    Get the IMU measurement as a 6 vector (ang, acc)
    Definition sensor_data.hpp:35
    +
    msceqf::Imu::W
    const Matrix5 W() const
    get the IMU measurement as an extended matrix (ang, acc, 0)^ (SE23 lie algebra element)
    Definition sensor_data.hpp:42
    +
    msceqf::Imu::ang_
    Vector3 ang_
    Angular velocity vector.
    Definition sensor_data.hpp:72
    +
    msceqf::Imu::operator<<
    friend std::ostream & operator<<(std::ostream &stream, Imu const &imu)
    Stream an Imu.
    Definition sensor_data.hpp:67
    +
    msceqf::TriangulatedFeatures
    Definition sensor_data.hpp:98
    +
    msceqf::TriangulatedFeatures::operator<
    friend bool operator<(const TriangulatedFeatures &lhs, const fp &timestamp)
    Comparison operator with timestamp.
    Definition sensor_data.hpp:112
    +
    msceqf::TriangulatedFeatures::timestamp_
    fp timestamp_
    Timestamp of the Camera reading.
    Definition sensor_data.hpp:117
    +
    msceqf::TriangulatedFeatures::points_
    std::vector< Vector3 > points_
    The 3D points corresponding to the features.
    Definition sensor_data.hpp:116
    +
    msceqf::TriangulatedFeatures::features_
    Features features_
    The features detected in the image.
    Definition sensor_data.hpp:115
    +
    msceqf::TriangulatedFeatures::operator<
    friend bool operator<(const TriangulatedFeatures &lhs, const TriangulatedFeatures &rhs)
    Comparison operator with other imu.
    Definition sensor_data.hpp:103
    +
    +
    + + + + diff --git a/splitbar.png b/splitbar.png new file mode 100644 index 0000000000000000000000000000000000000000..fe895f2c58179b471a22d8320b39a4bd7312ec8e GIT binary patch literal 314 zcmeAS@N?(olHy`uVBq!ia0vp^Yzz!63>-{AmhX=Jf(#6djGiuzAr*{o?=JLmPLyc> z_*`QK&+BH@jWrYJ7>r6%keRM@)Qyv8R=enp0jiI>aWlGyB58O zFVR20d+y`K7vDw(hJF3;>dD*3-?v=<8M)@x|EEGLnJsniYK!2U1 Y!`|5biEc?d1`HDhPgg&ebxsLQ02F6;9RL6T literal 0 HcmV?d00001 diff --git a/splitbard.png b/splitbard.png new file mode 100644 index 0000000000000000000000000000000000000000..8367416d757fd7b6dc4272b6432dc75a75abd068 GIT binary patch literal 282 zcmeAS@N?(olHy`uVBq!ia0vp^Yzz!63>-{AmhX=Jf@VhhFKy35^fiT zT~&lUj3=cDh^%3HDY9k5CEku}PHXNoNC(_$U3XPb&Q*ME25pT;2(*BOgAf<+R$lzakPG`kF31()Fx{L5Wrac|GQzjeE= zueY1`Ze{#x<8=S|`~MgGetGce)#vN&|J{Cd^tS%;tBYTo?+^d68<#n_Y_xx`J||4O V@QB{^CqU0Kc)I$ztaD0e0svEzbJzd? literal 0 HcmV?d00001 diff --git a/state_8hpp_source.html b/state_8hpp_source.html new file mode 100644 index 0000000..94ba270 --- /dev/null +++ b/state_8hpp_source.html @@ -0,0 +1,265 @@ + + + + + + + +MSCEqF: include/msceqf/state/state.hpp Source File + + + + + + + + + + + + + + + +
    +
    + + + + + + + +
    +
    MSCEqF 1.0 +
    +
    Multi State Constraint Equivariant Filter for visual inertial navigation
    +
    +
    + + + + + + + + +
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    state.hpp
    +
    +
    +
    1// Copyright (C) 2023 Alessandro Fornasier.
    +
    2// Control of Networked Systems, University of Klagenfurt, Austria.
    +
    3//
    +
    4// All rights reserved.
    +
    5//
    +
    6// This software is licensed under the terms of the BSD-2-Clause-License with
    +
    7// no commercial use allowed, the full terms of which are made available
    +
    8// in the LICENSE file. No license in patents is granted.
    +
    9//
    +
    10// You can contact the authors at <alessandro.fornasier@ieee.org>
    +
    11
    +
    12#ifndef STATE_HPP
    +
    13#define STATE_HPP
    +
    14
    +
    15#include <map>
    +
    16#include <variant>
    +
    17
    +
    18#include "msceqf/system/system.hpp"
    +
    19#include "msceqf/options/msceqf_options.hpp"
    +
    20#include "msceqf/state/state_elements.hpp"
    +
    21
    +
    22namespace msceqf
    +
    23{
    +
    +
    29class MSCEqFState
    +
    30{
    +
    31 public:
    +
    32 using MSCEqFStateKey = std::variant<MSCEqFStateElementName, uint>;
    +
    33 using MSCEqFKey = std::variant<MSCEqFStateKey, fp>;
    +
    34
    +
    35 using MSCEqFStateMap = std::unordered_map<MSCEqFStateKey, MSCEqFStateElementSharedPtr>;
    +
    36 using MSCEqFClonesMap = std::map<fp, MSCEqFStateElementSharedPtr>;
    +
    37
    +
    41 MSCEqFState() = delete;
    +
    42
    +
    53 MSCEqFState(const StateOptions& opts, const SystemState& xi0);
    +
    54
    +
    56 MSCEqFState(const MSCEqFState& other);
    +
    57 MSCEqFState(MSCEqFState&& other) noexcept;
    +
    58 MSCEqFState& operator=(const MSCEqFState& other);
    +
    59 MSCEqFState& operator=(MSCEqFState&& other) noexcept;
    +
    60 ~MSCEqFState();
    +
    61
    +
    69 [[nodiscard]] const SE23& D() const;
    +
    70
    +
    79 [[nodiscard]] const SE3 B() const;
    +
    80
    +
    89 [[nodiscard]] const SE3 C() const;
    +
    90
    +
    98 [[nodiscard]] const Vector6& delta() const;
    +
    99
    +
    107 [[nodiscard]] const SE3& E() const;
    +
    108
    +
    116 [[nodiscard]] const In& L() const;
    +
    117
    +
    126 [[nodiscard]] const SOT3& Q(const uint& feat_id) const;
    +
    127
    +
    136 [[nodiscard]] const SE3& clone(const fp& timestamp) const;
    +
    137
    +
    144 [[nodiscard]] const uint& index(const MSCEqFKey& key) const;
    +
    145
    +
    152 [[nodiscard]] const uint& dof(const MSCEqFKey& key) const;
    +
    153
    +
    159 [[nodiscard]] inline size_t clonesSize() const { return clones_.size(); }
    +
    160
    +
    167 [[nodiscard]] const fp& cloneTimestampToMarginalize() const;
    +
    168
    +
    174 [[nodiscard]] const MatrixX& cov() const;
    +
    175
    +
    183 [[nodiscard]] const MatrixX covBlock(const MSCEqFKey& key) const;
    +
    184
    +
    193 [[nodiscard]] const MatrixX subCov(const std::vector<MSCEqFKey>& keys) const;
    +
    194
    +
    203 [[nodiscard]] const MatrixX subCovCols(const std::vector<MSCEqFKey>& keys) const;
    +
    204
    +
    210 [[nodiscard]] inline const StateOptions& opts() const { return opts_; }
    +
    211
    +
    221 void initializeStateElement(const MSCEqFStateKey& key, const MatrixX& cov_block);
    +
    222
    +
    229 void stochasticCloning(const fp& timestamp);
    +
    230
    +
    236 void marginalizeCloneAt(const fp& timestamp);
    +
    237
    +
    244 static std::string toString(const MSCEqFStateKey& key);
    +
    245
    +
    256 [[nodiscard]] const MSCEqFState Random() const;
    +
    257
    +
    268 [[nodiscard]] const MSCEqFState operator*(const MSCEqFState& other) const;
    +
    269
    +
    270 private:
    +
    274 void preallocate();
    +
    275
    +
    283 [[nodiscard]] bool insertStateElement(const MSCEqFStateKey& key, MSCEqFStateElementUniquePtr ptr);
    +
    284
    +
    292 [[nodiscard]] bool insertCloneElement(const fp& timestamp, MSCEqFStateElementUniquePtr ptr);
    +
    293
    +
    300 [[nodiscard]] const MSCEqFStateElementSharedPtr& getPtr(const MSCEqFKey& key) const;
    +
    301
    +
    302 friend class Symmetry;
    +
    303 friend class Propagator;
    +
    304 friend class Updater;
    +
    305 friend class ZeroVelocityUpdater;
    +
    306
    +
    307 StateOptions opts_;
    +
    308
    +
    309 MatrixX cov_;
    +
    310 MSCEqFStateMap state_;
    +
    311 MSCEqFClonesMap clones_;
    +
    312};
    +
    +
    313
    +
    314} // namespace msceqf
    +
    315
    +
    316#endif // STATE_HPP
    +
    msceqf::MSCEqFState
    this class represent the state of the MSCEqF. This includes the state of the lifted system (element o...
    Definition state.hpp:30
    +
    msceqf::MSCEqFState::C
    const SE3 C() const
    Get a copy of to the SE3 component of the Semi Direct Bias Group element of the MSCEqF state that inc...
    +
    msceqf::MSCEqFState::MSCEqFStateKey
    std::variant< MSCEqFStateElementName, uint > MSCEqFStateKey
    Key to access the msceqf state map.
    Definition state.hpp:32
    +
    msceqf::MSCEqFState::cov
    const MatrixX & cov() const
    Get a reference to the covariance matrix.
    +
    msceqf::MSCEqFState::MSCEqFStateMap
    std::unordered_map< MSCEqFStateKey, MSCEqFStateElementSharedPtr > MSCEqFStateMap
    MSCEqF state map.
    Definition state.hpp:35
    +
    msceqf::MSCEqFState::L
    const In & L() const
    Get a reference to the In element of the MSCEqF state.
    +
    msceqf::MSCEqFState::B
    const SE3 B() const
    Get a copy of the SE3 component of the Semi Direct Bias Group element of the MSCEqF state that includ...
    +
    msceqf::MSCEqFState::operator*
    const MSCEqFState operator*(const MSCEqFState &other) const
    operator* overloading for MSCEqFState. This function will perform the composition this * other for ea...
    +
    msceqf::MSCEqFState::index
    const uint & index(const MSCEqFKey &key) const
    Get a reference to the index of the state element or the clone element corresponding to the given key...
    +
    msceqf::MSCEqFState::Random
    const MSCEqFState Random() const
    Return a random MSCEqF state without changing this. This method *WILL NOT change the actual values of...
    +
    msceqf::MSCEqFState::stochasticCloning
    void stochasticCloning(const fp &timestamp)
    Augment the MSCEqF clones map with a new clone of the actual E element of the MSCEqF state....
    +
    msceqf::MSCEqFState::subCovCols
    const MatrixX subCovCols(const std::vector< MSCEqFKey > &keys) const
    Get a constant copy of the the covariance submatrix (including cross-correlations) constructed with c...
    +
    msceqf::MSCEqFState::E
    const SE3 & E() const
    Get a reference to the SE3 element of the MSCEqF state.
    +
    msceqf::MSCEqFState::MSCEqFState
    MSCEqFState(const StateOptions &opts, const SystemState &xi0)
    Construct the state of the MSCEqF given the options.
    +
    msceqf::MSCEqFState::opts
    const StateOptions & opts() const
    Get the state options.
    Definition state.hpp:210
    +
    msceqf::MSCEqFState::dof
    const uint & dof(const MSCEqFKey &key) const
    Get a reference to the dof of the state element or the clone element corresponding to the given key.
    +
    msceqf::MSCEqFState::MSCEqFKey
    std::variant< MSCEqFStateKey, fp > MSCEqFKey
    Key to access the msceqf state and clones map.
    Definition state.hpp:33
    +
    msceqf::MSCEqFState::Q
    const SOT3 & Q(const uint &feat_id) const
    Get a reference to the SOT3 element of the MSCEqF state that correspond to the given feature id.
    +
    msceqf::MSCEqFState::D
    const SE23 & D() const
    Get a reference to the SE23 component of the Semi Direct Bias Group element of the MSCEqF state.
    +
    msceqf::MSCEqFState::covBlock
    const MatrixX covBlock(const MSCEqFKey &key) const
    get a constant copy of the covariance block relative to the elements (states or clones) corresponding...
    +
    msceqf::MSCEqFState::clone
    const SE3 & clone(const fp &timestamp) const
    Get a reference to the SE3 element of the MSCEqF clones that correspond to the given timestamp.
    +
    msceqf::MSCEqFState::MSCEqFState
    MSCEqFState(const MSCEqFState &other)
    Rule of Five.
    +
    msceqf::MSCEqFState::initializeStateElement
    void initializeStateElement(const MSCEqFStateKey &key, const MatrixX &cov_block)
    Initialize MSCEqF state element into the state map, and the relative covariance block.
    +
    msceqf::MSCEqFState::delta
    const Vector6 & delta() const
    Get a reference to the R6 component of the Semi Direct Bias Group element of the MSCEqF state.
    +
    msceqf::MSCEqFState::marginalizeCloneAt
    void marginalizeCloneAt(const fp &timestamp)
    Marginalize out clone at a given timestamp.
    +
    msceqf::MSCEqFState::MSCEqFClonesMap
    std::map< fp, MSCEqFStateElementSharedPtr > MSCEqFClonesMap
    MSCEqF clones map.
    Definition state.hpp:36
    +
    msceqf::MSCEqFState::cloneTimestampToMarginalize
    const fp & cloneTimestampToMarginalize() const
    Get the timestamp of the clone to marginalize. We implement our keyframing strategy here....
    +
    msceqf::MSCEqFState::subCov
    const MatrixX subCov(const std::vector< MSCEqFKey > &keys) const
    Get a constant copy of the the covariance submatrix (including cross-correlations) constructed with c...
    +
    msceqf::MSCEqFState::clonesSize
    size_t clonesSize() const
    Get the amount of clones.
    Definition state.hpp:159
    +
    msceqf::MSCEqFState::toString
    static std::string toString(const MSCEqFStateKey &key)
    Get a string describing the given MSCEqFStateKey.
    +
    msceqf::MSCEqFState::MSCEqFState
    MSCEqFState()=delete
    Deleted default constructor.
    +
    msceqf::Propagator
    Definition propagator.hpp:25
    +
    msceqf::Symmetry
    Definition symmetry.hpp:23
    +
    msceqf::SystemState
    The SystemState class represent the state of the system posed on the Homogenous space.
    Definition system.hpp:29
    +
    msceqf::Updater
    Updater class. This class implements the Multi State Constraint update step of the MSCEqF filter.
    Definition updater.hpp:30
    +
    msceqf::ZeroVelocityUpdater
    Zero velocity updater class. This class implements the Equivariant Zero Velocity Update (ZVU) of the ...
    Definition zero_velocity_updater.hpp:26
    +
    msceqf::StateOptions
    Definition msceqf_options.hpp:98
    +
    +
    + + + + diff --git a/state__elements_8hpp_source.html b/state__elements_8hpp_source.html new file mode 100644 index 0000000..45b77ed --- /dev/null +++ b/state__elements_8hpp_source.html @@ -0,0 +1,307 @@ + + + + + + + +MSCEqF: include/msceqf/state/state_elements.hpp Source File + + + + + + + + + + + + + + + +
    +
    + + + + + + + +
    +
    MSCEqF 1.0 +
    +
    Multi State Constraint Equivariant Filter for visual inertial navigation
    +
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    +
    state_elements.hpp
    +
    +
    +
    1// Copyright (C) 2023 Alessandro Fornasier.
    +
    2// Control of Networked Systems, University of Klagenfurt, Austria.
    +
    3//
    +
    4// All rights reserved.
    +
    5//
    +
    6// This software is licensed under the terms of the BSD-2-Clause-License with
    +
    7// no commercial use allowed, the full terms of which are made available
    +
    8// in the LICENSE file. No license in patents is granted.
    +
    9//
    +
    10// You can contact the authors at <alessandro.fornasier@ieee.org>
    +
    11
    +
    12#ifndef STATE_ELEMENTS_HPP
    +
    13#define STATE_ELEMENTS_HPP
    +
    14
    +
    15#include <memory>
    +
    16
    +
    17#include "types/fptypes.hpp"
    +
    18
    +
    19namespace msceqf
    +
    20{
    +
    28enum class MSCEqFStateElementName
    +
    29{
    +
    30 Dd,
    +
    31 E,
    +
    32 L,
    +
    33};
    +
    34
    +
    +
    44class MSCEqFStateElement
    +
    45{
    +
    46 public:
    +
    47 virtual ~MSCEqFStateElement() = default;
    +
    48
    +
    54 [[nodiscard]] const uint& getIndex() { return idx_; }
    +
    55
    +
    61 [[nodiscard]] const uint& getDof() { return dof_; }
    +
    62
    +
    68 void updateIndex(const uint& new_idx) { idx_ = new_idx; }
    +
    69
    +
    75 virtual void updateRight(const VectorX& delta) = 0;
    +
    76
    +
    82 virtual void updateLeft(const VectorX& delta) = 0;
    +
    83
    +
    89 virtual std::unique_ptr<MSCEqFStateElement> clone() const = 0;
    +
    90
    +
    91 protected:
    +
    93 MSCEqFStateElement() = delete;
    +
    94 MSCEqFStateElement(const MSCEqFStateElement&) = default;
    +
    95 MSCEqFStateElement(MSCEqFStateElement&&) = default;
    +
    96 MSCEqFStateElement& operator=(const MSCEqFStateElement&) = default;
    +
    97 MSCEqFStateElement& operator=(MSCEqFStateElement&&) = default;
    +
    98
    +
    105 MSCEqFStateElement(const uint& idx, const uint& dof) : idx_(idx), dof_(dof){};
    +
    106
    +
    107 uint idx_;
    +
    108 uint dof_;
    +
    109};
    +
    +
    110
    +
    +
    115struct MSCEqFSDBState final : public MSCEqFStateElement
    +
    116{
    +
    121 MSCEqFSDBState() = delete;
    +
    122
    +
    128 MSCEqFSDBState(const uint& idx) : MSCEqFStateElement(idx, 15), Dd_(){};
    +
    129
    +
    135 void updateRight(const VectorX& delta) override { Dd_.multiplyRight(SDB::exp(delta)); }
    +
    136
    +
    142 void updateLeft(const VectorX& delta) override { Dd_.multiplyLeft(SDB::exp(delta)); }
    +
    143
    +
    149 std::unique_ptr<MSCEqFStateElement> clone() const override { return std::make_unique<MSCEqFSDBState>(*this); }
    +
    150
    +
    151 SDB Dd_;
    +
    152};
    +
    +
    153
    +
    +
    158struct MSCEqFSE3State final : public MSCEqFStateElement
    +
    159{
    +
    164 MSCEqFSE3State() = delete;
    +
    165
    +
    171 MSCEqFSE3State(const uint& idx) : MSCEqFStateElement(idx, 6), E_(){};
    +
    172
    +
    178 void updateRight(const VectorX& delta) override { E_.multiplyRight(SE3::exp(delta)); }
    +
    179
    +
    185 void updateLeft(const VectorX& delta) override { E_.multiplyLeft(SE3::exp(delta)); }
    +
    186
    +
    192 std::unique_ptr<MSCEqFStateElement> clone() const override { return std::make_unique<MSCEqFSE3State>(*this); }
    +
    193
    +
    194 SE3 E_;
    +
    195};
    +
    +
    196
    +
    +
    201struct MSCEqFInState final : public MSCEqFStateElement
    +
    202{
    +
    207 MSCEqFInState() = delete;
    +
    208
    +
    214 MSCEqFInState(const uint& idx) : MSCEqFStateElement(idx, 4), L_(){};
    +
    215
    +
    221 void updateRight(const VectorX& delta) override { L_.multiplyRight(In::exp(delta)); }
    +
    222
    +
    228 void updateLeft(const VectorX& delta) override { L_.multiplyLeft(In::exp(delta)); }
    +
    229
    +
    235 std::unique_ptr<MSCEqFStateElement> clone() const override { return std::make_unique<MSCEqFInState>(*this); }
    +
    236
    +
    237 In L_;
    +
    238};
    +
    +
    239
    +
    +
    244struct MSCEqFSOT3State final : public MSCEqFStateElement
    +
    245{
    +
    250 MSCEqFSOT3State() = delete;
    +
    251
    +
    257 MSCEqFSOT3State(const uint& idx) : MSCEqFStateElement(idx, 4), Q_(){};
    +
    258
    +
    264 void updateRight(const VectorX& delta) override { Q_.multiplyRight(SOT3::exp(delta)); }
    +
    265
    +
    271 void updateLeft(const VectorX& delta) override { Q_.multiplyLeft(SOT3::exp(delta)); }
    +
    272
    +
    278 std::unique_ptr<MSCEqFStateElement> clone() const override { return std::make_unique<MSCEqFSOT3State>(*this); }
    +
    279
    +
    280 SOT3 Q_;
    +
    281};
    +
    +
    282
    +
    283using MSCEqFStateElementSharedPtr = std::shared_ptr<MSCEqFStateElement>;
    +
    284using MSCEqFStateElementUniquePtr = std::unique_ptr<MSCEqFStateElement>;
    +
    285using MSCEqFSDBStateSharedPtr = std::shared_ptr<MSCEqFSDBState>;
    +
    286using MSCEqFSDBStateUniquePtr = std::unique_ptr<MSCEqFSDBState>;
    +
    287using MSCEqFSE3StateSharedPtr = std::shared_ptr<MSCEqFSE3State>;
    +
    288using MSCEqFSE3StateUniquePtr = std::unique_ptr<MSCEqFSE3State>;
    +
    289using MSCEqFInStateSharedPtr = std::shared_ptr<MSCEqFInState>;
    +
    290using MSCEqFInStateUniquePtr = std::unique_ptr<MSCEqFInState>;
    +
    291using MSCEqFSOT3StateSharedPtr = std::shared_ptr<MSCEqFSOT3State>;
    +
    292using MSCEqFSOT3StateUniquePtr = std::unique_ptr<MSCEqFSOT3State>;
    +
    293
    +
    301template <typename T>
    +
    302[[nodiscard]] static MSCEqFStateElementUniquePtr createMSCEqFStateElement(const uint& idx)
    +
    303{
    +
    304 if constexpr (std::is_base_of_v<MSCEqFStateElement, T>)
    +
    305 {
    +
    306 return std::make_unique<T>(idx);
    +
    307 }
    +
    308 else
    +
    309 {
    +
    310 return nullptr;
    +
    311 }
    +
    312}
    +
    313
    +
    314} // namespace msceqf
    +
    315
    +
    316#endif // STATE_ELEMENTS_HPP
    +
    msceqf::MSCEqFStateElement
    This class represent the base class for a general element of the MSCEqF state. This include the index...
    Definition state_elements.hpp:45
    +
    msceqf::MSCEqFStateElement::idx_
    uint idx_
    Starting index of the element in the residual, and in the covariance.
    Definition state_elements.hpp:107
    +
    msceqf::MSCEqFStateElement::clone
    virtual std::unique_ptr< MSCEqFStateElement > clone() const =0
    Clone.
    +
    msceqf::MSCEqFStateElement::updateIndex
    void updateIndex(const uint &new_idx)
    Update index.
    Definition state_elements.hpp:68
    +
    msceqf::MSCEqFStateElement::getIndex
    const uint & getIndex()
    Get the starting index of the state element in the residual, and in the covariance.
    Definition state_elements.hpp:54
    +
    msceqf::MSCEqFStateElement::updateRight
    virtual void updateRight(const VectorX &delta)=0
    update function to update the value of the state element by right multiplication
    +
    msceqf::MSCEqFStateElement::getDof
    const uint & getDof()
    Get the degrees of freedom of the state element (dimension of relative covariance and residual block)
    Definition state_elements.hpp:61
    +
    msceqf::MSCEqFStateElement::MSCEqFStateElement
    MSCEqFStateElement()=delete
    Rule of Five.
    +
    msceqf::MSCEqFStateElement::updateLeft
    virtual void updateLeft(const VectorX &delta)=0
    update function to update the value of the state element by left multiplication
    +
    msceqf::MSCEqFStateElement::dof_
    uint dof_
    Degrees of freedom of the element (dimension of relative covariance and residual block)
    Definition state_elements.hpp:108
    +
    msceqf::MSCEqFStateElement::MSCEqFStateElement
    MSCEqFStateElement(const uint &idx, const uint &dof)
    Construct a MSCEqFStateElement object.
    Definition state_elements.hpp:105
    +
    msceqf::MSCEqFInState
    This struct represent the Intrinsic state of the MSCEqF.
    Definition state_elements.hpp:202
    +
    msceqf::MSCEqFInState::clone
    std::unique_ptr< MSCEqFStateElement > clone() const override
    Clone the Special Intrinsic (In) element of state of the MSCEqF.
    Definition state_elements.hpp:235
    +
    msceqf::MSCEqFInState::MSCEqFInState
    MSCEqFInState(const uint &idx)
    Construct an identity MSCEqFInState object.
    Definition state_elements.hpp:214
    +
    msceqf::MSCEqFInState::L_
    In L_
    The Intrinsic element of the state.
    Definition state_elements.hpp:237
    +
    msceqf::MSCEqFInState::updateLeft
    void updateLeft(const VectorX &delta) override
    Update the Intrinsic element of the state by left multiplication.
    Definition state_elements.hpp:228
    +
    msceqf::MSCEqFInState::MSCEqFInState
    MSCEqFInState()=delete
    Deleted default constructor.
    +
    msceqf::MSCEqFInState::updateRight
    void updateRight(const VectorX &delta) override
    Update the Intrinsic element of the state by right multiplication.
    Definition state_elements.hpp:221
    +
    msceqf::MSCEqFSDBState
    This struct represent the Semi Direct bias state of the MSCEqF.
    Definition state_elements.hpp:116
    +
    msceqf::MSCEqFSDBState::updateRight
    void updateRight(const VectorX &delta) override
    Update the Semi Direct Bias element of the state by right multiplication.
    Definition state_elements.hpp:135
    +
    msceqf::MSCEqFSDBState::MSCEqFSDBState
    MSCEqFSDBState(const uint &idx)
    Construct an identity MSCEqFSDBState object.
    Definition state_elements.hpp:128
    +
    msceqf::MSCEqFSDBState::Dd_
    SDB Dd_
    The Semi Direct Bias element of the state.
    Definition state_elements.hpp:151
    +
    msceqf::MSCEqFSDBState::updateLeft
    void updateLeft(const VectorX &delta) override
    Update the Semi Direct Bias element of the state by left multiplication.
    Definition state_elements.hpp:142
    +
    msceqf::MSCEqFSDBState::clone
    std::unique_ptr< MSCEqFStateElement > clone() const override
    Clone the Semi Direct bias (SDB) element of state of the MSCEqF.
    Definition state_elements.hpp:149
    +
    msceqf::MSCEqFSDBState::MSCEqFSDBState
    MSCEqFSDBState()=delete
    Deleted default constructor.
    +
    msceqf::MSCEqFSE3State
    This struct represent the Special Euclidean Group of dimension 3 state of the MSCEqF.
    Definition state_elements.hpp:159
    +
    msceqf::MSCEqFSE3State::clone
    std::unique_ptr< MSCEqFStateElement > clone() const override
    Clone the Special Euclidean Group (SE3) element of state of the MSCEqF.
    Definition state_elements.hpp:192
    +
    msceqf::MSCEqFSE3State::MSCEqFSE3State
    MSCEqFSE3State(const uint &idx)
    Construct an identity MSCEqFSE3State object.
    Definition state_elements.hpp:171
    +
    msceqf::MSCEqFSE3State::MSCEqFSE3State
    MSCEqFSE3State()=delete
    Deleted default constructor.
    +
    msceqf::MSCEqFSE3State::updateLeft
    void updateLeft(const VectorX &delta) override
    Update the Special Euclidean Group element of the state by left multiplication.
    Definition state_elements.hpp:185
    +
    msceqf::MSCEqFSE3State::E_
    SE3 E_
    The Special Euclidean element of the state.
    Definition state_elements.hpp:194
    +
    msceqf::MSCEqFSE3State::updateRight
    void updateRight(const VectorX &delta) override
    Update the Special Euclidean Group element of the state by right multiplication.
    Definition state_elements.hpp:178
    +
    msceqf::MSCEqFSOT3State
    This struct represent the Scaled Orthogonal Transforms state of the MSCEqF.
    Definition state_elements.hpp:245
    +
    msceqf::MSCEqFSOT3State::MSCEqFSOT3State
    MSCEqFSOT3State()=delete
    Deleted default constructor.
    +
    msceqf::MSCEqFSOT3State::MSCEqFSOT3State
    MSCEqFSOT3State(const uint &idx)
    Construct an identity MSCEqFSOT3State object.
    Definition state_elements.hpp:257
    +
    msceqf::MSCEqFSOT3State::updateLeft
    void updateLeft(const VectorX &delta) override
    Update the Scaled Orthogonal Transforms element of the state by left multiplication.
    Definition state_elements.hpp:271
    +
    msceqf::MSCEqFSOT3State::clone
    std::unique_ptr< MSCEqFStateElement > clone() const override
    Clone the Scaled Orthogonal Transforms (SOT3) element of state of the MSCEqF.
    Definition state_elements.hpp:278
    +
    msceqf::MSCEqFSOT3State::updateRight
    void updateRight(const VectorX &delta) override
    Update the Scaled Orthogonal Transforms element of the state by right multiplication.
    Definition state_elements.hpp:264
    +
    msceqf::MSCEqFSOT3State::Q_
    SOT3 Q_
    The Scaled Orthogonal Transforms element of the state.
    Definition state_elements.hpp:280
    +
    +
    + + + + diff --git a/static__initializer_8hpp_source.html b/static__initializer_8hpp_source.html new file mode 100644 index 0000000..1bbdb1f --- /dev/null +++ b/static__initializer_8hpp_source.html @@ -0,0 +1,183 @@ + + + + + + + +MSCEqF: include/msceqf/filter/initializer/static_initializer.hpp Source File + + + + + + + + + + + + + + + +
    +
    + + + + + + + +
    +
    MSCEqF 1.0 +
    +
    Multi State Constraint Equivariant Filter for visual inertial navigation
    +
    +
    + + + + + + + + +
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    static_initializer.hpp
    +
    +
    +
    1// Copyright (C) 2023 Alessandro Fornasier.
    +
    2// Control of Networked Systems, University of Klagenfurt, Austria.
    +
    3//
    +
    4// All rights reserved.
    +
    5//
    +
    6// This software is licensed under the terms of the BSD-2-Clause-License with
    +
    7// no commercial use allowed, the full terms of which are made available
    +
    8// in the LICENSE file. No license in patents is granted.
    +
    9//
    +
    10// You can contact the authors at <alessandro.fornasier@ieee.org>
    +
    11
    +
    12#ifndef STATIC_INITIALIZER_HPP
    +
    13#define STATIC_INITIALIZER_HPP
    +
    14
    +
    15#include "msceqf/filter/checker/checker.hpp"
    +
    16#include "sensors/sensor_data.hpp"
    +
    17
    +
    18namespace msceqf
    +
    19{
    +
    +
    20class StaticInitializer
    +
    21{
    +
    22 public:
    +
    23 using ImuBuffer = std::deque<Imu>;
    +
    24
    +
    31 StaticInitializer(const InitializerOptions& opts, const Checker& checker);
    +
    32
    +
    38 void insertImu(const Imu& imu);
    +
    39
    +
    47 [[nodiscard]] bool detectMotion(const Tracks& tracks);
    +
    48
    +
    55 [[nodiscard]] bool initializeOrigin();
    +
    56
    +
    62 [[nodiscard]] const SE23& T0() const;
    +
    63
    +
    69 [[nodiscard]] const Vector6& b0() const;
    +
    70
    +
    71 private:
    +
    79 [[nodiscard]] bool detectAccelerationSpike();
    +
    80
    +
    92 [[nodiscard]] bool imuMeanStd(Vector3& acc_mean, Vector3& ang_mean, fp& acc_std) const;
    +
    93
    +
    101 void computeOrigin(Vector3& acc_mean, Vector3& ang_mean);
    +
    102
    +
    103 InitializerOptions opts_;
    +
    104
    +
    105 const Checker& checker_; // The MSCEqF checker
    +
    106
    +
    107 ImuBuffer imu_buffer_;
    +
    108
    +
    109 SE23 T0_;
    +
    110 Vector6 b0_;
    +
    111};
    +
    +
    112
    +
    113} // namespace msceqf
    +
    114
    +
    115#endif // STATIC_INITIALIZER_HPP
    +
    msceqf::Checker
    Simple class to perform various checks.
    Definition checker.hpp:27
    +
    msceqf::StaticInitializer
    Definition static_initializer.hpp:21
    +
    msceqf::StaticInitializer::initializeOrigin
    bool initializeOrigin()
    This fnctions collects a predefined window of IMU measurments and compute the roll and pitch fo the p...
    +
    msceqf::StaticInitializer::b0
    const Vector6 & b0() const
    This function returns the initial IMU bias, to be used as origin.
    +
    msceqf::StaticInitializer::T0
    const SE23 & T0() const
    This function returns the initial Extended pose of the platform, to be used as origin.
    +
    msceqf::StaticInitializer::detectMotion
    bool detectMotion(const Tracks &tracks)
    This function detects if the platform is moving based on acceleration measurements and image disparit...
    +
    msceqf::StaticInitializer::StaticInitializer
    StaticInitializer(const InitializerOptions &opts, const Checker &checker)
    StaticInitializer constructor.
    +
    msceqf::StaticInitializer::ImuBuffer
    std::deque< Imu > ImuBuffer
    The Imu measurement buffer.
    Definition static_initializer.hpp:23
    +
    msceqf::StaticInitializer::insertImu
    void insertImu(const Imu &imu)
    Populate imu internal buffer used for acceleration check.
    +
    msceqf::Imu
    Struct for one IMU reading. It includes timestamp, angular velocity and linear acceleration....
    Definition sensor_data.hpp:29
    +
    msceqf::InitializerOptions
    Definition msceqf_options.hpp:143
    +
    +
    + + + + diff --git a/structmsceqf_1_1_bias_state-members.html b/structmsceqf_1_1_bias_state-members.html new file mode 100644 index 0000000..6eb3819 --- /dev/null +++ b/structmsceqf_1_1_bias_state-members.html @@ -0,0 +1,126 @@ + + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
    +
    + + + + + + + +
    +
    MSCEqF 1.0 +
    +
    Multi State Constraint Equivariant Filter for visual inertial navigation
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    msceqf::BiasState Member List
    +
    +
    + +

    This is the complete list of members for msceqf::BiasState, including all inherited members.

    + + + + + + + + + + + +
    b_msceqf::BiasState
    BiasState() (defined in msceqf::BiasState)msceqf::BiasStateinline
    BiasState(const Vector6 &b) (defined in msceqf::BiasState)msceqf::BiasStateinline
    clone() const overridemsceqf::BiasStateinlinevirtual
    operator=(const SystemStateElement &)=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementprotected
    operator=(SystemStateElement &&)=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementprotected
    SystemStateElement()=defaultmsceqf::SystemStateElementprotected
    SystemStateElement(const SystemStateElement &)=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementprotected
    SystemStateElement(SystemStateElement &&)=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementprotected
    ~SystemStateElement()=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementvirtual
    +
    + + + + diff --git a/structmsceqf_1_1_bias_state.html b/structmsceqf_1_1_bias_state.html new file mode 100644 index 0000000..5568f07 --- /dev/null +++ b/structmsceqf_1_1_bias_state.html @@ -0,0 +1,217 @@ + + + + + + + +MSCEqF: msceqf::BiasState Struct Reference + + + + + + + + + + + + + + + +
    +
    + + + + + + + +
    +
    MSCEqF 1.0 +
    +
    Multi State Constraint Equivariant Filter for visual inertial navigation
    +
    +
    + + + + + + + + +
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    +Public Member Functions | +Public Attributes | +List of all members
    +
    msceqf::BiasState Struct Referencefinal
    +
    +
    + +

    This struct represent the IMU bias state of the system. + More...

    + +

    #include <system_elements.hpp>

    +
    +Inheritance diagram for msceqf::BiasState:
    +
    +
    Inheritance graph
    + + + + + +
    [legend]
    +
    +Collaboration diagram for msceqf::BiasState:
    +
    +
    Collaboration graph
    + + + + + +
    [legend]
    + + + + + + + + +

    +Public Member Functions

    + BiasState (const Vector6 &b)
     
    std::unique_ptr< SystemStateElement > clone () const override
     Clone the bias state element of the system.
     
    - Public Member Functions inherited from msceqf::SystemStateElement
    + + + + +

    +Public Attributes

    +Vector6 b_
     The Inertial Measurement Unit (IMU) biases (bw, ba)
     
    + + + + + + + + + + + + + +

    +Additional Inherited Members

    - Protected Member Functions inherited from msceqf::SystemStateElement
    + SystemStateElement ()=default
     Rule of Five.
     
    + SystemStateElement (const SystemStateElement &)=default
     
    + SystemStateElement (SystemStateElement &&)=default
     
    +SystemStateElement & operator= (const SystemStateElement &)=default
     
    +SystemStateElement & operator= (SystemStateElement &&)=default
     
    +

    Detailed Description

    +

    This struct represent the IMU bias state of the system.

    +

    Member Function Documentation

    + +

    ◆ clone()

    + +
    +
    + + + + + +
    + + + + + + + +
    std::unique_ptr< SystemStateElement > msceqf::BiasState::clone () const
    +     		+inlineoverridevirtual
    +
    + +

    Clone the bias state element of the system.

    +
    Returns
    Clone of the bias state element
    + +

    Implements msceqf::SystemStateElement.

    + +
    +
    +
    The documentation for this struct was generated from the following file: +
    +
    + + + + diff --git a/structmsceqf_1_1_bias_state.js b/structmsceqf_1_1_bias_state.js new file mode 100644 index 0000000..7f10790 --- /dev/null +++ b/structmsceqf_1_1_bias_state.js @@ -0,0 +1,5 @@ +var structmsceqf_1_1_bias_state = +[ + [ "clone", "structmsceqf_1_1_bias_state.html#aef8a73120661539e79a72ac3778bef24", null ], + [ "b_", "structmsceqf_1_1_bias_state.html#a4d343a459e30978111c7875f8bb3f6ff", null ] +]; \ No newline at end of file diff --git a/structmsceqf_1_1_bias_state__coll__graph.map b/structmsceqf_1_1_bias_state__coll__graph.map new file mode 100644 index 0000000..6701638 --- /dev/null +++ b/structmsceqf_1_1_bias_state__coll__graph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/structmsceqf_1_1_bias_state__coll__graph.md5 b/structmsceqf_1_1_bias_state__coll__graph.md5 new file mode 100644 index 0000000..0d22f11 --- /dev/null +++ b/structmsceqf_1_1_bias_state__coll__graph.md5 @@ -0,0 +1 @@ +18433b44a17aaaeb3e7b4304dd3b521b \ No newline at end of file diff --git a/structmsceqf_1_1_bias_state__coll__graph.png b/structmsceqf_1_1_bias_state__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..acdf304cf1e1c37058a9588f8137b0a80d8ca81a GIT binary patch literal 5157 zcmc(jg;!Nkl*TWT5(0vBD=89+bb}z$o%$$g9xcs7x{(GY1r(&a5qP8$(jD?dx>Irv zvu4ejnSWqj-Mj8v_ujM5+56kS?}n?X$P?gF;X)8Zpzu;w18jeSFB}I8{DyO^!odd1 zR8d|Qy19L4w|q^2Ad(pcSt%`#^zC_1Ev?mm*n7LQ6vpPVY`vzEh)O>5w%YsUukhhP z^^6~}+MhT|5>+LBoH?qO9nEBkX1sd4-uD@cB>#BfuREP;B7aAqc&}zESLc{5bZ`SId=-la>ohZmGinp7>EQ$aoJ^7$Wx9o%z zgK_MBI}g7Rk$Ss4y|31|XNKFPTmVB5Za}%iT8F8fUIbeC_rnNy*NDl*$@ZxjRd-14 zbK8ld`ZxTYPCWdkP8B>X#N>Ep_y5<9dRa;gJt;Z&n@(zn=Jzim$xQmKT+SGVS z`W{U1J$D1DLRhr-Bqawh?#r4xtIYnO0+(7<$d3pJLeSJsS zXX9mlFB%#eEM_V2u`288zMA#Kq!lApGu+u8Ju;U>VPj*Dwg+NkkICz5ptgsmuB
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        msceqf::Camera Member List
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        This is the complete list of members for msceqf::Camera, including all inherited members.

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        image_msceqf::Camera
        mask_msceqf::Camera
        operator<(const Camera &lhs, const Camera &rhs)msceqf::Camerafriend
        operator<(const Camera &lhs, const fp &timestamp)msceqf::Camerafriend
        operator< (defined in msceqf::Camera)msceqf::Camerafriend
        timestamp_msceqf::Camera
        +
        + + + + diff --git a/structmsceqf_1_1_camera.html b/structmsceqf_1_1_camera.html new file mode 100644 index 0000000..a944cb5 --- /dev/null +++ b/structmsceqf_1_1_camera.html @@ -0,0 +1,151 @@ + + + + + + + +MSCEqF: msceqf::Camera Struct Reference + + + + + + + + + + + + + + + +
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        +Public Attributes | +Friends | +List of all members
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        msceqf::Camera Struct Reference
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        +Public Attributes

        +cv::Mat image_
         The image taken from the camera.
         
        +cv::Mat mask_
         The mask for the given image, 255 in valid reagions, 0 in regions to be masked out.
         
        +fp timestamp_ = -1
         Timestamp of the Camera reading.
         
        + + + + + + + + + +

        +Friends

        +bool operator< (const Camera &lhs, const Camera &rhs)
         Comparison operator with other camera.
         
        +bool operator< (const Camera &lhs, const fp &timestamp)
         Comparison operator with timestamp.
         
        +bool operator< (const fp &timestamp, const Camera &rhs)
         
        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_camera.js b/structmsceqf_1_1_camera.js new file mode 100644 index 0000000..ad1a0c5 --- /dev/null +++ b/structmsceqf_1_1_camera.js @@ -0,0 +1,8 @@ +var structmsceqf_1_1_camera = +[ + [ "operator<", "structmsceqf_1_1_camera.html#ad7ccf94075a0ec098e03c90d78019485", null ], + [ "operator<", "structmsceqf_1_1_camera.html#addebf47a948140644806152e1b3c9e76", null ], + [ "image_", "structmsceqf_1_1_camera.html#a9c42d17258738934a794ec81456ae37d", null ], + [ "mask_", "structmsceqf_1_1_camera.html#a241156d766d8dfc8d187508dc4d02130", null ], + [ "timestamp_", "structmsceqf_1_1_camera.html#a90f9e8c1c1768342735573b808f375c3", null ] +]; \ No newline at end of file diff --git a/structmsceqf_1_1_camera_extrinsic_state-members.html b/structmsceqf_1_1_camera_extrinsic_state-members.html new file mode 100644 index 0000000..869e5c1 --- /dev/null +++ b/structmsceqf_1_1_camera_extrinsic_state-members.html @@ -0,0 +1,129 @@ + + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
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        MSCEqF 1.0 +
        +
        Multi State Constraint Equivariant Filter for visual inertial navigation
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        +
        msceqf::CameraExtrinsicState Member List
        +
        +
        + +

        This is the complete list of members for msceqf::CameraExtrinsicState, including all inherited members.

        + + + + + + + + + + + + + + +
        CameraExtrinsicState() (defined in msceqf::CameraExtrinsicState)msceqf::CameraExtrinsicStateinline
        CameraExtrinsicState(const Quaternion &q, const Vector3 &t) (defined in msceqf::CameraExtrinsicState)msceqf::CameraExtrinsicStateinline
        CameraExtrinsicState(const Matrix3 &R, const Vector3 &t) (defined in msceqf::CameraExtrinsicState)msceqf::CameraExtrinsicStateinline
        CameraExtrinsicState(const Matrix4 &S) (defined in msceqf::CameraExtrinsicState)msceqf::CameraExtrinsicStateinline
        CameraExtrinsicState(const SE3 &S) (defined in msceqf::CameraExtrinsicState)msceqf::CameraExtrinsicStateinline
        clone() const overridemsceqf::CameraExtrinsicStateinlinevirtual
        operator=(const SystemStateElement &)=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementprotected
        operator=(SystemStateElement &&)=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementprotected
        S_msceqf::CameraExtrinsicState
        SystemStateElement()=defaultmsceqf::SystemStateElementprotected
        SystemStateElement(const SystemStateElement &)=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementprotected
        SystemStateElement(SystemStateElement &&)=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementprotected
        ~SystemStateElement()=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementvirtual
        +
        + + + + diff --git a/structmsceqf_1_1_camera_extrinsic_state.html b/structmsceqf_1_1_camera_extrinsic_state.html new file mode 100644 index 0000000..5bc583a --- /dev/null +++ b/structmsceqf_1_1_camera_extrinsic_state.html @@ -0,0 +1,226 @@ + + + + + + + +MSCEqF: msceqf::CameraExtrinsicState Struct Reference + + + + + + + + + + + + + + + +
        +
        + + + + + + + +
        +
        MSCEqF 1.0 +
        +
        Multi State Constraint Equivariant Filter for visual inertial navigation
        +
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        +Public Member Functions | +Public Attributes | +List of all members
        +
        msceqf::CameraExtrinsicState Struct Referencefinal
        +
        +
        + +

        This struct represent the camera extrinsics state of the system. + More...

        + +

        #include <system_elements.hpp>

        +
        +Inheritance diagram for msceqf::CameraExtrinsicState:
        +
        +
        Inheritance graph
        + + + + + +
        [legend]
        +
        +Collaboration diagram for msceqf::CameraExtrinsicState:
        +
        +
        Collaboration graph
        + + + + + +
        [legend]
        + + + + + + + + + + + + + + +

        +Public Member Functions

        + CameraExtrinsicState (const Quaternion &q, const Vector3 &t)
         
        + CameraExtrinsicState (const Matrix3 &R, const Vector3 &t)
         
        + CameraExtrinsicState (const Matrix4 &S)
         
        + CameraExtrinsicState (const SE3 &S)
         
        std::unique_ptr< SystemStateElement > clone () const override
         Clone the camera extrinsics state element of the system.
         
        - Public Member Functions inherited from msceqf::SystemStateElement
        + + + + +

        +Public Attributes

        +SE3 S_
         The camera extrinsics calibration (SR, St)
         
        + + + + + + + + + + + + + +

        +Additional Inherited Members

        - Protected Member Functions inherited from msceqf::SystemStateElement
        + SystemStateElement ()=default
         Rule of Five.
         
        + SystemStateElement (const SystemStateElement &)=default
         
        + SystemStateElement (SystemStateElement &&)=default
         
        +SystemStateElement & operator= (const SystemStateElement &)=default
         
        +SystemStateElement & operator= (SystemStateElement &&)=default
         
        +

        Detailed Description

        +

        This struct represent the camera extrinsics state of the system.

        +

        Member Function Documentation

        + +

        ◆ clone()

        + +
        +
        + + + + + +
        + + + + + + + +
        std::unique_ptr< SystemStateElement > msceqf::CameraExtrinsicState::clone () const
        +         		+inlineoverridevirtual
        +
        + +

        Clone the camera extrinsics state element of the system.

        +
        Returns
        Clone of the camera extrinsics state element
        + +

        Implements msceqf::SystemStateElement.

        + +
        +
        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_camera_extrinsic_state.js b/structmsceqf_1_1_camera_extrinsic_state.js new file mode 100644 index 0000000..ed44aed --- /dev/null +++ b/structmsceqf_1_1_camera_extrinsic_state.js @@ -0,0 +1,5 @@ +var structmsceqf_1_1_camera_extrinsic_state = +[ + [ "clone", "structmsceqf_1_1_camera_extrinsic_state.html#ad625489db42b5727fbc7673307df8693", null ], + [ "S_", "structmsceqf_1_1_camera_extrinsic_state.html#a8ce1fcc6761d9b48947283362cdeff6d", null ] +]; \ No newline at end of file diff --git a/structmsceqf_1_1_camera_extrinsic_state__coll__graph.map b/structmsceqf_1_1_camera_extrinsic_state__coll__graph.map new file mode 100644 index 0000000..7f8e313 --- /dev/null +++ b/structmsceqf_1_1_camera_extrinsic_state__coll__graph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/structmsceqf_1_1_camera_extrinsic_state__coll__graph.md5 b/structmsceqf_1_1_camera_extrinsic_state__coll__graph.md5 new file mode 100644 index 0000000..4cb1b38 --- /dev/null +++ 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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        msceqf::CameraIntrinsicState Member List
        +
        +
        + +

        This is the complete list of members for msceqf::CameraIntrinsicState, including all inherited members.

        + + + + + + + + + + + + + + +
        CameraIntrinsicState() (defined in msceqf::CameraIntrinsicState)msceqf::CameraIntrinsicStateinline
        CameraIntrinsicState(const fp &fx, const fp &fy, const fp &cx, const fp &cy) (defined in msceqf::CameraIntrinsicState)msceqf::CameraIntrinsicStateinline
        CameraIntrinsicState(const Vector4 &intr) (defined in msceqf::CameraIntrinsicState)msceqf::CameraIntrinsicStateinline
        CameraIntrinsicState(const Matrix3 &K) (defined in msceqf::CameraIntrinsicState)msceqf::CameraIntrinsicStateinline
        CameraIntrinsicState(const In &K) (defined in msceqf::CameraIntrinsicState)msceqf::CameraIntrinsicStateinline
        clone() const overridemsceqf::CameraIntrinsicStateinlinevirtual
        K_msceqf::CameraIntrinsicState
        operator=(const SystemStateElement &)=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementprotected
        operator=(SystemStateElement &&)=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementprotected
        SystemStateElement()=defaultmsceqf::SystemStateElementprotected
        SystemStateElement(const SystemStateElement &)=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementprotected
        SystemStateElement(SystemStateElement &&)=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementprotected
        ~SystemStateElement()=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementvirtual
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        + + + + diff --git a/structmsceqf_1_1_camera_intrinsic_state.html b/structmsceqf_1_1_camera_intrinsic_state.html new file mode 100644 index 0000000..3dd2269 --- /dev/null +++ b/structmsceqf_1_1_camera_intrinsic_state.html @@ -0,0 +1,226 @@ + + + + + + + +MSCEqF: msceqf::CameraIntrinsicState Struct Reference + + + + + + + + + + + + + + + +
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        MSCEqF 1.0 +
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        +Public Member Functions | +Public Attributes | +List of all members
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        msceqf::CameraIntrinsicState Struct Referencefinal
        +
        +
        + +

        This struct represent the camera intrinsics state of the system. + More...

        + +

        #include <system_elements.hpp>

        +
        +Inheritance diagram for msceqf::CameraIntrinsicState:
        +
        +
        Inheritance graph
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        [legend]
        +
        +Collaboration diagram for msceqf::CameraIntrinsicState:
        +
        +
        Collaboration graph
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        [legend]
        + + + + + + + + + + + + + + +

        +Public Member Functions

        + CameraIntrinsicState (const fp &fx, const fp &fy, const fp &cx, const fp &cy)
         
        + CameraIntrinsicState (const Vector4 &intr)
         
        + CameraIntrinsicState (const Matrix3 &K)
         
        + CameraIntrinsicState (const In &K)
         
        std::unique_ptr< SystemStateElement > clone () const override
         Clone the camera instirnsic state element of the system.
         
        - Public Member Functions inherited from msceqf::SystemStateElement
        + + + + +

        +Public Attributes

        +In K_
         The camera intrinsics calibration (K)
         
        + + + + + + + + + + + + + +

        +Additional Inherited Members

        - Protected Member Functions inherited from msceqf::SystemStateElement
        + SystemStateElement ()=default
         Rule of Five.
         
        + SystemStateElement (const SystemStateElement &)=default
         
        + SystemStateElement (SystemStateElement &&)=default
         
        +SystemStateElement & operator= (const SystemStateElement &)=default
         
        +SystemStateElement & operator= (SystemStateElement &&)=default
         
        +

        Detailed Description

        +

        This struct represent the camera intrinsics state of the system.

        +

        Member Function Documentation

        + +

        ◆ clone()

        + +
        +
        + + + + + +
        + + + + + + + +
        std::unique_ptr< SystemStateElement > msceqf::CameraIntrinsicState::clone () const
        +         		+inlineoverridevirtual
        +
        + +

        Clone the camera instirnsic state element of the system.

        +
        Returns
        Clone of the camera instirnsic state element
        + +

        Implements msceqf::SystemStateElement.

        + +
        +
        +
        The documentation for this struct was generated from the following file: +
        +
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        msceqf::CameraOptions Member List
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        This is the complete list of members for msceqf::CameraOptions, including all inherited members.

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        distortion_coefficients_msceqf::CameraOptions
        mask_type_msceqf::CameraOptions
        resolution_msceqf::CameraOptions
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        timeshift_cam_imu_msceqf::CameraOptions
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        msceqf::CameraOptions Struct Reference
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        +Public Attributes

        +VectorX distortion_coefficients_
         Distortion coefficients.
         
        +Vector2 resolution_
         Width, Height.
         
        +fp timeshift_cam_imu_
         The time shift between camera and imu (t_imu = t_cam + shift)
         
        +cv::Mat static_mask_
         The static image mask.
         
        +MaskType mask_type_
         The mask type.
         
        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_camera_options.js b/structmsceqf_1_1_camera_options.js new file mode 100644 index 0000000..c07fe9e --- /dev/null +++ b/structmsceqf_1_1_camera_options.js @@ -0,0 +1,8 @@ +var structmsceqf_1_1_camera_options = +[ + [ "distortion_coefficients_", "structmsceqf_1_1_camera_options.html#a824c7e14a954432b3a88f20c4a232e87", null ], + [ "mask_type_", "structmsceqf_1_1_camera_options.html#ab7f12a8380cdc751c11ab1f241b5e5f4", null ], + [ "resolution_", "structmsceqf_1_1_camera_options.html#a95b5f534cb0fd7bb974aecc891c494e4", null ], + [ "static_mask_", "structmsceqf_1_1_camera_options.html#a76ca9bba5e63f809621c07207584c01f", null ], + [ "timeshift_cam_imu_", "structmsceqf_1_1_camera_options.html#a714e564848487561d2789e51a8f2522d", null ] +]; \ No newline at end of file diff --git a/structmsceqf_1_1_checker_options-members.html b/structmsceqf_1_1_checker_options-members.html new file mode 100644 index 0000000..9ee81cc --- /dev/null +++ b/structmsceqf_1_1_checker_options-members.html @@ -0,0 +1,118 @@ + + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
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        disparity_threshold_msceqf::CheckerOptions
        disparity_window_msceqf::CheckerOptions
        +
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        +Public Attributes

        +fp disparity_threshold_
         the disparity threshold for the disparity check
         
        +fp disparity_window_
         The window is seconds used to check disparity.
         
        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_checker_options.js b/structmsceqf_1_1_checker_options.js new file mode 100644 index 0000000..7ec0812 --- /dev/null +++ b/structmsceqf_1_1_checker_options.js @@ -0,0 +1,5 @@ +var structmsceqf_1_1_checker_options = +[ + [ "disparity_threshold_", "structmsceqf_1_1_checker_options.html#af3d4bcc36823c0cd80d5d8ff81f3336d", null ], + [ "disparity_window_", "structmsceqf_1_1_checker_options.html#a04fe4e24079d810781cf1c5081e88233", null ] +]; \ No newline at end of file diff --git a/structmsceqf_1_1_equidistant_camera-members.html b/structmsceqf_1_1_equidistant_camera-members.html new file mode 100644 index 0000000..d877d80 --- /dev/null +++ b/structmsceqf_1_1_equidistant_camera-members.html @@ -0,0 +1,142 @@ + + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
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        msceqf::EquidistantCamera Member List
        +
        +
        + +

        This is the complete list of members for msceqf::EquidistantCamera, including all inherited members.

        + + + + + + + + + + + + + + + + + + + + + + + + + + + +
        denormalize(std::vector< Eigen::Vector2f > &uv)msceqf::PinholeCamera
        denormalize(std::vector< cv::Point2f > &uv)msceqf::PinholeCamera
        denormalize(Eigen::Vector2f &uv)msceqf::PinholeCamera
        denormalize(cv::Point2f &uv)msceqf::PinholeCamera
        distortion_coefficients_msceqf::PinholeCameraprotected
        distortionCoefficients() constmsceqf::PinholeCamera
        EquidistantCamera(const CameraOptions &opts, const Vector4 &intrinsics) (defined in msceqf::EquidistantCamera)msceqf::EquidistantCamera
        height_msceqf::PinholeCameraprotected
        intrinsics() constmsceqf::PinholeCamera
        intrinsics_msceqf::PinholeCameraprotected
        normalize(std::vector< Eigen::Vector2f > &uv)msceqf::PinholeCamera
        normalize(std::vector< cv::Point2f > &uv)msceqf::PinholeCamera
        normalize(Eigen::Vector2f &uv)msceqf::PinholeCamera
        normalize(cv::Point2f &uv)msceqf::PinholeCamera
        operator=(const PinholeCamera &)=delete (defined in msceqf::PinholeCamera)msceqf::PinholeCameraprotected
        operator=(PinholeCamera &&)=delete (defined in msceqf::PinholeCamera)msceqf::PinholeCameraprotected
        PinholeCamera(const VectorX &distortion_coefficients, const Vector4 instrinsics, const uint &width, const uint &height) (defined in msceqf::PinholeCamera)msceqf::PinholeCameraprotected
        PinholeCamera()=deletemsceqf::PinholeCameraprotected
        PinholeCamera(const PinholeCamera &)=delete (defined in msceqf::PinholeCamera)msceqf::PinholeCameraprotected
        PinholeCamera(PinholeCamera &&)=delete (defined in msceqf::PinholeCamera)msceqf::PinholeCameraprotected
        setIntrinsics(const Vector4 &intrinsics)msceqf::PinholeCamera
        undistort(std::vector< cv::Point2f > &uv_cv, const bool &normalize) overridemsceqf::EquidistantCameravirtual
        msceqf::PinholeCamera::undistort(std::vector< Eigen::Vector2f > &uv, const bool &normalize=false)msceqf::PinholeCamera
        undistortImage(const cv::Mat &image, cv::Mat &image_undistorted) overridemsceqf::EquidistantCameravirtual
        width_msceqf::PinholeCameraprotected
        ~PinholeCamera()=default (defined in msceqf::PinholeCamera)msceqf::PinholeCameravirtual
        +
        + + + + diff --git a/structmsceqf_1_1_equidistant_camera.html b/structmsceqf_1_1_equidistant_camera.html new file mode 100644 index 0000000..1bd4e48 --- /dev/null +++ b/structmsceqf_1_1_equidistant_camera.html @@ -0,0 +1,311 @@ + + + + + + + +MSCEqF: msceqf::EquidistantCamera Struct Reference + + + + + + + + + + + + + + + +
        +
        + + + + + + + +
        +
        MSCEqF 1.0 +
        +
        Multi State Constraint Equivariant Filter for visual inertial navigation
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        +Public Member Functions | +List of all members
        +
        msceqf::EquidistantCamera Struct Referencefinal
        +
        +
        +
        +Inheritance diagram for msceqf::EquidistantCamera:
        +
        +
        Inheritance graph
        + + + + + +
        [legend]
        +
        +Collaboration diagram for msceqf::EquidistantCamera:
        +
        +
        Collaboration graph
        + + + + + +
        [legend]
        + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

        +Public Member Functions

        + EquidistantCamera (const CameraOptions &opts, const Vector4 &intrinsics)
         
        void undistort (std::vector< cv::Point2f > &uv_cv, const bool &normalize) override
         Undistort given distorted point in OpenCV format (std::vector<cv::Point2f>)
         
        void undistortImage (const cv::Mat &image, cv::Mat &image_undistorted) override
         Undistort given image in openCV format (cv::Mat)
         
        - Public Member Functions inherited from msceqf::PinholeCamera
        void undistort (std::vector< Eigen::Vector2f > &uv, const bool &normalize=false)
         Undistort given distorted point in Eigen format (std::vector<Eigen::Vector2f>)
         
        void normalize (std::vector< Eigen::Vector2f > &uv)
         Normalize multiple features uv coordinates in Eigen format (std::vector<Eigen::Vector2f>)
         
        void normalize (std::vector< cv::Point2f > &uv)
         Normalize multiple features uv coordinates in OpenCV format (std::vector<cv::Point2f>)
         
        void normalize (Eigen::Vector2f &uv)
         Normalize a single feature uv coordinates in Eigen format (Eigen::Vector2f)
         
        void normalize (cv::Point2f &uv)
         Normalize multiple features uv coordinates in OpenCV format (cv::Point2f)
         
        void denormalize (std::vector< Eigen::Vector2f > &uv)
         Denormalize multiple features uv coordinates in Eigen format (std::vector<Eigen::Vector2f>)
         
        void denormalize (std::vector< cv::Point2f > &uv)
         Denormalize multiple features uv coordinates in OpenCV format (std::vector<cv::Point2f>)
         
        void denormalize (Eigen::Vector2f &uv)
         Denormalize a single feature uv coordinates in Eigen format (Eigen::Vector2f)
         
        void denormalize (cv::Point2f &uv)
         Denormalize multiple features uv coordinates in OpenCV format (cv::Point2f)
         
        void setIntrinsics (const Vector4 &intrinsics)
         Set the value of the intrinsic parameters.
         
        const Vector4 & intrinsics () const
         Get camera intrinsics parameter (fx, fy, cx, cy) as a 4 vector.
         
        const VectorX & distortionCoefficients () const
         Get camera distortion coefficients (k1, k2, p1, p2, ...) as a vector.
         
        + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

        +Additional Inherited Members

        - Protected Member Functions inherited from msceqf::PinholeCamera
        + PinholeCamera (const VectorX &distortion_coefficients, const Vector4 instrinsics, const uint &width, const uint &height)
         
        + PinholeCamera ()=delete
         Rule of Five.
         
        + PinholeCamera (const PinholeCamera &)=delete
         
        + PinholeCamera (PinholeCamera &&)=delete
         
        +PinholeCamera & operator= (const PinholeCamera &)=delete
         
        +PinholeCamera & operator= (PinholeCamera &&)=delete
         
        - Protected Attributes inherited from msceqf::PinholeCamera
        +VectorX distortion_coefficients_
         Vector of distortion coefficients (k1, k2, p1, p2, ...)
         
        +Vector4 intrinsics_
         Vector of intrinsic paramater (fx, fy, cx, cy)
         
        +uint width_
         Image width.
         
        +uint height_
         Image height.
         
        +

        Member Function Documentation

        + +

        ◆ undistort()

        + +
        +
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        + + + + + + + + + + + +
        void msceqf::EquidistantCamera::undistort (std::vector< cv::Point2f > & uv_cv,
        const bool & normalize )
        +         		+overridevirtual
        +
        + +

        Undistort given distorted point in OpenCV format (std::vector<cv::Point2f>)

        +
        Parameters
        + + + +
        uv_cvuv coordinates
        normalizeFlag to decide wether normalize coordinates or not
        +
        +
        + +

        Implements msceqf::PinholeCamera.

        + +
        +
        + +

        ◆ undistortImage()

        + +
        +
        + + + + + +
        + + + + + + + + + + + +
        void msceqf::EquidistantCamera::undistortImage (const cv::Mat & image,
        cv::Mat & image_undistorted )
        +         		+overridevirtual
        +
        + +

        Undistort given image in openCV format (cv::Mat)

        +
        Parameters
        + + + +
        imageImage to be undistorted
        image_undistortedUndistorted image
        +
        +
        + +

        Implements msceqf::PinholeCamera.

        + +
        +
        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_equidistant_camera.js b/structmsceqf_1_1_equidistant_camera.js new file mode 100644 index 0000000..bd6df4a --- /dev/null +++ b/structmsceqf_1_1_equidistant_camera.js @@ -0,0 +1,5 @@ +var structmsceqf_1_1_equidistant_camera = +[ + [ "undistort", "structmsceqf_1_1_equidistant_camera.html#a819c5607c1f0913c6e6bb77c5de43b3f", null ], + [ "undistortImage", "structmsceqf_1_1_equidistant_camera.html#a3515afec6d02105114599ba93a7d6862", null ] +]; \ No newline at end of file diff --git a/structmsceqf_1_1_equidistant_camera__coll__graph.map b/structmsceqf_1_1_equidistant_camera__coll__graph.map new file mode 100644 index 0000000..6e42c85 --- /dev/null +++ b/structmsceqf_1_1_equidistant_camera__coll__graph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/structmsceqf_1_1_equidistant_camera__coll__graph.md5 b/structmsceqf_1_1_equidistant_camera__coll__graph.md5 new file mode 100644 index 0000000..cad86a4 --- /dev/null +++ b/structmsceqf_1_1_equidistant_camera__coll__graph.md5 @@ -0,0 +1 @@ +723732692512030af9ae637a7bd2e276 \ No newline at end of file diff --git a/structmsceqf_1_1_equidistant_camera__coll__graph.png b/structmsceqf_1_1_equidistant_camera__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..ac13321bc0c1733a56632c0345a661fbb7b934a9 GIT binary patch literal 5250 zcmcIobySq!x*iNbLP`ZmK|%ziyADc9Nh94LHIyJBqm(ov;LxamG=q%Pj~O}yhK`{- zq`P4_o3rk^_pkHkonGIXZ|}FB=Y8HC@k&F9l!%rH0)ddKD9dYu?>g{yCBz4xDK87k z!56-js**h9>iYQ&otFTC+!Ixim(zWhzB%RlO4p#SVHYa;=nqRi#XSYNzLqbTE6_S>YLCaFa&joF0{ z|IX}yyQNOZ);?~>{pJl)!pctRtf!q@{yoz5Gw2m8e2^}PRprZnUYij=g(a1gl;Q|X zCZ15MI7Uoxa&nH5)goP-SSH5Dad90sYuHqN)>X^V(a{UY0c`ZrSntHBWQ3iYJ6a`y zy~2)0#W6lQnxq_wbTJYPt1S5vpOY8C9iWnAGpAa}N^Gvp_WI<@(~c&%uF8Wzp7oKE z$1E&OR$0>iN92^0KQ5vl3Wg;o)6|`BN#^#>T;Y5wT_#3sP`Rq`FDWTw^HT6d%q!knty4TV^fBu)Q?me{M zAqxvj&|L-za(a49EQ6#GeUc5R{ubK&rLLd<3XzTV^ZZlN!LqWT5!-f0f_QOr)|9Ejq zWW>HdKe7~}O|oq&)GHG6*`mk8!((M-wQzD$_4O5Z!j>)#73fq~SCca^s4FXn3+O8< z;!FB$EpAQKs-=m6ON-|JZ zS7#Ft__EXmPsqyZZHb`jz+h~8Go_u!%0r{0qa~{7<`);`5oTyU+879Gzemz*dpctb zX^-?;)mDsSR0n%fKQn2-V&Nenx1^+`Abcrm#jlZJ3+-_WOG^sRpWm3O^&!~eEjrqo zQhobYn2JNgW^1yBv<p@rM8LieJH9TrQOV{nX)Pr4L7QoMc?msMjJDWY z?6_Fsg*DF1FllOP{!~kO?%^R&P*4DAX>Uiut^xzE&SwUzpyupq$qk^2AfqT>L4JPz zTLc7x0Vi$`c#K+(HYe~vTx_RNz9bA1i90)PBgL;@SXr?^(nMUW8iQ`%!p9fzSXBOz zovos--a0s#Fgj}Jcf8d-Ug3o2=Iz}!IEb9y45OFyCJAnAAm&9uJ~Uc9l9e?VUp6p* ze;U+O6SP5#)FMLAtFEjN!{r(otgipFk}Q_u4!UIFDEA#5*iwxm?;1J z`E&H>*VyC98cz~Nsp@GNP^y>=Now$*q@q$$QL*ey58B=caIukN1>#CL1$$6-|ft@$60QUS2Q&?%AK5_6T@Jzx%G9f-$o_j z;o;A;us&`v8D~Xi=TTfk9S67>6X3Pnh<&U?fT351Q zrN1+ze6_{I#KJo}Us5nKK9jlFX=abZc6X}_3Cm`|a5X2#^;ad6u+0i=3(9vt@gh~y z{OcYe85uPN1x0t{7(G~$E#Z?~fir?2suFRZwd_8t|`2Vq%74 z(9tqW2O*v-8}BTc_lEU>Xpfn$uBf{A=OXLL0Hu=-Y1!G2AyuwZ^T1~kCK;1AgR5S; zdV0HqnzEb|+ze26cYZT7vrcFS0UJBJfXlehjhi>e%58~3wgG2pzk1aG0!@cO{5o}f zN>&XkbrQNiNSiszQ3W8jIFPHlxV-G~w~u*#ejY$lEk)qAv9U4m!p+Br;9FVQ=d8f9 z2<8`I7S`6yY0x?q0QvRkmDN?iilm~hldndwY;0_V%tq;HQBlO%iZPDfFjXgP*m!zI z#;=NsrRDClPJX~-mI5hmZ!Ztm$&QYWVi=*oon)amloORMI$t$~5B#Kov6xKhwD`wL z0(KahX}@)zi;D}x3dj4@yp%p`R3CSgg@-n%iY2AR%KBuO3e!#nF_}hU3 z)ZgL+w7#{cC$>LZiOb17p+g>ICM#esVo%%D&W`=^{CH)|K8sCIFd;mg(8R=qkcdco zWXSER>ZLWvP!gQOX{Hh%IR5;_3*VItpG1OXuwFM5c5b{RM{Fo%=I`%6zpzjfa4O*L z?yjq=3vs(VdkaEFBk9e}$jEqcvJltO);54Jmvx<~Q`gsjV27+xI2B1!a>>ojb)iI7 zWd3QwI#!@gm(%2xl=hp5dHYI?LHw#4e<(yjPTFO0jllBV-QDj>af~LYck%bR^dUR_ zN=)vv4R`?o0RThH;^HZZiT5BP&Z7;hgL$iCNDdhp856W$5@<9+$;}|tr`^y%o$bns zfSpEybcwe_P$(3HakR#h!??<|1lv2X>*wd^adG1A;o+QP! 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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        msceqf::ExtendedPoseState Member List
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        This is the complete list of members for msceqf::ExtendedPoseState, including all inherited members.

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        clone() const overridemsceqf::ExtendedPoseStateinlinevirtual
        ExtendedPoseState() (defined in msceqf::ExtendedPoseState)msceqf::ExtendedPoseStateinline
        ExtendedPoseState(const SE23 &T) (defined in msceqf::ExtendedPoseState)msceqf::ExtendedPoseStateinline
        operator=(const SystemStateElement &)=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementprotected
        operator=(SystemStateElement &&)=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementprotected
        SystemStateElement()=defaultmsceqf::SystemStateElementprotected
        SystemStateElement(const SystemStateElement &)=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementprotected
        SystemStateElement(SystemStateElement &&)=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementprotected
        T_msceqf::ExtendedPoseState
        ~SystemStateElement()=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementvirtual
        +
        + + + + diff --git a/structmsceqf_1_1_extended_pose_state.html b/structmsceqf_1_1_extended_pose_state.html new file mode 100644 index 0000000..508d1d1 --- /dev/null +++ b/structmsceqf_1_1_extended_pose_state.html @@ -0,0 +1,217 @@ + + + + + + + +MSCEqF: msceqf::ExtendedPoseState Struct Reference + + + + + + + + + + + + + + + +
        +
        + + + + + + + +
        +
        MSCEqF 1.0 +
        +
        Multi State Constraint Equivariant Filter for visual inertial navigation
        +
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        +Public Member Functions | +Public Attributes | +List of all members
        +
        msceqf::ExtendedPoseState Struct Referencefinal
        +
        +
        + +

        This struct represent the extended pose state of the system. + More...

        + +

        #include <system_elements.hpp>

        +
        +Inheritance diagram for msceqf::ExtendedPoseState:
        +
        +
        Inheritance graph
        + + + + + +
        [legend]
        +
        +Collaboration diagram for msceqf::ExtendedPoseState:
        +
        +
        Collaboration graph
        + + + + + +
        [legend]
        + + + + + + + + +

        +Public Member Functions

        + ExtendedPoseState (const SE23 &T)
         
        std::unique_ptr< SystemStateElement > clone () const override
         Clone the extended pose state element of the system.
         
        - Public Member Functions inherited from msceqf::SystemStateElement
        + + + + +

        +Public Attributes

        +SE23 T_
         The extended pose of the system (R, v, p)
         
        + + + + + + + + + + + + + +

        +Additional Inherited Members

        - Protected Member Functions inherited from msceqf::SystemStateElement
        + SystemStateElement ()=default
         Rule of Five.
         
        + SystemStateElement (const SystemStateElement &)=default
         
        + SystemStateElement (SystemStateElement &&)=default
         
        +SystemStateElement & operator= (const SystemStateElement &)=default
         
        +SystemStateElement & operator= (SystemStateElement &&)=default
         
        +

        Detailed Description

        +

        This struct represent the extended pose state of the system.

        +

        Member Function Documentation

        + +

        ◆ clone()

        + +
        +
        + + + + + +
        + + + + + + + +
        std::unique_ptr< SystemStateElement > msceqf::ExtendedPoseState::clone () const
        +         		+inlineoverridevirtual
        +
        + +

        Clone the extended pose state element of the system.

        +
        Returns
        Clone of the extended pose state element
        + +

        Implements msceqf::SystemStateElement.

        + +
        +
        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_extended_pose_state.js b/structmsceqf_1_1_extended_pose_state.js new file mode 100644 index 0000000..0183e01 --- /dev/null +++ b/structmsceqf_1_1_extended_pose_state.js @@ -0,0 +1,5 @@ +var structmsceqf_1_1_extended_pose_state = +[ + [ "clone", "structmsceqf_1_1_extended_pose_state.html#ac350cd78075510c502a3d462425650fb", null ], + [ "T_", "structmsceqf_1_1_extended_pose_state.html#aabbae1e01b277093fa711d5566add492", null ] +]; \ No newline at end of file diff --git a/structmsceqf_1_1_extended_pose_state__coll__graph.map b/structmsceqf_1_1_extended_pose_state__coll__graph.map new file mode 100644 index 0000000..caefe58 --- /dev/null +++ b/structmsceqf_1_1_extended_pose_state__coll__graph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/structmsceqf_1_1_extended_pose_state__coll__graph.md5 b/structmsceqf_1_1_extended_pose_state__coll__graph.md5 new file mode 100644 index 0000000..135db7b --- /dev/null +++ b/structmsceqf_1_1_extended_pose_state__coll__graph.md5 @@ -0,0 +1 @@ +ad01a3132ab9c74950421ec98b3f3161 \ No newline at end of file diff --git a/structmsceqf_1_1_extended_pose_state__coll__graph.png b/structmsceqf_1_1_extended_pose_state__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..765c871d64f1883d62a8bfcc6f28897794d8b0b3 GIT binary patch literal 5686 zcmb_gby(A1xCi|K1_(&EG$I|2Mi9i2l7ghvXc*n7ARwuLbSO%P45SB$#OMxb>5efv z#y#A6ZanwDJ2tjwV_(iW@8|u*`{9MU644#nJ2*HvM9}97THv`GJe+RfgWn&xSDnBU zzPXB$0?yU-&zFY0cpMyxO{jvLj(7U@Ou!4B@yiqRv9V8rt{e&Zi|j87zy47q6)`8* z(NX9jA2A!z)U;47p&5=MR+C6!vvV9C=@Su+(6n77lQArMToCw~+F0(s0L38n$G_a}|x>hFa9zpiE zZz)1n5fh&Bw~n@_P|d*v54pI0b$3TjRKSGY*9P>W^ct$7yoSC*6Oxi3`a7$us5o{N z{YHOrzoRXmE%?tWPHfM9pXBbBK^tlz%kVbOM=wj44#!RNlwuisQbq5=V6fjUEfWoX z$E@2y%Uz$p=jO_2F|C|Aa?h@8)r&i7YiZrOch7qM_j``mhuXO>^z_bbzQ@^YcY zx`hSvM1E6s9UXF&B);YLXu5WfoSYow<1wv7w5;qSWX?anGoBN3 zK6jNFaDIetCSWRam=G#8Y3Pcec=V@o6APi@P)oH;XBm;Ek~ed9*08qDg*sKh`d1cX zW%2()nogrTN3!$t!w0`9ffF--oM+XY2tVDo(kppoHQiJzl`0%#x8Ue7x4ypKlOdVZ z(eZqxFQfbYU8+qD0XG~MFE6E{(NwA3fv-1<^h(UzA}B&aL-%*;cU{j8Y`3DzXB=ox<}>HcyQt!UR0BJk2T{`i^7@|2EjXJ@DXUNb>YvS9Gr zn*{s&-Td*NJ`FzjK{-Bct8ZslIA9~f!q2a9i@6mv2Hu16ii-Cn@MFa9IOw^-(tQ`M%MQ0?ak;*Jsq8J+u_^~NTd|PV^eRi0;Zv9 zXlQRF>$7i(M#*9|**G}v$jZuo9p8-Jd=^d1Zrzj298x1oBn+|2=jY^9DmJWES9td9 zj-Q|3{Ps3)481r@2+6`^rTy>r_GbwR3AdO-s0GbKP5{E31UZ>i^KcXQZTiFtKU8BI zF&Io6C}`9sC`L#&7Yiq6o&o$0Jc#yaY7VQn^#{?i^eHjXT8PNLz&~w+fMooKDWnv0 zd`uD5Z^YhG7K&*&(HhK2?XJp;p_UFE^{)c8qVU&w7TYGG?aP!J9-uJBK+ zO0-QsJ<$t_^78Ugj^OJZ08+Re9UWil>L!=+S}N_wUEuJqZmWF&XI}>|{Nw0l{Kdd| z6)rXblu%Gmc>DMuKxZWK8a@LBY&xIW4gc_g83IWHfD<#QVLP1}jdbK}m6&&oJ zsj0Ny0vQz_mvnM+LY{3DS;Ao2dU~NG*%R=w+js9;EVO4J zm|Iwg`yOy*1)e?pf!tS)7auJsDZwjCR&vXaK5hM!PN5d1Od<-0zn@PA{vjrUE+AzL`MrNbeRM9o_uuDyNi` zRBOUR?H-c~F$sx?Sedi@W(-h)>yI2992Bx-0z!g=gZBW+0l~A)$pz!z=H%prAMY45 zhu8?^ot$_N=4mh?+*Z{ieMDgNqwVK^8=Fp7=;jv|SS~Iv-{Eae~N-E1mRZPqw-t+INqQ-d+FYV!+3|(=( z+iFaW%ly0i!ovIZW5t4$DuAH4xVeR@RG?5&*^9lW!K)sCq1pgdwQWyT)Af3R6`41` z!{g}YS=Q0kX4TTxRy(ujiCu~Lmg>E^TaQEseJgsf%_s+Qv1GLM6J2)p5)23I!9!0U9ex}E&(p8^+vNmp-|q*T@BgG zkm_m(!99Ajlf8M~$?B0n9{n;L=GKvDI!LO&7)Bv*rfqPL6auNH+;-a>EAjU869&Ct zz@<^ZxgVLZ;xr=@VNhW$2=+(0`|@nro28#8?m(>LKV8iJZYVTPnJ7Z>+u#xnVdxS; 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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        msceqf::FastOptions Member List
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        This is the complete list of members for msceqf::FastOptions, including all inherited members.

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        fast_threshold_msceqf::FastOptions
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        +Public Attributes | +List of all members
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        msceqf::FastOptions Struct Reference
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        +Public Attributes

        +int fast_threshold_
         Fast detector threshold (The lower the more feature are detected/accepted)
         
        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_fast_options.js b/structmsceqf_1_1_fast_options.js new file mode 100644 index 0000000..37f65d2 --- /dev/null +++ b/structmsceqf_1_1_fast_options.js @@ -0,0 +1,4 @@ +var structmsceqf_1_1_fast_options = +[ + [ "fast_threshold_", "structmsceqf_1_1_fast_options.html#ade4338d85623f9b9112b81da82b1a144", null ] +]; \ No newline at end of file diff --git a/structmsceqf_1_1_feat_helper-members.html b/structmsceqf_1_1_feat_helper-members.html new file mode 100644 index 0000000..1ab14d9 --- /dev/null +++ b/structmsceqf_1_1_feat_helper-members.html @@ -0,0 +1,122 @@ + + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        msceqf::FeatHelper Member List
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        This is the complete list of members for msceqf::FeatHelper, including all inherited members.

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        A_f_msceqf::FeatHelper
        anchor_timestamp_msceqf::FeatHelper
        clone_timestamp_msceqf::FeatHelper
        FeatHelper(const Vector3 &A_f, const Vector2 &uv, const Vector2 &uvn, const fp &anchor_timestamp, const fp &clone_timestamp) (defined in msceqf::FeatHelper)msceqf::FeatHelperinline
        uv_msceqf::FeatHelper
        uvn_msceqf::FeatHelper
        +
        + + + + diff --git a/structmsceqf_1_1_feat_helper.html b/structmsceqf_1_1_feat_helper.html new file mode 100644 index 0000000..751585d --- /dev/null +++ b/structmsceqf_1_1_feat_helper.html @@ -0,0 +1,158 @@ + + + + + + + +MSCEqF: msceqf::FeatHelper Struct Reference + + + + + + + + + + + + + + + +
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        MSCEqF 1.0 +
        +
        Multi State Constraint Equivariant Filter for visual inertial navigation
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        msceqf::FeatHelper Struct Reference
        +
        +
        + +

        FeatHelper struct. This struct implements a helper structure holding all the information related to a single feature measurement to be used in the computation of the C matrix, Cf matrix and residual delta, for the MSCEqF update. + More...

        + +

        #include <updater_helper.hpp>

        + + + + +

        +Public Member Functions

        + FeatHelper (const Vector3 &A_f, const Vector2 &uv, const Vector2 &uvn, const fp &anchor_timestamp, const fp &clone_timestamp)
         
        + + + + + + + + + + + + + + + + +

        +Public Attributes

        +const Vector3 & A_f_
         Triangulated feature in anchor frame.
         
        +const Vector2 & uv_
         (measured) feature coordinates
         
        +const Vector2 & uvn_
         Normalized (measured) feature coordinates.
         
        +const fp & anchor_timestamp_
         Timestamp of the anchor.
         
        +const fp & clone_timestamp_
         Timestamp of the feature measurement.
         
        +

        Detailed Description

        +

        FeatHelper struct. This struct implements a helper structure holding all the information related to a single feature measurement to be used in the computation of the C matrix, Cf matrix and residual delta, for the MSCEqF update.

        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_feat_helper.js b/structmsceqf_1_1_feat_helper.js new file mode 100644 index 0000000..d33cbd2 --- /dev/null +++ b/structmsceqf_1_1_feat_helper.js @@ -0,0 +1,8 @@ +var structmsceqf_1_1_feat_helper = +[ + [ "A_f_", "structmsceqf_1_1_feat_helper.html#a2bb785571bb0f5a5e2ffd1d7c4df4703", null ], + [ "anchor_timestamp_", "structmsceqf_1_1_feat_helper.html#a528f8cd86b7b60150a89fe7033f31a87", null ], + [ "clone_timestamp_", "structmsceqf_1_1_feat_helper.html#a767bb0ca608969f02995fd66fbf4a0e2", null ], + [ "uv_", "structmsceqf_1_1_feat_helper.html#a31cf87e6ea5ab46cc607c753e0fde2e7", null ], + [ "uvn_", "structmsceqf_1_1_feat_helper.html#ae475cbe6d060b3a0616eca56220011c1", null ] +]; \ No newline at end of file diff --git a/structmsceqf_1_1_feature_state-members.html b/structmsceqf_1_1_feature_state-members.html new file mode 100644 index 0000000..e5aa349 --- /dev/null +++ b/structmsceqf_1_1_feature_state-members.html @@ -0,0 +1,127 @@ + + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
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        msceqf::FeatureState Member List
        +
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        This is the complete list of members for msceqf::FeatureState, including all inherited members.

        + + + + + + + + + + + + +
        clone() const overridemsceqf::FeatureStateinlinevirtual
        f_msceqf::FeatureState
        FeatureState() (defined in msceqf::FeatureState)msceqf::FeatureStateinline
        FeatureState(const Vector3 &f) (defined in msceqf::FeatureState)msceqf::FeatureStateinline
        FeatureState(const fp &x, const fp &y, const fp &z) (defined in msceqf::FeatureState)msceqf::FeatureStateinline
        operator=(const SystemStateElement &)=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementprotected
        operator=(SystemStateElement &&)=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementprotected
        SystemStateElement()=defaultmsceqf::SystemStateElementprotected
        SystemStateElement(const SystemStateElement &)=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementprotected
        SystemStateElement(SystemStateElement &&)=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementprotected
        ~SystemStateElement()=default (defined in msceqf::SystemStateElement)msceqf::SystemStateElementvirtual
        +
        + + + + diff --git a/structmsceqf_1_1_feature_state.html b/structmsceqf_1_1_feature_state.html new file mode 100644 index 0000000..ae8ba93 --- /dev/null +++ b/structmsceqf_1_1_feature_state.html @@ -0,0 +1,220 @@ + + + + + + + +MSCEqF: msceqf::FeatureState Struct Reference + + + + + + + + + + + + + + + +
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        MSCEqF 1.0 +
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        msceqf::FeatureState Struct Referencefinal
        +
        +
        + +

        This struct represent a single persistent feature state of the system. + More...

        + +

        #include <system_elements.hpp>

        +
        +Inheritance diagram for msceqf::FeatureState:
        +
        +
        Inheritance graph
        + + + + + +
        [legend]
        +
        +Collaboration diagram for msceqf::FeatureState:
        +
        +
        Collaboration graph
        + + + + + +
        [legend]
        + + + + + + + + + + +

        +Public Member Functions

        + FeatureState (const Vector3 &f)
         
        + FeatureState (const fp &x, const fp &y, const fp &z)
         
        std::unique_ptr< SystemStateElement > clone () const override
         Clone the persistent feature state element of the system.
         
        - Public Member Functions inherited from msceqf::SystemStateElement
        + + + + +

        +Public Attributes

        +Vector3 f_
         The persistent feature (f)
         
        + + + + + + + + + + + + + +

        +Additional Inherited Members

        - Protected Member Functions inherited from msceqf::SystemStateElement
        + SystemStateElement ()=default
         Rule of Five.
         
        + SystemStateElement (const SystemStateElement &)=default
         
        + SystemStateElement (SystemStateElement &&)=default
         
        +SystemStateElement & operator= (const SystemStateElement &)=default
         
        +SystemStateElement & operator= (SystemStateElement &&)=default
         
        +

        Detailed Description

        +

        This struct represent a single persistent feature state of the system.

        +

        Member Function Documentation

        + +

        ◆ clone()

        + +
        +
        + + + + + +
        + + + + + + + +
        std::unique_ptr< SystemStateElement > msceqf::FeatureState::clone () const
        +         		+inlineoverridevirtual
        +
        + +

        Clone the persistent feature state element of the system.

        +
        Returns
        Clone of the persistent feature state element
        + +

        Implements msceqf::SystemStateElement.

        + +
        +
        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_feature_state.js b/structmsceqf_1_1_feature_state.js new file mode 100644 index 0000000..4fef6a7 --- /dev/null +++ b/structmsceqf_1_1_feature_state.js @@ -0,0 +1,5 @@ +var structmsceqf_1_1_feature_state = +[ + [ "clone", "structmsceqf_1_1_feature_state.html#a78732a75e6d2b2704c8f26581f9aaf3c", null ], + [ "f_", "structmsceqf_1_1_feature_state.html#a462010b6dbc917a495bc0e91d779b00e", null ] +]; \ No newline at end of file diff --git a/structmsceqf_1_1_feature_state__coll__graph.map b/structmsceqf_1_1_feature_state__coll__graph.map new file mode 100644 index 0000000..88d2cb2 --- /dev/null +++ b/structmsceqf_1_1_feature_state__coll__graph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/structmsceqf_1_1_feature_state__coll__graph.md5 b/structmsceqf_1_1_feature_state__coll__graph.md5 new file mode 100644 index 0000000..a735049 --- /dev/null +++ b/structmsceqf_1_1_feature_state__coll__graph.md5 @@ -0,0 +1 @@ +05b2ab42b9f462bebe2c4e957c1ba910 \ No newline at end of file diff --git a/structmsceqf_1_1_feature_state__coll__graph.png b/structmsceqf_1_1_feature_state__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..30057a32cccb7c08cc739fd9791e23b8c3de449f GIT binary patch literal 5190 zcmc(j_dnI||Hn^OvPV`jqU^mL92wb3wrn!vpscJTGICHMqimwAL&mW;#|+tVGP24h z9Q%9u{Pz9}zPEEb=XKp~uXDX#*LXgkkH`Ibqo=D*PI8L`0)dcgYN+aiYd`qHiHX4P z8@^RIxDeTCtE)mTuRhsLg^3Ud?Wv}!lA(Y4CN|LU=IZhFoo#{150c9F>j?70jO*>< z8LDEUoumC4^Nn^BT9uRrK97ynV6-JxBwPgD;R;-j^B(3K#b&FG<<+P?2+MRBpJ3-u zYxOh`;t=2|Z;)?M#EIIziZE-#et>1YIFykSZyeem*b~_%YakZsX0(qL?M^+Q`H3>E zcKv{6CvHpDh!lOMq?(q6xOnL`<5RQgM?-MOlT+8t1HRrRlRYht0njdCjbJ5YnW8>pKrYJ+c_wU|?9;{DtN=hEQ zS+#`+UkrS6=%?>_Di+HuUDkgt1)q(U{^gIKnVA_K6BAZk%x~qtKzLi;zg&G6yp_26 z2{unOHg3kUxu8?ZVJ!ppHZT9#gjG8Thefgw~N;a2}j;@ss~7@1?ulh-mBp~ zh04i|R@h^p*aG9?-i{8HA2KUDG8jc6p?Eucdj|A&9BY=@-rgP+Gc&R&@W^g!wk|q8 zUJVWx`ktwPbm&jE9m##5_tkLmVlL!VFgG_>#OeEOw_lA+x8l@hjV&$Xz#79Sbb~_Os~M##B47!LiE$I-vGCJR}{ zXUB8xAi%l$3BmR2oQjHUsK&h*nbM-7B4rg7d@h~TP;)fgwm0D(4=-=qVi(fucQ^Un zyLVe>W|&dUCw%Q49oHaMR#tjEH;MYCq@<>*Txg}-rb6G)axZ51{b~cD!Jg7D>bqg; 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        MSCEqF 1.0 +
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        msceqf::Features Member List
        +
        +
        + +

        This is the complete list of members for msceqf::Features, including all inherited members.

        + + + + + + + + + +
        distorted_uvs_msceqf::Features
        empty() const noexceptmsceqf::Featuresinline
        FeatureIds typedefmsceqf::Features
        ids_msceqf::Features
        normalized_uvs_msceqf::Features
        removeInvalid(std::vector< bool > &invalid)msceqf::Featuresinline
        size() const noexceptmsceqf::Featuresinline
        uvs_msceqf::Features
        +
        + + + + diff --git a/structmsceqf_1_1_features.html b/structmsceqf_1_1_features.html new file mode 100644 index 0000000..25c5335 --- /dev/null +++ b/structmsceqf_1_1_features.html @@ -0,0 +1,259 @@ + + + + + + + +MSCEqF: msceqf::Features Struct Reference + + + + + + + + + + + + + + + +
        +
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        +
        MSCEqF 1.0 +
        +
        Multi State Constraint Equivariant Filter for visual inertial navigation
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        +Public Types | +Public Member Functions | +Public Attributes | +List of all members
        +
        msceqf::Features Struct Reference
        +
        +
        + +

        (Cache friendly) Features struct. Define a set of features detected/tracked. + More...

        + +

        #include <features.hpp>

        + + + + + +

        +Public Types

        +using FeatureIds = std::vector<uint>
         Vector of feature ids.
         
        + + + + + + + + + + +

        +Public Member Functions

        bool empty () const noexcept
         Check if there valid coordinates in uvs_.
         
        size_t size () const noexcept
         Return the amount of features (size of uvs_)
         
        void removeInvalid (std::vector< bool > &invalid)
         Remove invalid features coordinates, normalized feature coordinates and ids given a vector of boolean flags indicating invalid features.
         
        + + + + + + + + + + + + + +

        +Public Attributes

        +FeaturesCoordinates distorted_uvs_
         Distorted (u, v) coordinates of the features detected/tracked.
         
        +FeaturesCoordinates uvs_
         Undistorted (u, v) coordinates of the features detected/tracked.
         
        +FeaturesCoordinates normalized_uvs_
         Undistorted normalized (u, v) coordinates of features detected/tracked.
         
        +FeatureIds ids_
         Id of the features detected/tracked.
         
        +

        Detailed Description

        +

        (Cache friendly) Features struct. Define a set of features detected/tracked.

        +
        Note
        Note that feature cordinates are of cv::Point2f type for compatibility with OpenCV.
        +

        Member Function Documentation

        + +

        ◆ empty()

        + +
        +
        + + + + + +
        + + + + + + + +
        bool msceqf::Features::empty () const
        +         		+inlinenoexcept
        +
        + +

        Check if there valid coordinates in uvs_.

        +
        Returns
        true if coordinates are found, false otherwise
        + +
        +
        + +

        ◆ removeInvalid()

        + +
        +
        + + + + + +
        + + + + + + + +
        void msceqf::Features::removeInvalid (std::vector< bool > & invalid)
        +         		+inline
        +
        + +

        Remove invalid features coordinates, normalized feature coordinates and ids given a vector of boolean flags indicating invalid features.

        +
        Parameters
        + + +
        invalidVector of boolean flags indicating invalid features
        +
        +
        + +
        +
        + +

        ◆ size()

        + +
        +
        + + + + + +
        + + + + + + + +
        size_t msceqf::Features::size () const
        +         		+inlinenoexcept
        +
        + +

        Return the amount of features (size of uvs_)

        +
        Returns
        Number of features
        + +
        +
        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_features.js b/structmsceqf_1_1_features.js new file mode 100644 index 0000000..2dacc84 --- /dev/null +++ b/structmsceqf_1_1_features.js @@ -0,0 +1,11 @@ +var structmsceqf_1_1_features = +[ + [ "FeatureIds", "structmsceqf_1_1_features.html#a8fde740a86aff8771dcd4136da02e465", null ], + [ "empty", "structmsceqf_1_1_features.html#ad5ba9089e87e84c92e1a95b0bce56dd1", null ], + [ "removeInvalid", "structmsceqf_1_1_features.html#a7c88b6d974425f8fc019183328f8a59a", null ], + [ "size", "structmsceqf_1_1_features.html#afe00a99b4854fc45c7d07b4ce3253c7b", null ], + [ "distorted_uvs_", "structmsceqf_1_1_features.html#a5fbe92994383ca26927684c8367bfa49", null ], + [ "ids_", "structmsceqf_1_1_features.html#a81dc275fec850f5776c43ae1e59ef34b", null ], + [ "normalized_uvs_", "structmsceqf_1_1_features.html#a8cf1d4a15a874c7c233ca7a80cbeea2a", null ], + [ "uvs_", "structmsceqf_1_1_features.html#a730289b0f2b09da19b28b3dc02030b42", null ] +]; \ No newline at end of file diff --git a/structmsceqf_1_1_g_f_t_t_options-members.html b/structmsceqf_1_1_g_f_t_t_options-members.html new file mode 100644 index 0000000..65832c1 --- /dev/null +++ b/structmsceqf_1_1_g_f_t_t_options-members.html @@ -0,0 +1,117 @@ + + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
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        msceqf::GFTTOptions Member List
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        This is the complete list of members for msceqf::GFTTOptions, including all inherited members.

        + + +
        quality_level_msceqf::GFTTOptions
        +
        + + + + diff --git a/structmsceqf_1_1_g_f_t_t_options.html b/structmsceqf_1_1_g_f_t_t_options.html new file mode 100644 index 0000000..1a751a8 --- /dev/null +++ b/structmsceqf_1_1_g_f_t_t_options.html @@ -0,0 +1,128 @@ + + + + + + + +MSCEqF: msceqf::GFTTOptions Struct Reference + + + + + + + + + + + + + + + +
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        msceqf::GFTTOptions Struct Reference
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        +Public Attributes

        +fp quality_level_
         Shi-Tomasi detector quality level (The lower the more feature are detected/accepted)
         
        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_g_f_t_t_options.js b/structmsceqf_1_1_g_f_t_t_options.js new file mode 100644 index 0000000..4e604f6 --- /dev/null +++ b/structmsceqf_1_1_g_f_t_t_options.js @@ -0,0 +1,4 @@ +var structmsceqf_1_1_g_f_t_t_options = +[ + [ "quality_level_", "structmsceqf_1_1_g_f_t_t_options.html#a60bcbc0484630508adbf7ccfffe8c8fc", null ] +]; \ No newline at end of file diff --git a/structmsceqf_1_1_imu-members.html b/structmsceqf_1_1_imu-members.html new file mode 100644 index 0000000..2bf8e3f --- /dev/null +++ b/structmsceqf_1_1_imu-members.html @@ -0,0 +1,125 @@ + + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
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        msceqf::Imu Member List
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        This is the complete list of members for msceqf::Imu, including all inherited members.

        + + + + + + + + + + +
        acc_msceqf::Imu
        ang_msceqf::Imu
        operator<(const Imu &lhs, const Imu &rhs)msceqf::Imufriend
        operator<(const Imu &lhs, const fp &timestamp)msceqf::Imufriend
        operator< (defined in msceqf::Imu)msceqf::Imufriend
        operator<<(std::ostream &stream, Imu const &imu)msceqf::Imufriend
        timestamp_msceqf::Imu
        W() constmsceqf::Imuinline
        w() constmsceqf::Imuinline
        +
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        msceqf::Imu Struct Reference
        +
        +
        + +

        Struct for one IMU reading. It includes timestamp, angular velocity and linear acceleration. -1 indicates an invalid timestamp. + More...

        + +

        #include <sensor_data.hpp>

        + + + + + + + + +

        +Public Member Functions

        const Vector6 w () const
         Get the IMU measurement as a 6 vector (ang, acc)
         
        const Matrix5 W () const
         get the IMU measurement as an extended matrix (ang, acc, 0)^ (SE23 lie algebra element)
         
        + + + + + + + + + + +

        +Public Attributes

        +Vector3 ang_ = Vector3::Zero()
         Angular velocity vector.
         
        +Vector3 acc_ = Vector3::Zero()
         Acceleration vector.
         
        +fp timestamp_ = -1
         Timestamp of the IMU reading.
         
        + + + + + + + + + + + + +

        +Friends

        +bool operator< (const Imu &lhs, const Imu &rhs)
         Comparison operator with other imu.
         
        +bool operator< (const Imu &lhs, const fp &timestamp)
         Comparison operator with timestamp.
         
        +bool operator< (const fp &timestamp, const Imu &rhs)
         
        +std::ostream & operator<< (std::ostream &stream, Imu const &imu)
         Stream an Imu.
         
        +

        Detailed Description

        +

        Struct for one IMU reading. It includes timestamp, angular velocity and linear acceleration. -1 indicates an invalid timestamp.

        +

        Member Function Documentation

        + +

        ◆ W()

        + +
        +
        + + + + + +
        + + + + + + + +
        const Matrix5 msceqf::Imu::W () const
        +         		+inline
        +
        + +

        get the IMU measurement as an extended matrix (ang, acc, 0)^ (SE23 lie algebra element)

        +
        Returns
        IMU measurement as a SE23 lie algebra element
        +
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        ◆ w()

        + +
        +
        + + + + + +
        + + + + + + + +
        const Vector6 msceqf::Imu::w () const
        +         		+inline
        +
        + +

        Get the IMU measurement as a 6 vector (ang, acc)

        +
        Returns
        R6 vector representing the IMU measurement as stacked angular velocity and linear acceleration
        + +
        +
        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_imu.js b/structmsceqf_1_1_imu.js new file mode 100644 index 0000000..2adea81 --- /dev/null +++ b/structmsceqf_1_1_imu.js @@ -0,0 +1,11 @@ +var structmsceqf_1_1_imu = +[ + [ "W", "structmsceqf_1_1_imu.html#abfb41a7dd565a216b9d2392e4b308fcf", null ], + [ "w", "structmsceqf_1_1_imu.html#a8995590a4492fb0fcec520efe985456b", null ], + [ "operator<", "structmsceqf_1_1_imu.html#a781bdbdb2b8f42651f7af7973f4e58f4", null ], + [ "operator<", "structmsceqf_1_1_imu.html#a1fbb26978848607614bfc802d9af2b65", null ], + [ "operator<<", "structmsceqf_1_1_imu.html#adff300fb97f6ad0dd6cc8145da362e0d", null ], + [ "acc_", "structmsceqf_1_1_imu.html#a1b29298f3701300d491570bd8cd5c4f0", null ], + [ "ang_", "structmsceqf_1_1_imu.html#acde575da260744b95bf84f6bd1fb1c96", null ], + [ "timestamp_", "structmsceqf_1_1_imu.html#a1376f522b2baafc4f5f37d27fe1afa65", null ] +]; \ No newline at end of file diff --git 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        msceqf::InitializerOptions Member List
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        initial_bias_msceqf::InitializerOptions
        initial_extended_pose_msceqf::InitializerOptions
        initial_timestamp_msceqf::InitializerOptions
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        +
        msceqf::InitializerOptions Struct Reference
        +
        +
        + + + + + + + + + + + + + + + + + + + + + + + + + + +

        +Public Attributes

        +fp acc_threshold_
         The acceleration threshold for the static initializer.
         
        +fp imu_init_window_
         The window in seconds used to check for acceleration spikes.
         
        +fp gravity_
         The magnitude of the gravity vector in m/s^2.
         
        +bool identity_b0_
         Boolean to fix identity bias origin (b0)git.
         
        +bool init_with_given_state_
         Boolean to initialize the state with the given state.
         
        +SE23 initial_extended_pose_
         Initial extended pose.
         
        +Vector6 initial_bias_
         Initial bias.
         
        +fp initial_timestamp_
         Initial timestamp.
         
        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_initializer_options.js b/structmsceqf_1_1_initializer_options.js new file mode 100644 index 0000000..64feb54 --- /dev/null +++ b/structmsceqf_1_1_initializer_options.js @@ -0,0 +1,11 @@ +var structmsceqf_1_1_initializer_options = +[ + [ "acc_threshold_", "structmsceqf_1_1_initializer_options.html#a3637229cb8d7ea08e6f6db72f2a50aa7", null ], + [ "gravity_", "structmsceqf_1_1_initializer_options.html#af5d2bb0318dc2a628104617913cabf2a", null ], + [ "identity_b0_", "structmsceqf_1_1_initializer_options.html#a194530030e0eba4dfffe36bb6f5f374f", null ], + [ "imu_init_window_", "structmsceqf_1_1_initializer_options.html#a01c8b424c7af158a387246a9ae0696cc", null ], + [ "init_with_given_state_", "structmsceqf_1_1_initializer_options.html#a97f3c4efe0e032f6c170a6f740501720", null ], + [ "initial_bias_", "structmsceqf_1_1_initializer_options.html#ae95ee6e8ceea1c1777e11531f3c24fb7", null ], + [ "initial_extended_pose_", "structmsceqf_1_1_initializer_options.html#a140a7ca78f60b62e07ddbb7bb6d4a166", null ], + [ "initial_timestamp_", "structmsceqf_1_1_initializer_options.html#a4dea2104c8933f1ade1aa06be40da2d1", null ] +]; \ No newline at end of file diff --git a/structmsceqf_1_1_m_s_c_eq_f_in_state-members.html b/structmsceqf_1_1_m_s_c_eq_f_in_state-members.html new file mode 100644 index 0000000..d8e5660 --- /dev/null +++ b/structmsceqf_1_1_m_s_c_eq_f_in_state-members.html @@ -0,0 +1,134 @@ + + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
        +
        + + + + + + + +
        +
        MSCEqF 1.0 +
        +
        Multi State Constraint Equivariant Filter for visual inertial navigation
        +
        +
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        msceqf::MSCEqFInState Member List
        +
        +
        + +

        This is the complete list of members for msceqf::MSCEqFInState, including all inherited members.

        + + + + + + + + + + + + + + + + + + + +
        clone() const overridemsceqf::MSCEqFInStateinlinevirtual
        dof_msceqf::MSCEqFStateElementprotected
        getDof()msceqf::MSCEqFStateElementinline
        getIndex()msceqf::MSCEqFStateElementinline
        idx_msceqf::MSCEqFStateElementprotected
        L_msceqf::MSCEqFInState
        MSCEqFInState()=deletemsceqf::MSCEqFInState
        MSCEqFInState(const uint &idx)msceqf::MSCEqFInStateinline
        MSCEqFStateElement()=deletemsceqf::MSCEqFStateElementprotected
        MSCEqFStateElement(const MSCEqFStateElement &)=default (defined in msceqf::MSCEqFStateElement)msceqf::MSCEqFStateElementprotected
        MSCEqFStateElement(MSCEqFStateElement &&)=default (defined in msceqf::MSCEqFStateElement)msceqf::MSCEqFStateElementprotected
        MSCEqFStateElement(const uint &idx, const uint &dof)msceqf::MSCEqFStateElementinlineprotected
        operator=(const MSCEqFStateElement &)=default (defined in msceqf::MSCEqFStateElement)msceqf::MSCEqFStateElementprotected
        operator=(MSCEqFStateElement &&)=default (defined in msceqf::MSCEqFStateElement)msceqf::MSCEqFStateElementprotected
        updateIndex(const uint &new_idx)msceqf::MSCEqFStateElementinline
        updateLeft(const VectorX &delta) overridemsceqf::MSCEqFInStateinlinevirtual
        updateRight(const VectorX &delta) overridemsceqf::MSCEqFInStateinlinevirtual
        ~MSCEqFStateElement()=default (defined in msceqf::MSCEqFStateElement)msceqf::MSCEqFStateElementvirtual
        +
        + + + + diff --git a/structmsceqf_1_1_m_s_c_eq_f_in_state.html b/structmsceqf_1_1_m_s_c_eq_f_in_state.html new file mode 100644 index 0000000..6d1ca32 --- /dev/null +++ b/structmsceqf_1_1_m_s_c_eq_f_in_state.html @@ -0,0 +1,352 @@ + + + + + + + +MSCEqF: msceqf::MSCEqFInState Struct Reference + + + + + + + + + + + + + + + +
        +
        + + + + + + + +
        +
        MSCEqF 1.0 +
        +
        Multi State Constraint Equivariant Filter for visual inertial navigation
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        +
        msceqf::MSCEqFInState Struct Referencefinal
        +
        +
        + +

        This struct represent the Intrinsic state of the MSCEqF. + More...

        + +

        #include <state_elements.hpp>

        +
        +Inheritance diagram for msceqf::MSCEqFInState:
        +
        +
        Inheritance graph
        + + + + + +
        [legend]
        +
        +Collaboration diagram for msceqf::MSCEqFInState:
        +
        +
        Collaboration graph
        + + + + + +
        [legend]
        + + + + + + + + + + + + + + + + + + + + + + + + + + + +

        +Public Member Functions

        + MSCEqFInState ()=delete
         Deleted default constructor.
         
         MSCEqFInState (const uint &idx)
         Construct an identity MSCEqFInState object.
         
        void updateRight (const VectorX &delta) override
         Update the Intrinsic element of the state by right multiplication.
         
        void updateLeft (const VectorX &delta) override
         Update the Intrinsic element of the state by left multiplication.
         
        std::unique_ptr< MSCEqFStateElement > clone () const override
         Clone the Special Intrinsic (In) element of state of the MSCEqF.
         
        - Public Member Functions inherited from msceqf::MSCEqFStateElement
        const uint & getIndex ()
         Get the starting index of the state element in the residual, and in the covariance.
         
        const uint & getDof ()
         Get the degrees of freedom of the state element (dimension of relative covariance and residual block)
         
        void updateIndex (const uint &new_idx)
         Update index.
         
        + + + + +

        +Public Attributes

        +In L_
         The Intrinsic element of the state.
         
        + + + + + + + + + + + + + + + + + + + + + + + +

        +Additional Inherited Members

        - Protected Member Functions inherited from msceqf::MSCEqFStateElement
        + MSCEqFStateElement ()=delete
         Rule of Five.
         
        + MSCEqFStateElement (const MSCEqFStateElement &)=default
         
        + MSCEqFStateElement (MSCEqFStateElement &&)=default
         
        +MSCEqFStateElement & operator= (const MSCEqFStateElement &)=default
         
        +MSCEqFStateElement & operator= (MSCEqFStateElement &&)=default
         
         MSCEqFStateElement (const uint &idx, const uint &dof)
         Construct a MSCEqFStateElement object.
         
        - Protected Attributes inherited from msceqf::MSCEqFStateElement
        +uint idx_
         Starting index of the element in the residual, and in the covariance.
         
        +uint dof_
         Degrees of freedom of the element (dimension of relative covariance and residual block)
         
        +

        Detailed Description

        +

        This struct represent the Intrinsic state of the MSCEqF.

        +

        Constructor & Destructor Documentation

        + +

        ◆ MSCEqFInState()

        + +
        +
        + + + + + +
        + + + + + + + +
        msceqf::MSCEqFInState::MSCEqFInState (const uint & idx)
        +         		+inline
        +
        + +

        Construct an identity MSCEqFInState object.

        +
        Parameters
        + + +
        idxStarting index of the variable in the covariance
        +
        +
        + +
        +
        +

        Member Function Documentation

        + +

        ◆ clone()

        + +
        +
        + + + + + +
        + + + + + + + +
        std::unique_ptr< MSCEqFStateElement > msceqf::MSCEqFInState::clone () const
        +         		+inlineoverridevirtual
        +
        + +

        Clone the Special Intrinsic (In) element of state of the MSCEqF.

        +
        Returns
        Clone of the In element
        + +

        Implements msceqf::MSCEqFStateElement.

        + +
        +
        + +

        ◆ updateLeft()

        + +
        +
        + + + + + +
        + + + + + + + +
        void msceqf::MSCEqFInState::updateLeft (const VectorX & delta)
        +         		+inlineoverridevirtual
        +
        + +

        Update the Intrinsic element of the state by left multiplication.

        +
        Parameters
        + + +
        deltaDelta vector to update the state element with on the left side
        +
        +
        + +

        Implements msceqf::MSCEqFStateElement.

        + +
        +
        + +

        ◆ updateRight()

        + +
        +
        + + + + + +
        + + + + + + + +
        void msceqf::MSCEqFInState::updateRight (const VectorX & delta)
        +         		+inlineoverridevirtual
        +
        + +

        Update the Intrinsic element of the state by right multiplication.

        +
        Parameters
        + + +
        deltaDelta vector to update the state element with on the right side
        +
        +
        + +

        Implements msceqf::MSCEqFStateElement.

        + +
        +
        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_m_s_c_eq_f_in_state.js b/structmsceqf_1_1_m_s_c_eq_f_in_state.js new file mode 100644 index 0000000..e67765b --- /dev/null +++ b/structmsceqf_1_1_m_s_c_eq_f_in_state.js @@ -0,0 +1,9 @@ +var structmsceqf_1_1_m_s_c_eq_f_in_state = +[ + [ "MSCEqFInState", "structmsceqf_1_1_m_s_c_eq_f_in_state.html#ae00aed09ebc708074e19e0764af02a2f", null ], + [ "MSCEqFInState", "structmsceqf_1_1_m_s_c_eq_f_in_state.html#a38c26be4cf996d2b7e0830a655204e84", null ], + [ "clone", "structmsceqf_1_1_m_s_c_eq_f_in_state.html#a16b225fd2d52d4cd68ed3db04e367126", null ], + [ "updateLeft", "structmsceqf_1_1_m_s_c_eq_f_in_state.html#ab02dac4244b83fe1eac44772441ac9c1", null ], + [ "updateRight", "structmsceqf_1_1_m_s_c_eq_f_in_state.html#ae3b474fb0284b4f30b20ffc9ca010cec", null ], + [ "L_", "structmsceqf_1_1_m_s_c_eq_f_in_state.html#a65501fee59803d8c5d23a0267905aaad", null ] +]; \ No newline at end of file diff --git a/structmsceqf_1_1_m_s_c_eq_f_in_state__coll__graph.map 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        MSCEqF 1.0 +
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        msceqf::MSCEqFOptions Member List
        +
        +
        + +

        This is the complete list of members for msceqf::MSCEqFOptions, including all inherited members.

        + + + + + + + + +
        checker_options_msceqf::MSCEqFOptions
        init_options_msceqf::MSCEqFOptions
        propagator_options_msceqf::MSCEqFOptions
        state_options_msceqf::MSCEqFOptions
        track_manager_options_msceqf::MSCEqFOptions
        updater_options_msceqf::MSCEqFOptions
        zvupdater_options_msceqf::MSCEqFOptions
        +
        + + + + diff --git a/structmsceqf_1_1_m_s_c_eq_f_options.html b/structmsceqf_1_1_m_s_c_eq_f_options.html new file mode 100644 index 0000000..6bb2a30 --- /dev/null +++ b/structmsceqf_1_1_m_s_c_eq_f_options.html @@ -0,0 +1,182 @@ + + + + + + + +MSCEqF: msceqf::MSCEqFOptions Struct Reference + + + + + + + + + + + + + + + +
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        MSCEqF 1.0 +
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        +Public Attributes | +List of all members
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        msceqf::MSCEqFOptions Struct Reference
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        +Collaboration diagram for msceqf::MSCEqFOptions:
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        Collaboration graph
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        [legend]
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        +Public Attributes

        +TrackManagerOptions track_manager_options_
         The track manager options.
         
        +StateOptions state_options_
         The state options.
         
        +CheckerOptions checker_options_
         The checker options.
         
        +InitializerOptions init_options_
         The initializer options.
         
        +PropagatorOptions propagator_options_
         The propagator options.
         
        +UpdaterOptions updater_options_
         The updater options.
         
        +ZeroVelocityUpdaterOptions zvupdater_options_
         The zero velocity updater options.
         
        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_m_s_c_eq_f_options.js b/structmsceqf_1_1_m_s_c_eq_f_options.js new file mode 100644 index 0000000..05a075c --- /dev/null +++ b/structmsceqf_1_1_m_s_c_eq_f_options.js @@ -0,0 +1,10 @@ +var structmsceqf_1_1_m_s_c_eq_f_options = +[ + [ "checker_options_", "structmsceqf_1_1_m_s_c_eq_f_options.html#ad4bed3e7a75974a68885be31c5e3c5c2", null ], + [ "init_options_", "structmsceqf_1_1_m_s_c_eq_f_options.html#a5344579e4360786c93cb0d18a19a0b7a", null ], + [ "propagator_options_", "structmsceqf_1_1_m_s_c_eq_f_options.html#aca71bafd065f917ba0ac290bab7f9c5d", null ], + [ "state_options_", "structmsceqf_1_1_m_s_c_eq_f_options.html#a44a0bb324dc700c40146b30fea096ada", null ], + [ "track_manager_options_", "structmsceqf_1_1_m_s_c_eq_f_options.html#a3e766d4912438667c47a3370986e36f9", null ], + [ "updater_options_", "structmsceqf_1_1_m_s_c_eq_f_options.html#a9c225f2da97619b0b32b82f64a40ad64", null ], + [ "zvupdater_options_", 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        MSCEqF 1.0 +
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        msceqf::MSCEqFSDBState Member List
        +
        +
        + +

        This is the complete list of members for msceqf::MSCEqFSDBState, including all inherited members.

        + + + + + + + + + + + + + + + + + + + +
        clone() const overridemsceqf::MSCEqFSDBStateinlinevirtual
        Dd_msceqf::MSCEqFSDBState
        dof_msceqf::MSCEqFStateElementprotected
        getDof()msceqf::MSCEqFStateElementinline
        getIndex()msceqf::MSCEqFStateElementinline
        idx_msceqf::MSCEqFStateElementprotected
        MSCEqFSDBState()=deletemsceqf::MSCEqFSDBState
        MSCEqFSDBState(const uint &idx)msceqf::MSCEqFSDBStateinline
        MSCEqFStateElement()=deletemsceqf::MSCEqFStateElementprotected
        MSCEqFStateElement(const MSCEqFStateElement &)=default (defined in msceqf::MSCEqFStateElement)msceqf::MSCEqFStateElementprotected
        MSCEqFStateElement(MSCEqFStateElement &&)=default (defined in msceqf::MSCEqFStateElement)msceqf::MSCEqFStateElementprotected
        MSCEqFStateElement(const uint &idx, const uint &dof)msceqf::MSCEqFStateElementinlineprotected
        operator=(const MSCEqFStateElement &)=default (defined in msceqf::MSCEqFStateElement)msceqf::MSCEqFStateElementprotected
        operator=(MSCEqFStateElement &&)=default (defined in msceqf::MSCEqFStateElement)msceqf::MSCEqFStateElementprotected
        updateIndex(const uint &new_idx)msceqf::MSCEqFStateElementinline
        updateLeft(const VectorX &delta) overridemsceqf::MSCEqFSDBStateinlinevirtual
        updateRight(const VectorX &delta) overridemsceqf::MSCEqFSDBStateinlinevirtual
        ~MSCEqFStateElement()=default (defined in msceqf::MSCEqFStateElement)msceqf::MSCEqFStateElementvirtual
        +
        + + + + diff --git a/structmsceqf_1_1_m_s_c_eq_f_s_d_b_state.html b/structmsceqf_1_1_m_s_c_eq_f_s_d_b_state.html new file mode 100644 index 0000000..5383169 --- /dev/null +++ b/structmsceqf_1_1_m_s_c_eq_f_s_d_b_state.html @@ -0,0 +1,352 @@ + + + + + + + +MSCEqF: msceqf::MSCEqFSDBState Struct Reference + + + + + + + + + + + + + + + +
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        MSCEqF 1.0 +
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        +Public Member Functions | +Public Attributes | +List of all members
        +
        msceqf::MSCEqFSDBState Struct Referencefinal
        +
        +
        + +

        This struct represent the Semi Direct bias state of the MSCEqF. + More...

        + +

        #include <state_elements.hpp>

        +
        +Inheritance diagram for msceqf::MSCEqFSDBState:
        +
        +
        Inheritance graph
        + + + + + +
        [legend]
        +
        +Collaboration diagram for msceqf::MSCEqFSDBState:
        +
        +
        Collaboration graph
        + + + + + +
        [legend]
        + + + + + + + + + + + + + + + + + + + + + + + + + + + +

        +Public Member Functions

        + MSCEqFSDBState ()=delete
         Deleted default constructor.
         
         MSCEqFSDBState (const uint &idx)
         Construct an identity MSCEqFSDBState object.
         
        void updateRight (const VectorX &delta) override
         Update the Semi Direct Bias element of the state by right multiplication.
         
        void updateLeft (const VectorX &delta) override
         Update the Semi Direct Bias element of the state by left multiplication.
         
        std::unique_ptr< MSCEqFStateElement > clone () const override
         Clone the Semi Direct bias (SDB) element of state of the MSCEqF.
         
        - Public Member Functions inherited from msceqf::MSCEqFStateElement
        const uint & getIndex ()
         Get the starting index of the state element in the residual, and in the covariance.
         
        const uint & getDof ()
         Get the degrees of freedom of the state element (dimension of relative covariance and residual block)
         
        void updateIndex (const uint &new_idx)
         Update index.
         
        + + + + +

        +Public Attributes

        +SDB Dd_
         The Semi Direct Bias element of the state.
         
        + + + + + + + + + + + + + + + + + + + + + + + +

        +Additional Inherited Members

        - Protected Member Functions inherited from msceqf::MSCEqFStateElement
        + MSCEqFStateElement ()=delete
         Rule of Five.
         
        + MSCEqFStateElement (const MSCEqFStateElement &)=default
         
        + MSCEqFStateElement (MSCEqFStateElement &&)=default
         
        +MSCEqFStateElement & operator= (const MSCEqFStateElement &)=default
         
        +MSCEqFStateElement & operator= (MSCEqFStateElement &&)=default
         
         MSCEqFStateElement (const uint &idx, const uint &dof)
         Construct a MSCEqFStateElement object.
         
        - Protected Attributes inherited from msceqf::MSCEqFStateElement
        +uint idx_
         Starting index of the element in the residual, and in the covariance.
         
        +uint dof_
         Degrees of freedom of the element (dimension of relative covariance and residual block)
         
        +

        Detailed Description

        +

        This struct represent the Semi Direct bias state of the MSCEqF.

        +

        Constructor & Destructor Documentation

        + +

        ◆ MSCEqFSDBState()

        + +
        +
        + + + + + +
        + + + + + + + +
        msceqf::MSCEqFSDBState::MSCEqFSDBState (const uint & idx)
        +         		+inline
        +
        + +

        Construct an identity MSCEqFSDBState object.

        +
        Parameters
        + + +
        idxStarting index of the variable in the covariance
        +
        +
        + +
        +
        +

        Member Function Documentation

        + +

        ◆ clone()

        + +
        +
        + + + + + +
        + + + + + + + +
        std::unique_ptr< MSCEqFStateElement > msceqf::MSCEqFSDBState::clone () const
        +         		+inlineoverridevirtual
        +
        + +

        Clone the Semi Direct bias (SDB) element of state of the MSCEqF.

        +
        Returns
        Clone of the SDB element
        + +

        Implements msceqf::MSCEqFStateElement.

        + +
        +
        + +

        ◆ updateLeft()

        + +
        +
        + + + + + +
        + + + + + + + +
        void msceqf::MSCEqFSDBState::updateLeft (const VectorX & delta)
        +         		+inlineoverridevirtual
        +
        + +

        Update the Semi Direct Bias element of the state by left multiplication.

        +
        Parameters
        + + +
        deltaDelta vector to update the state element with on the left side
        +
        +
        + +

        Implements msceqf::MSCEqFStateElement.

        + +
        +
        + +

        ◆ updateRight()

        + +
        +
        + + + + + +
        + + + + + + + +
        void msceqf::MSCEqFSDBState::updateRight (const VectorX & delta)
        +         		+inlineoverridevirtual
        +
        + +

        Update the Semi Direct Bias element of the state by right multiplication.

        +
        Parameters
        + + +
        deltaDelta vector to update the state element with on the right side
        +
        +
        + +

        Implements msceqf::MSCEqFStateElement.

        + +
        +
        +
        The documentation for this struct was generated from the following file: +
        +
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        MSCEqF 1.0 +
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        msceqf::MSCEqFSE3State Member List
        +
        +
        + +

        This is the complete list of members for msceqf::MSCEqFSE3State, including all inherited members.

        + + + + + + + + + + + + + + + + + + + +
        clone() const overridemsceqf::MSCEqFSE3Stateinlinevirtual
        dof_msceqf::MSCEqFStateElementprotected
        E_msceqf::MSCEqFSE3State
        getDof()msceqf::MSCEqFStateElementinline
        getIndex()msceqf::MSCEqFStateElementinline
        idx_msceqf::MSCEqFStateElementprotected
        MSCEqFSE3State()=deletemsceqf::MSCEqFSE3State
        MSCEqFSE3State(const uint &idx)msceqf::MSCEqFSE3Stateinline
        MSCEqFStateElement()=deletemsceqf::MSCEqFStateElementprotected
        MSCEqFStateElement(const MSCEqFStateElement &)=default (defined in msceqf::MSCEqFStateElement)msceqf::MSCEqFStateElementprotected
        MSCEqFStateElement(MSCEqFStateElement &&)=default (defined in msceqf::MSCEqFStateElement)msceqf::MSCEqFStateElementprotected
        MSCEqFStateElement(const uint &idx, const uint &dof)msceqf::MSCEqFStateElementinlineprotected
        operator=(const MSCEqFStateElement &)=default (defined in msceqf::MSCEqFStateElement)msceqf::MSCEqFStateElementprotected
        operator=(MSCEqFStateElement &&)=default (defined in msceqf::MSCEqFStateElement)msceqf::MSCEqFStateElementprotected
        updateIndex(const uint &new_idx)msceqf::MSCEqFStateElementinline
        updateLeft(const VectorX &delta) overridemsceqf::MSCEqFSE3Stateinlinevirtual
        updateRight(const VectorX &delta) overridemsceqf::MSCEqFSE3Stateinlinevirtual
        ~MSCEqFStateElement()=default (defined in msceqf::MSCEqFStateElement)msceqf::MSCEqFStateElementvirtual
        +
        + + + + diff --git a/structmsceqf_1_1_m_s_c_eq_f_s_e3_state.html b/structmsceqf_1_1_m_s_c_eq_f_s_e3_state.html new file mode 100644 index 0000000..321f500 --- /dev/null +++ b/structmsceqf_1_1_m_s_c_eq_f_s_e3_state.html @@ -0,0 +1,352 @@ + + + + + + + +MSCEqF: msceqf::MSCEqFSE3State Struct Reference + + + + + + + + + + + + + + + +
        +
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        MSCEqF 1.0 +
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        +Public Member Functions | +Public Attributes | +List of all members
        +
        msceqf::MSCEqFSE3State Struct Referencefinal
        +
        +
        + +

        This struct represent the Special Euclidean Group of dimension 3 state of the MSCEqF. + More...

        + +

        #include <state_elements.hpp>

        +
        +Inheritance diagram for msceqf::MSCEqFSE3State:
        +
        +
        Inheritance graph
        + + + + + +
        [legend]
        +
        +Collaboration diagram for msceqf::MSCEqFSE3State:
        +
        +
        Collaboration graph
        + + + + + +
        [legend]
        + + + + + + + + + + + + + + + + + + + + + + + + + + + +

        +Public Member Functions

        + MSCEqFSE3State ()=delete
         Deleted default constructor.
         
         MSCEqFSE3State (const uint &idx)
         Construct an identity MSCEqFSE3State object.
         
        void updateRight (const VectorX &delta) override
         Update the Special Euclidean Group element of the state by right multiplication.
         
        void updateLeft (const VectorX &delta) override
         Update the Special Euclidean Group element of the state by left multiplication.
         
        std::unique_ptr< MSCEqFStateElement > clone () const override
         Clone the Special Euclidean Group (SE3) element of state of the MSCEqF.
         
        - Public Member Functions inherited from msceqf::MSCEqFStateElement
        const uint & getIndex ()
         Get the starting index of the state element in the residual, and in the covariance.
         
        const uint & getDof ()
         Get the degrees of freedom of the state element (dimension of relative covariance and residual block)
         
        void updateIndex (const uint &new_idx)
         Update index.
         
        + + + + +

        +Public Attributes

        +SE3 E_
         The Special Euclidean element of the state.
         
        + + + + + + + + + + + + + + + + + + + + + + + +

        +Additional Inherited Members

        - Protected Member Functions inherited from msceqf::MSCEqFStateElement
        + MSCEqFStateElement ()=delete
         Rule of Five.
         
        + MSCEqFStateElement (const MSCEqFStateElement &)=default
         
        + MSCEqFStateElement (MSCEqFStateElement &&)=default
         
        +MSCEqFStateElement & operator= (const MSCEqFStateElement &)=default
         
        +MSCEqFStateElement & operator= (MSCEqFStateElement &&)=default
         
         MSCEqFStateElement (const uint &idx, const uint &dof)
         Construct a MSCEqFStateElement object.
         
        - Protected Attributes inherited from msceqf::MSCEqFStateElement
        +uint idx_
         Starting index of the element in the residual, and in the covariance.
         
        +uint dof_
         Degrees of freedom of the element (dimension of relative covariance and residual block)
         
        +

        Detailed Description

        +

        This struct represent the Special Euclidean Group of dimension 3 state of the MSCEqF.

        +

        Constructor & Destructor Documentation

        + +

        ◆ MSCEqFSE3State()

        + +
        +
        + + + + + +
        + + + + + + + +
        msceqf::MSCEqFSE3State::MSCEqFSE3State (const uint & idx)
        +         		+inline
        +
        + +

        Construct an identity MSCEqFSE3State object.

        +
        Parameters
        + + +
        idxStarting index of the variable in the covariance
        +
        +
        + +
        +
        +

        Member Function Documentation

        + +

        ◆ clone()

        + +
        +
        + + + + + +
        + + + + + + + +
        std::unique_ptr< MSCEqFStateElement > msceqf::MSCEqFSE3State::clone () const
        +         		+inlineoverridevirtual
        +
        + +

        Clone the Special Euclidean Group (SE3) element of state of the MSCEqF.

        +
        Returns
        Clone of the SE3 element
        + +

        Implements msceqf::MSCEqFStateElement.

        + +
        +
        + +

        ◆ updateLeft()

        + +
        +
        + + + + + +
        + + + + + + + +
        void msceqf::MSCEqFSE3State::updateLeft (const VectorX & delta)
        +         		+inlineoverridevirtual
        +
        + +

        Update the Special Euclidean Group element of the state by left multiplication.

        +
        Parameters
        + + +
        deltaDelta vector to update the state element with on the left side
        +
        +
        + +

        Implements msceqf::MSCEqFStateElement.

        + +
        +
        + +

        ◆ updateRight()

        + +
        +
        + + + + + +
        + + + + + + + +
        void msceqf::MSCEqFSE3State::updateRight (const VectorX & delta)
        +         		+inlineoverridevirtual
        +
        + +

        Update the Special Euclidean Group element of the state by right multiplication.

        +
        Parameters
        + + +
        deltaDelta vector to update the state element with on the right side
        +
        +
        + +

        Implements msceqf::MSCEqFStateElement.

        + +
        +
        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_m_s_c_eq_f_s_e3_state.js b/structmsceqf_1_1_m_s_c_eq_f_s_e3_state.js new file mode 100644 index 0000000..934c4fd --- /dev/null +++ b/structmsceqf_1_1_m_s_c_eq_f_s_e3_state.js @@ -0,0 +1,9 @@ +var structmsceqf_1_1_m_s_c_eq_f_s_e3_state = +[ + [ "MSCEqFSE3State", "structmsceqf_1_1_m_s_c_eq_f_s_e3_state.html#a778cea47a1d588d385b2cddae63ee052", null ], + [ "MSCEqFSE3State", "structmsceqf_1_1_m_s_c_eq_f_s_e3_state.html#a74fc4265af22a3aff056b75e60ae858b", null ], + [ "clone", "structmsceqf_1_1_m_s_c_eq_f_s_e3_state.html#a550e5c1d5306407e4f155c1de772c165", null ], + [ "updateLeft", "structmsceqf_1_1_m_s_c_eq_f_s_e3_state.html#ab41b071e0f3a55feb8191c9ac0704791", null ], + [ "updateRight", "structmsceqf_1_1_m_s_c_eq_f_s_e3_state.html#ace3dc196bb8db7dd700af8a7a02795be", null ], + [ "E_", "structmsceqf_1_1_m_s_c_eq_f_s_e3_state.html#abf952efaefe220a9a9004cd697cbd719", null ] +]; \ No newline at end of file diff --git a/structmsceqf_1_1_m_s_c_eq_f_s_e3_state__coll__graph.map b/structmsceqf_1_1_m_s_c_eq_f_s_e3_state__coll__graph.map new file mode 100644 index 0000000..78ddf4e --- /dev/null +++ b/structmsceqf_1_1_m_s_c_eq_f_s_e3_state__coll__graph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/structmsceqf_1_1_m_s_c_eq_f_s_e3_state__coll__graph.md5 b/structmsceqf_1_1_m_s_c_eq_f_s_e3_state__coll__graph.md5 new file mode 100644 index 0000000..6fd7584 --- /dev/null +++ b/structmsceqf_1_1_m_s_c_eq_f_s_e3_state__coll__graph.md5 @@ -0,0 +1 @@ +41c706be1cead796a4003e2eef9874fb \ No newline at end of file diff --git a/structmsceqf_1_1_m_s_c_eq_f_s_e3_state__coll__graph.png b/structmsceqf_1_1_m_s_c_eq_f_s_e3_state__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..dcd069b810117dffa46a1307059cf2db88c96096 GIT binary patch literal 6109 zcmcIoc{J4TzyDau8e_|3-@dkzosng-OR{8*vQ`*bv+t6zZy}08B9bkUeJ~iZC5Fm6 ziR@%w2KVv%-E;1_=bqo6m*I0}=5wCU^SqbW@{Tps*SO z&Z{HbHr=0GbCyKZ2$l@jJ(mnm#5K@Zi&T3$NO0YV`XI@e9OJ}O%<;hfO02#>JY^S? 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        msceqf::MSCEqFSOT3State Member List
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        This is the complete list of members for msceqf::MSCEqFSOT3State, including all inherited members.

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        clone() const overridemsceqf::MSCEqFSOT3Stateinlinevirtual
        dof_msceqf::MSCEqFStateElementprotected
        getDof()msceqf::MSCEqFStateElementinline
        getIndex()msceqf::MSCEqFStateElementinline
        idx_msceqf::MSCEqFStateElementprotected
        MSCEqFSOT3State()=deletemsceqf::MSCEqFSOT3State
        MSCEqFSOT3State(const uint &idx)msceqf::MSCEqFSOT3Stateinline
        MSCEqFStateElement()=deletemsceqf::MSCEqFStateElementprotected
        MSCEqFStateElement(const MSCEqFStateElement &)=default (defined in msceqf::MSCEqFStateElement)msceqf::MSCEqFStateElementprotected
        MSCEqFStateElement(MSCEqFStateElement &&)=default (defined in msceqf::MSCEqFStateElement)msceqf::MSCEqFStateElementprotected
        MSCEqFStateElement(const uint &idx, const uint &dof)msceqf::MSCEqFStateElementinlineprotected
        operator=(const MSCEqFStateElement &)=default (defined in msceqf::MSCEqFStateElement)msceqf::MSCEqFStateElementprotected
        operator=(MSCEqFStateElement &&)=default (defined in msceqf::MSCEqFStateElement)msceqf::MSCEqFStateElementprotected
        Q_msceqf::MSCEqFSOT3State
        updateIndex(const uint &new_idx)msceqf::MSCEqFStateElementinline
        updateLeft(const VectorX &delta) overridemsceqf::MSCEqFSOT3Stateinlinevirtual
        updateRight(const VectorX &delta) overridemsceqf::MSCEqFSOT3Stateinlinevirtual
        ~MSCEqFStateElement()=default (defined in msceqf::MSCEqFStateElement)msceqf::MSCEqFStateElementvirtual
        +
        + + + + diff --git a/structmsceqf_1_1_m_s_c_eq_f_s_o_t3_state.html b/structmsceqf_1_1_m_s_c_eq_f_s_o_t3_state.html new file mode 100644 index 0000000..1be1d2c --- /dev/null +++ b/structmsceqf_1_1_m_s_c_eq_f_s_o_t3_state.html @@ -0,0 +1,352 @@ + + + + + + + +MSCEqF: msceqf::MSCEqFSOT3State Struct Reference + + + + + + + + + + + + + + + +
        +
        + + + + + + + +
        +
        MSCEqF 1.0 +
        +
        Multi State Constraint Equivariant Filter for visual inertial navigation
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        +Public Member Functions | +Public Attributes | +List of all members
        +
        msceqf::MSCEqFSOT3State Struct Referencefinal
        +
        +
        + +

        This struct represent the Scaled Orthogonal Transforms state of the MSCEqF. + More...

        + +

        #include <state_elements.hpp>

        +
        +Inheritance diagram for msceqf::MSCEqFSOT3State:
        +
        +
        Inheritance graph
        + + + + + +
        [legend]
        +
        +Collaboration diagram for msceqf::MSCEqFSOT3State:
        +
        +
        Collaboration graph
        + + + + + +
        [legend]
        + + + + + + + + + + + + + + + + + + + + + + + + + + + +

        +Public Member Functions

        + MSCEqFSOT3State ()=delete
         Deleted default constructor.
         
         MSCEqFSOT3State (const uint &idx)
         Construct an identity MSCEqFSOT3State object.
         
        void updateRight (const VectorX &delta) override
         Update the Scaled Orthogonal Transforms element of the state by right multiplication.
         
        void updateLeft (const VectorX &delta) override
         Update the Scaled Orthogonal Transforms element of the state by left multiplication.
         
        std::unique_ptr< MSCEqFStateElement > clone () const override
         Clone the Scaled Orthogonal Transforms (SOT3) element of state of the MSCEqF.
         
        - Public Member Functions inherited from msceqf::MSCEqFStateElement
        const uint & getIndex ()
         Get the starting index of the state element in the residual, and in the covariance.
         
        const uint & getDof ()
         Get the degrees of freedom of the state element (dimension of relative covariance and residual block)
         
        void updateIndex (const uint &new_idx)
         Update index.
         
        + + + + +

        +Public Attributes

        +SOT3 Q_
         The Scaled Orthogonal Transforms element of the state.
         
        + + + + + + + + + + + + + + + + + + + + + + + +

        +Additional Inherited Members

        - Protected Member Functions inherited from msceqf::MSCEqFStateElement
        + MSCEqFStateElement ()=delete
         Rule of Five.
         
        + MSCEqFStateElement (const MSCEqFStateElement &)=default
         
        + MSCEqFStateElement (MSCEqFStateElement &&)=default
         
        +MSCEqFStateElement & operator= (const MSCEqFStateElement &)=default
         
        +MSCEqFStateElement & operator= (MSCEqFStateElement &&)=default
         
         MSCEqFStateElement (const uint &idx, const uint &dof)
         Construct a MSCEqFStateElement object.
         
        - Protected Attributes inherited from msceqf::MSCEqFStateElement
        +uint idx_
         Starting index of the element in the residual, and in the covariance.
         
        +uint dof_
         Degrees of freedom of the element (dimension of relative covariance and residual block)
         
        +

        Detailed Description

        +

        This struct represent the Scaled Orthogonal Transforms state of the MSCEqF.

        +

        Constructor & Destructor Documentation

        + +

        ◆ MSCEqFSOT3State()

        + +
        +
        + + + + + +
        + + + + + + + +
        msceqf::MSCEqFSOT3State::MSCEqFSOT3State (const uint & idx)
        +         		+inline
        +
        + +

        Construct an identity MSCEqFSOT3State object.

        +
        Parameters
        + + +
        idxStarting index of the variable in the covariance
        +
        +
        + +
        +
        +

        Member Function Documentation

        + +

        ◆ clone()

        + +
        +
        + + + + + +
        + + + + + + + +
        std::unique_ptr< MSCEqFStateElement > msceqf::MSCEqFSOT3State::clone () const
        +         		+inlineoverridevirtual
        +
        + +

        Clone the Scaled Orthogonal Transforms (SOT3) element of state of the MSCEqF.

        +
        Returns
        Clone of the SOT3 element
        + +

        Implements msceqf::MSCEqFStateElement.

        + +
        +
        + +

        ◆ updateLeft()

        + +
        +
        + + + + + +
        + + + + + + + +
        void msceqf::MSCEqFSOT3State::updateLeft (const VectorX & delta)
        +         		+inlineoverridevirtual
        +
        + +

        Update the Scaled Orthogonal Transforms element of the state by left multiplication.

        +
        Parameters
        + + +
        deltaDelta vector to update the state element with on the left side
        +
        +
        + +

        Implements msceqf::MSCEqFStateElement.

        + +
        +
        + +

        ◆ updateRight()

        + +
        +
        + + + + + +
        + + + + + + + +
        void msceqf::MSCEqFSOT3State::updateRight (const VectorX & delta)
        +         		+inlineoverridevirtual
        +
        + +

        Update the Scaled Orthogonal Transforms element of the state by right multiplication.

        +
        Parameters
        + + +
        deltaDelta vector to update the state element with on the right side
        +
        +
        + +

        Implements msceqf::MSCEqFStateElement.

        + +
        +
        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_m_s_c_eq_f_s_o_t3_state.js b/structmsceqf_1_1_m_s_c_eq_f_s_o_t3_state.js new file mode 100644 index 0000000..d726670 --- /dev/null +++ b/structmsceqf_1_1_m_s_c_eq_f_s_o_t3_state.js @@ -0,0 +1,9 @@ +var structmsceqf_1_1_m_s_c_eq_f_s_o_t3_state = +[ + [ "MSCEqFSOT3State", "structmsceqf_1_1_m_s_c_eq_f_s_o_t3_state.html#a149aa3e73d21920ee993f7e03d35cc46", null ], + [ "MSCEqFSOT3State", "structmsceqf_1_1_m_s_c_eq_f_s_o_t3_state.html#a80c3df4e312fe54cb1aea249e06d25a2", null ], + [ "clone", "structmsceqf_1_1_m_s_c_eq_f_s_o_t3_state.html#a8d787857699430eb312419a8b512eaed", null ], + [ "updateLeft", "structmsceqf_1_1_m_s_c_eq_f_s_o_t3_state.html#a8ae5dc4e2fa9ac8ad81718704649da0f", null ], + [ "updateRight", "structmsceqf_1_1_m_s_c_eq_f_s_o_t3_state.html#ab0d5eb9400a99969dab552b49dbc83fc", null ], + [ "Q_", "structmsceqf_1_1_m_s_c_eq_f_s_o_t3_state.html#aee9bc3dfa678e5432fa16633f3132228", null ] +]; \ No newline at end of file diff --git a/structmsceqf_1_1_m_s_c_eq_f_s_o_t3_state__coll__graph.map b/structmsceqf_1_1_m_s_c_eq_f_s_o_t3_state__coll__graph.map new file mode 100644 index 0000000..17e0078 --- /dev/null +++ b/structmsceqf_1_1_m_s_c_eq_f_s_o_t3_state__coll__graph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/structmsceqf_1_1_m_s_c_eq_f_s_o_t3_state__coll__graph.md5 b/structmsceqf_1_1_m_s_c_eq_f_s_o_t3_state__coll__graph.md5 new file mode 100644 index 0000000..07706c8 --- /dev/null +++ b/structmsceqf_1_1_m_s_c_eq_f_s_o_t3_state__coll__graph.md5 @@ -0,0 +1 @@ +621483841e81b17ec22347dff3e0fb88 \ No newline at end of file diff --git a/structmsceqf_1_1_m_s_c_eq_f_s_o_t3_state__coll__graph.png b/structmsceqf_1_1_m_s_c_eq_f_s_o_t3_state__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..1fa30028db26932b79fce7ccae6d80e4fd855be4 GIT binary patch literal 6373 zcmcgxcRW_{+df$#d-Yi1A?hI`n~;$$WF&hlB4lUpt)h%55|R*EiBPtuLPWNV?7ioE zKfm|=eBQs_f8USKaX9BZ-*cb)-1l`~*Y(8c+*BbaWg#iL9 zx;-^HG&kI0Cf~9%sZ7zZx^+E{$!)6P;<1l+yNG5Y#Ymbn*S~mI(_nE-o{{bcg%0>-J$-diCF>?)?_J&A|t}>M4IYrteQdz6It4P z#UoHeQ=TEw{6UAy)soxQ>2;`Pw@mRiw>I-EKBB2gTcY5pZSlA1g^4ncc0_8K;9}d! 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        msceqf::PropagatorOptions Member List
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        This is the complete list of members for msceqf::PropagatorOptions, including all inherited members.

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        acceleration_bias_std_msceqf::PropagatorOptions
        acceleration_std_msceqf::PropagatorOptions
        angular_velocity_bias_std_msceqf::PropagatorOptions
        angular_velocity_std_msceqf::PropagatorOptions
        imu_buffer_max_size_msceqf::PropagatorOptions
        state_transition_order_msceqf::PropagatorOptions
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        msceqf::PropagatorOptions Struct Reference
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        +Public Attributes

        +fp angular_velocity_std_
         Continuous time angular velocity standard deviation.
         
        +fp acceleration_std_
         Continuous time acceleration standard deviation.
         
        +fp angular_velocity_bias_std_
         Continuous time angular velocity bias (random walk) standard deviation.
         
        +fp acceleration_bias_std_
         Continuous time acceleration bias (random walk) standard deviation.
         
        +uint imu_buffer_max_size_
         The maximum size of the propagator's imu buffer.
         
        +int state_transition_order_
         The order for the computation of the state transition matrix.
         
        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_propagator_options.js b/structmsceqf_1_1_propagator_options.js new file mode 100644 index 0000000..6d315c8 --- /dev/null +++ b/structmsceqf_1_1_propagator_options.js @@ -0,0 +1,9 @@ +var structmsceqf_1_1_propagator_options = +[ + [ "acceleration_bias_std_", "structmsceqf_1_1_propagator_options.html#a320de7822195cffbe2ae222a16f97cdb", null ], + [ "acceleration_std_", "structmsceqf_1_1_propagator_options.html#af5f66f20c165f0ca57564fe767d8bf0c", null ], + [ "angular_velocity_bias_std_", "structmsceqf_1_1_propagator_options.html#afce5ba5fda7ed445ed7d99d96b15609c", null ], + [ "angular_velocity_std_", "structmsceqf_1_1_propagator_options.html#a404f38084c32c44d4f6851de43a9b422", null ], + [ "imu_buffer_max_size_", "structmsceqf_1_1_propagator_options.html#aa604db901d516ebeea24421392e84fce", null ], + [ "state_transition_order_", "structmsceqf_1_1_propagator_options.html#a4d38b1d64b701fa1690d4f49745c89ac", null ] +]; \ No newline at end of file diff --git a/structmsceqf_1_1_radtan_camera-members.html b/structmsceqf_1_1_radtan_camera-members.html new file mode 100644 index 0000000..e734d06 --- /dev/null +++ b/structmsceqf_1_1_radtan_camera-members.html @@ -0,0 +1,142 @@ + + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        msceqf::RadtanCamera Member List
        +
        +
        + +

        This is the complete list of members for msceqf::RadtanCamera, including all inherited members.

        + + + + + + + + + + + + + + + + + + + + + + + + + + + +
        denormalize(std::vector< Eigen::Vector2f > &uv)msceqf::PinholeCamera
        denormalize(std::vector< cv::Point2f > &uv)msceqf::PinholeCamera
        denormalize(Eigen::Vector2f &uv)msceqf::PinholeCamera
        denormalize(cv::Point2f &uv)msceqf::PinholeCamera
        distortion_coefficients_msceqf::PinholeCameraprotected
        distortionCoefficients() constmsceqf::PinholeCamera
        height_msceqf::PinholeCameraprotected
        intrinsics() constmsceqf::PinholeCamera
        intrinsics_msceqf::PinholeCameraprotected
        normalize(std::vector< Eigen::Vector2f > &uv)msceqf::PinholeCamera
        normalize(std::vector< cv::Point2f > &uv)msceqf::PinholeCamera
        normalize(Eigen::Vector2f &uv)msceqf::PinholeCamera
        normalize(cv::Point2f &uv)msceqf::PinholeCamera
        operator=(const PinholeCamera &)=delete (defined in msceqf::PinholeCamera)msceqf::PinholeCameraprotected
        operator=(PinholeCamera &&)=delete (defined in msceqf::PinholeCamera)msceqf::PinholeCameraprotected
        PinholeCamera(const VectorX &distortion_coefficients, const Vector4 instrinsics, const uint &width, const uint &height) (defined in msceqf::PinholeCamera)msceqf::PinholeCameraprotected
        PinholeCamera()=deletemsceqf::PinholeCameraprotected
        PinholeCamera(const PinholeCamera &)=delete (defined in msceqf::PinholeCamera)msceqf::PinholeCameraprotected
        PinholeCamera(PinholeCamera &&)=delete (defined in msceqf::PinholeCamera)msceqf::PinholeCameraprotected
        RadtanCamera(const CameraOptions &opts, const Vector4 &intrinsics) (defined in msceqf::RadtanCamera)msceqf::RadtanCamera
        setIntrinsics(const Vector4 &intrinsics)msceqf::PinholeCamera
        undistort(std::vector< cv::Point2f > &uv_cv, const bool &normalize) overridemsceqf::RadtanCameravirtual
        msceqf::PinholeCamera::undistort(std::vector< Eigen::Vector2f > &uv, const bool &normalize=false)msceqf::PinholeCamera
        undistortImage(const cv::Mat &image, cv::Mat &image_undistorted) overridemsceqf::RadtanCameravirtual
        width_msceqf::PinholeCameraprotected
        ~PinholeCamera()=default (defined in msceqf::PinholeCamera)msceqf::PinholeCameravirtual
        +
        + + + + diff --git a/structmsceqf_1_1_radtan_camera.html b/structmsceqf_1_1_radtan_camera.html new file mode 100644 index 0000000..fc05d6f --- /dev/null +++ b/structmsceqf_1_1_radtan_camera.html @@ -0,0 +1,318 @@ + + + + + + + +MSCEqF: msceqf::RadtanCamera Struct Reference + + + + + + + + + + + + + + + +
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        MSCEqF 1.0 +
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        +
        msceqf::RadtanCamera Struct Referencefinal
        +
        +
        + +

        This class represent a pinhole camera with radtan distortion model. + More...

        + +

        #include <camera.hpp>

        +
        +Inheritance diagram for msceqf::RadtanCamera:
        +
        +
        Inheritance graph
        + + + + + +
        [legend]
        +
        +Collaboration diagram for msceqf::RadtanCamera:
        +
        +
        Collaboration graph
        + + + + + +
        [legend]
        + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

        +Public Member Functions

        + RadtanCamera (const CameraOptions &opts, const Vector4 &intrinsics)
         
        void undistort (std::vector< cv::Point2f > &uv_cv, const bool &normalize) override
         Undistort given distorted point in OpenCV format (std::vector<cv::Point2f>)
         
        void undistortImage (const cv::Mat &image, cv::Mat &image_undistorted) override
         Undistort given image in openCV format (cv::Mat)
         
        - Public Member Functions inherited from msceqf::PinholeCamera
        void undistort (std::vector< Eigen::Vector2f > &uv, const bool &normalize=false)
         Undistort given distorted point in Eigen format (std::vector<Eigen::Vector2f>)
         
        void normalize (std::vector< Eigen::Vector2f > &uv)
         Normalize multiple features uv coordinates in Eigen format (std::vector<Eigen::Vector2f>)
         
        void normalize (std::vector< cv::Point2f > &uv)
         Normalize multiple features uv coordinates in OpenCV format (std::vector<cv::Point2f>)
         
        void normalize (Eigen::Vector2f &uv)
         Normalize a single feature uv coordinates in Eigen format (Eigen::Vector2f)
         
        void normalize (cv::Point2f &uv)
         Normalize multiple features uv coordinates in OpenCV format (cv::Point2f)
         
        void denormalize (std::vector< Eigen::Vector2f > &uv)
         Denormalize multiple features uv coordinates in Eigen format (std::vector<Eigen::Vector2f>)
         
        void denormalize (std::vector< cv::Point2f > &uv)
         Denormalize multiple features uv coordinates in OpenCV format (std::vector<cv::Point2f>)
         
        void denormalize (Eigen::Vector2f &uv)
         Denormalize a single feature uv coordinates in Eigen format (Eigen::Vector2f)
         
        void denormalize (cv::Point2f &uv)
         Denormalize multiple features uv coordinates in OpenCV format (cv::Point2f)
         
        void setIntrinsics (const Vector4 &intrinsics)
         Set the value of the intrinsic parameters.
         
        const Vector4 & intrinsics () const
         Get camera intrinsics parameter (fx, fy, cx, cy) as a 4 vector.
         
        const VectorX & distortionCoefficients () const
         Get camera distortion coefficients (k1, k2, p1, p2, ...) as a vector.
         
        + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

        +Additional Inherited Members

        - Protected Member Functions inherited from msceqf::PinholeCamera
        + PinholeCamera (const VectorX &distortion_coefficients, const Vector4 instrinsics, const uint &width, const uint &height)
         
        + PinholeCamera ()=delete
         Rule of Five.
         
        + PinholeCamera (const PinholeCamera &)=delete
         
        + PinholeCamera (PinholeCamera &&)=delete
         
        +PinholeCamera & operator= (const PinholeCamera &)=delete
         
        +PinholeCamera & operator= (PinholeCamera &&)=delete
         
        - Protected Attributes inherited from msceqf::PinholeCamera
        +VectorX distortion_coefficients_
         Vector of distortion coefficients (k1, k2, p1, p2, ...)
         
        +Vector4 intrinsics_
         Vector of intrinsic paramater (fx, fy, cx, cy)
         
        +uint width_
         Image width.
         
        +uint height_
         Image height.
         
        +

        Detailed Description

        +

        This class represent a pinhole camera with radtan distortion model.

        +

        Member Function Documentation

        + +

        ◆ undistort()

        + +
        +
        + + + + + +
        + + + + + + + + + + + +
        void msceqf::RadtanCamera::undistort (std::vector< cv::Point2f > & uv_cv,
        const bool & normalize )
        +         		+overridevirtual
        +
        + +

        Undistort given distorted point in OpenCV format (std::vector<cv::Point2f>)

        +
        Parameters
        + + + +
        uv_cvuv coordinates
        normalizeFlag to decide wether normalize coordinates or not
        +
        +
        + +

        Implements msceqf::PinholeCamera.

        + +
        +
        + +

        ◆ undistortImage()

        + +
        +
        + + + + + +
        + + + + + + + + + + + +
        void msceqf::RadtanCamera::undistortImage (const cv::Mat & image,
        cv::Mat & image_undistorted )
        +         		+overridevirtual
        +
        + +

        Undistort given image in openCV format (cv::Mat)

        +
        Parameters
        + + + +
        imageImage to be undistorted
        image_undistortedUndistorted image
        +
        +
        + +

        Implements msceqf::PinholeCamera.

        + +
        +
        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_radtan_camera.js b/structmsceqf_1_1_radtan_camera.js new file mode 100644 index 0000000..e7905d7 --- /dev/null +++ b/structmsceqf_1_1_radtan_camera.js @@ -0,0 +1,5 @@ +var structmsceqf_1_1_radtan_camera = +[ + [ "undistort", "structmsceqf_1_1_radtan_camera.html#a6bbf98ed9be455ecf0e58a5c93b6f41d", null ], + [ "undistortImage", "structmsceqf_1_1_radtan_camera.html#a148e2f48b5813ce91b35ee4ea62114fe", null ] +]; \ No newline at end of file diff --git a/structmsceqf_1_1_radtan_camera__coll__graph.map b/structmsceqf_1_1_radtan_camera__coll__graph.map new file mode 100644 index 0000000..56aa3a9 --- /dev/null +++ b/structmsceqf_1_1_radtan_camera__coll__graph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/structmsceqf_1_1_radtan_camera__coll__graph.md5 b/structmsceqf_1_1_radtan_camera__coll__graph.md5 new file mode 100644 index 0000000..3bba5fa --- /dev/null +++ b/structmsceqf_1_1_radtan_camera__coll__graph.md5 @@ -0,0 +1 @@ +f8b85f3663219e79e1863ff79e160458 \ No newline at end of file diff --git a/structmsceqf_1_1_radtan_camera__coll__graph.png b/structmsceqf_1_1_radtan_camera__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..cdc338415dca8a813e8b436bc26f95f426fdb82b GIT binary patch literal 5196 zcmc(jcRZE<`^S$68Ik$1KQgnjA_>`!b?m)zgt9{B;UKHbY~rK{NkVp3*(>unWM*d` z&avn3?fc*FkMG~#vmf_)yx;eAU*mN>ulu#0t~wBOJ- zmt@XM_M{rxget0V(f2e(!n(9m4xLhO)eJ4NCkH+f>zB~e&SbVv#1%g9=j5KJDYdWD zFybclx`AH4oiT$yZR4;swIkpxPsV3?1|0?uA_lx?4}TvvI(dY0LzAywl)@cNf;K_B zs*I6JVhH}1N!*+&m;sb*O9KLR+!RSi*5Mkdw0rR0q?olhKV=Q#LU%DeFy7O{J!xX-&Oj`0CZG_tn*DGYx(z z@80Q}m@r^4m|*w0RB#PVLC502$j*+Ag0632VPOyV(S|2o!otFh=Lb_)`>U&~A7JM$ zm7^wIJUu;ytm@wQ%?7Bqxc4OUXy@Edl0zJn`)*Bg#<~C5N7UUF5#itaX5S=PD_Pflv;=)@!Iuz&Hpi(Ri15_km! zVh(2!gLZTH)j|A1>|GkLYZxKP-bP7DNx*WN=_{~FM#~w`c$qEs+t&68;^Hg-hr>-& zJxx&zaB^}=V3&)jt(AtX4xr#;pN+4)Vq9XfyFYF_H-5Y>l8_L10Sqs9=%Eo15cuv^ z*>ZyV$Q&OPe0uP~qy$8AY2{Zo5ixOca&oKppq#pki(o}X#Sc`%brKSZrz70yLguX? 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        MSCEqF 1.0 +
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        msceqf::StateOptions Member List
        +
        +
        + +

        This is the complete list of members for msceqf::StateOptions, including all inherited members.

        + + + + + + + + + + + +
        D_init_cov_msceqf::StateOptions
        delta_init_cov_msceqf::StateOptions
        E_init_cov_msceqf::StateOptions
        enable_camera_intrinsics_calibration_msceqf::StateOptions
        gravity_msceqf::StateOptions
        initial_camera_extrinsics_msceqf::StateOptions
        initial_camera_intrinsics_msceqf::StateOptions
        L_init_cov_msceqf::StateOptions
        num_clones_msceqf::StateOptions
        num_persistent_features_msceqf::StateOptions
        +
        + + + + diff --git a/structmsceqf_1_1_state_options.html b/structmsceqf_1_1_state_options.html new file mode 100644 index 0000000..36dab73 --- /dev/null +++ b/structmsceqf_1_1_state_options.html @@ -0,0 +1,168 @@ + + + + + + + +MSCEqF: msceqf::StateOptions Struct Reference + + + + + + + + + + + + + + + +
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        MSCEqF 1.0 +
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        +Public Attributes | +List of all members
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        msceqf::StateOptions Struct Reference
        +
        +
        + +

        #include <msceqf_options.hpp>

        + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

        +Public Attributes

        +Matrix9 D_init_cov_
         Initial covariance of the D element of the state.
         
        +Matrix6 delta_init_cov_
         Initial covariance of the delta element of the state.
         
        +Matrix6 E_init_cov_
         Initial covariance of the E element of the state.
         
        +Matrix4 L_init_cov_
         Initial covariance of the L element of the state.
         
        +SE3 initial_camera_extrinsics_
         Initial camera extrinsics.
         
        +In initial_camera_intrinsics_
         Initial camera intrinsics.
         
        +bool enable_camera_intrinsics_calibration_
         Boolean to enable intinsic camera calibration.
         
        +fp gravity_
         The magnitude of the gravity vector in m/s^2.
         
        +uint num_clones_
         The maximum number of stochastic clones.
         
        +uint num_persistent_features_
         The maximum number of persistent (SLAM) features.
         
        +

        Detailed Description

        +
        Note
        The camera extrinsics are interpreted as IC_S, thus IC_S transofrm vectors in camera frame to vectors in imu frame according to the following equation: I_x = IC_S * C_x
        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_state_options.js b/structmsceqf_1_1_state_options.js new file mode 100644 index 0000000..0f1e922 --- /dev/null +++ b/structmsceqf_1_1_state_options.js @@ -0,0 +1,13 @@ +var structmsceqf_1_1_state_options = +[ + [ "D_init_cov_", "structmsceqf_1_1_state_options.html#a4c71c9019e4bd17dd3398d57ad92319c", null ], + [ "delta_init_cov_", "structmsceqf_1_1_state_options.html#acdb4a9c56aed3886ca5494579a75f9aa", null ], + [ "E_init_cov_", "structmsceqf_1_1_state_options.html#a1b26a41cbad4ab428d9046cd87247e39", null ], + [ "enable_camera_intrinsics_calibration_", "structmsceqf_1_1_state_options.html#a49bf34d99ff5ba49db7cac82f8f52111", null ], + [ "gravity_", "structmsceqf_1_1_state_options.html#a0e33344fd38ef3fb3ccf76fe77e2af47", null ], + [ "initial_camera_extrinsics_", "structmsceqf_1_1_state_options.html#ae0a2fd5147883e76d5a66112a7f749f1", null ], + [ "initial_camera_intrinsics_", "structmsceqf_1_1_state_options.html#a8df04119a203ced58a7bb49617bf9c8c", null ], + [ "L_init_cov_", "structmsceqf_1_1_state_options.html#a85416530843a1bc2bf42a84855767b51", null ], + [ "num_clones_", "structmsceqf_1_1_state_options.html#a7e1b60805d75a9d056bc44598ca9f94a", null ], + [ "num_persistent_features_", "structmsceqf_1_1_state_options.html#a67799453c4c8aae2944547aa3ee52e73", null ] +]; \ No newline at end of file diff --git a/structmsceqf_1_1_track-members.html b/structmsceqf_1_1_track-members.html new file mode 100644 index 0000000..38a1724 --- /dev/null +++ b/structmsceqf_1_1_track-members.html @@ -0,0 +1,125 @@ + + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        msceqf::Track Member List
        +
        +
        + +

        This is the complete list of members for msceqf::Track, including all inherited members.

        + + + + + + + + + + +
        empty() const noexceptmsceqf::Trackinline
        normalized_uvs_msceqf::Track
        operator<(const Track &lhs, const Track &rhs)msceqf::Trackfriend
        removeInvalid(std::vector< bool > &invalid)msceqf::Trackinline
        removeTail(const fp &timestamp, const bool &remove_equal=true)msceqf::Trackinline
        size() const noexceptmsceqf::Trackinline
        Times typedefmsceqf::Track
        timestamps_msceqf::Track
        uvs_msceqf::Track
        +
        + + + + diff --git a/structmsceqf_1_1_track.html b/structmsceqf_1_1_track.html new file mode 100644 index 0000000..415a87e --- /dev/null +++ b/structmsceqf_1_1_track.html @@ -0,0 +1,304 @@ + + + + + + + +MSCEqF: msceqf::Track Struct Reference + + + + + + + + + + + + + + + +
        +
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        MSCEqF 1.0 +
        +
        Multi State Constraint Equivariant Filter for visual inertial navigation
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        +Public Types | +Public Member Functions | +Public Attributes | +Friends | +List of all members
        +
        msceqf::Track Struct Reference
        +
        +
        + +

        (Cache friendly) Track struct. Define a feature (labeled via a feature id) detected/tracked at different points in time. + More...

        + +

        #include <track.hpp>

        + + + + + +

        +Public Types

        +using Times = std::vector<fp>
         vector of timestamps
         
        + + + + + + + + + + + + + +

        +Public Member Functions

        bool empty () const noexcept
         Check if there valid coordinates in uvs_.
         
        size_t size () const noexcept
         Return the amount of features (size of uvs_)
         
        void removeInvalid (std::vector< bool > &invalid)
         Remove invalid features coordinates, normalized feature coordinates and ids given a vector of boolean flags indicating invalid features.
         
        void removeTail (const fp &timestamp, const bool &remove_equal=true)
         Remove the tail of the track. this method removes coordinates and timestamps that are older or equal than the given timestamp.
         
        + + + + + + + + + + +

        +Public Attributes

        +FeaturesCoordinates uvs_
         (u, v) coordinates of the same feature at different time steps
         
        +FeaturesCoordinates normalized_uvs_
         Normalized (u, v) coordinates of the same feature at different time steps.
         
        +Times timestamps_
         Timestamps of the camera measurement containing the feature.
         
        + + + + +

        +Friends

        +bool operator< (const Track &lhs, const Track &rhs)
         Comparison operator with other tracks for sorting based on track length.
         
        +

        Detailed Description

        +

        (Cache friendly) Track struct. Define a feature (labeled via a feature id) detected/tracked at different points in time.

        +
        Note
        Note that feature cordinates are of cv::Point2f type for compatibility with OpenCV.
        +

        Member Function Documentation

        + +

        ◆ empty()

        + +
        +
        + + + + + +
        + + + + + + + +
        bool msceqf::Track::empty () const
        +         		+inlinenoexcept
        +
        + +

        Check if there valid coordinates in uvs_.

        +
        Returns
        true if coordinates are found, false otherwise
        + +
        +
        + +

        ◆ removeInvalid()

        + +
        +
        + + + + + +
        + + + + + + + +
        void msceqf::Track::removeInvalid (std::vector< bool > & invalid)
        +         		+inline
        +
        + +

        Remove invalid features coordinates, normalized feature coordinates and ids given a vector of boolean flags indicating invalid features.

        +
        Parameters
        + + +
        invalidVector of boolean flags indicating invalid features
        +
        +
        + +
        +
        + +

        ◆ removeTail()

        + +
        +
        + + + + + +
        + + + + + + + + + + + +
        void msceqf::Track::removeTail (const fp & timestamp,
        const bool & remove_equal = true )
        +         		+inline
        +
        + +

        Remove the tail of the track. this method removes coordinates and timestamps that are older or equal than the given timestamp.

        +
        Parameters
        + + + +
        timestampTimestamp
        remove_equalFlag to indicate whether to include in the removal also the coordinates and timestamps at the given timestamp
        +
        +
        + +
        +
        + +

        ◆ size()

        + +
        +
        + + + + + +
        + + + + + + + +
        size_t msceqf::Track::size () const
        +         		+inlinenoexcept
        +
        + +

        Return the amount of features (size of uvs_)

        +
        Returns
        Amount of features
        + +
        +
        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_track.js b/structmsceqf_1_1_track.js new file mode 100644 index 0000000..31295ba --- /dev/null +++ b/structmsceqf_1_1_track.js @@ -0,0 +1,12 @@ +var structmsceqf_1_1_track = +[ + [ "Times", "structmsceqf_1_1_track.html#af9c2230e603fe30de05a00b85cefa0c7", null ], + [ "empty", "structmsceqf_1_1_track.html#a4b70af76854a4aa9760be3c8bb096d10", null ], + [ "removeInvalid", "structmsceqf_1_1_track.html#a23ea6d1201294522d8058d625792cc39", null ], + [ "removeTail", "structmsceqf_1_1_track.html#a555ada2c730ab5161f7c908400c91d6e", null ], + [ "size", "structmsceqf_1_1_track.html#a9c9438e708358c0e8be003e44ba7d04a", null ], + [ "operator<", "structmsceqf_1_1_track.html#aab82b71fb82726c14eda7cfcf6feba0a", null ], + [ "normalized_uvs_", "structmsceqf_1_1_track.html#ae8fb006108f4f14deafbce5c25172f86", null ], + [ "timestamps_", "structmsceqf_1_1_track.html#aed5463581a0aeb5cc9f73d8c1d67ae3b", null ], + [ "uvs_", "structmsceqf_1_1_track.html#a9810ae5c3ac451401f3ca849cea5cff7", null ] +]; \ No newline at end of file diff --git a/structmsceqf_1_1_track_manager_options-members.html b/structmsceqf_1_1_track_manager_options-members.html new file mode 100644 index 0000000..424e25b --- /dev/null +++ b/structmsceqf_1_1_track_manager_options-members.html @@ -0,0 +1,118 @@ + + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
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        msceqf::TrackManagerOptions Member List
        +
        +
        + +

        This is the complete list of members for msceqf::TrackManagerOptions, including all inherited members.

        + + + +
        max_track_length_msceqf::TrackManagerOptions
        tracker_options_msceqf::TrackManagerOptions
        +
        + + + + diff --git a/structmsceqf_1_1_track_manager_options.html b/structmsceqf_1_1_track_manager_options.html new file mode 100644 index 0000000..6eb070c --- /dev/null +++ b/structmsceqf_1_1_track_manager_options.html @@ -0,0 +1,148 @@ + + + + + + + +MSCEqF: msceqf::TrackManagerOptions Struct Reference + + + + + + + + + + + + + + + +
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        msceqf::TrackManagerOptions Struct Reference
        +
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        +Collaboration diagram for msceqf::TrackManagerOptions:
        +
        +
        Collaboration graph
        + + + + + + + + + + + +
        [legend]
        + + + + + + + + +

        +Public Attributes

        +TrackerOptions tracker_options_
         The vision tracker options.
         
        +size_t max_track_length_
         The maximul length of a track.
         
        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_track_manager_options.js b/structmsceqf_1_1_track_manager_options.js new file mode 100644 index 0000000..40a2d87 --- /dev/null +++ b/structmsceqf_1_1_track_manager_options.js @@ -0,0 +1,5 @@ +var structmsceqf_1_1_track_manager_options = +[ + [ "max_track_length_", "structmsceqf_1_1_track_manager_options.html#aa553008f2fc66a5135c53312093d1363", null ], + [ "tracker_options_", "structmsceqf_1_1_track_manager_options.html#ae10dd9b24aacff441a637c5d5cb989a3", null ] +]; \ No newline at end of file diff --git a/structmsceqf_1_1_track_manager_options__coll__graph.map b/structmsceqf_1_1_track_manager_options__coll__graph.map new file mode 100644 index 0000000..e5573f5 --- /dev/null +++ b/structmsceqf_1_1_track_manager_options__coll__graph.map @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/structmsceqf_1_1_track_manager_options__coll__graph.md5 b/structmsceqf_1_1_track_manager_options__coll__graph.md5 new file mode 100644 index 0000000..a54e812 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        MSCEqF 1.0 +
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        msceqf::TrackerOptions Member List
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        +
        + +

        This is the complete list of members for msceqf::TrackerOptions, including all inherited members.

        + + + + + + + + + + + + + + + + + +
        cam_options_msceqf::TrackerOptions
        detector_msceqf::TrackerOptions
        detector_pyramid_levels_msceqf::TrackerOptions
        distortion_model_msceqf::TrackerOptions
        equalizer_msceqf::TrackerOptions
        fast_opts_msceqf::TrackerOptions
        gftt_opts_msceqf::TrackerOptions
        grid_x_size_msceqf::TrackerOptions
        grid_y_size_msceqf::TrackerOptions
        max_features_msceqf::TrackerOptions
        min_features_msceqf::TrackerOptions
        min_px_dist_msceqf::TrackerOptions
        opencv_threads_msceqf::TrackerOptions
        optical_flow_pyramid_levels_msceqf::TrackerOptions
        optical_flow_win_size_msceqf::TrackerOptions
        ransac_reprojection_msceqf::TrackerOptions
        +
        + + + + diff --git a/structmsceqf_1_1_tracker_options.html b/structmsceqf_1_1_tracker_options.html new file mode 100644 index 0000000..18ee324 --- /dev/null +++ b/structmsceqf_1_1_tracker_options.html @@ -0,0 +1,202 @@ + + + + + + + +MSCEqF: msceqf::TrackerOptions Struct Reference + + + + + + + + + + + + + + + +
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        MSCEqF 1.0 +
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        +Public Attributes | +List of all members
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        msceqf::TrackerOptions Struct Reference
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        +Collaboration diagram for msceqf::TrackerOptions:
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        Collaboration graph
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        [legend]
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        +Public Attributes

        +CameraOptions cam_options_
         The camera options.
         
        +DistortionModel distortion_model_
         Distortion Model.
         
        +EqualizationMethod equalizer_
         The image equalization method.
         
        +FeatureDetector detector_
         The feature detector.
         
        +uint max_features_
         Maximum feature to track/detect.
         
        +uint min_features_
         Minimum feature to track/detect.
         
        +uint grid_x_size_
         x size of the grid
         
        +uint grid_y_size_
         y size of the grid
         
        +uint min_px_dist_
         Minimum pixel distance between features.
         
        +uint optical_flow_pyramid_levels_
         Pyramids levels for optical flow (1-based)
         
        +uint detector_pyramid_levels_
         Pyramids levels for feature detection (1-based)
         
        +uint optical_flow_win_size_
         Window size for optical flow.
         
        +int opencv_threads_
         Number of threads for opencv.
         
        +fp ransac_reprojection_
         RANSAC reprojection threshold.
         
        +FastOptions fast_opts_
         Fast feature detector options.
         
        +GFTTOptions gftt_opts_
         Shi-Tomasi feature detector options.
         
        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_tracker_options.js b/structmsceqf_1_1_tracker_options.js new file mode 100644 index 0000000..d6d06a7 --- /dev/null +++ b/structmsceqf_1_1_tracker_options.js @@ -0,0 +1,19 @@ +var structmsceqf_1_1_tracker_options = +[ + [ "cam_options_", "structmsceqf_1_1_tracker_options.html#ab1df268e9c2088af91331b6ac69f5d48", null ], + [ "detector_", "structmsceqf_1_1_tracker_options.html#aa7a2f93c3f70726c21085f92c02547d0", null ], + [ "detector_pyramid_levels_", "structmsceqf_1_1_tracker_options.html#afd28b684f8aad10a16d766e68e775987", null ], + [ "distortion_model_", "structmsceqf_1_1_tracker_options.html#abc7141ac141452c29ce8631531584d4b", null ], + [ "equalizer_", "structmsceqf_1_1_tracker_options.html#ad726557ba1916cbad8ee30ab8d08773e", null ], + [ "fast_opts_", "structmsceqf_1_1_tracker_options.html#a4ae32a3f199faaa11a94039c4ba86785", null ], + [ "gftt_opts_", "structmsceqf_1_1_tracker_options.html#ad740af34a868c8cea98b6275522295ac", null ], + [ "grid_x_size_", "structmsceqf_1_1_tracker_options.html#ac077f52604f8d0e621adb1dea4fcf34f", null ], + [ "grid_y_size_", "structmsceqf_1_1_tracker_options.html#a52b0bc8a5a05e2e1d7536356dfe468cf", null ], + [ "max_features_", "structmsceqf_1_1_tracker_options.html#a54077a1c6fd051b530eb51fa6f097805", null ], + [ "min_features_", "structmsceqf_1_1_tracker_options.html#a48eb521e83637c9fc4ea0a97cd2a5856", null ], + [ "min_px_dist_", "structmsceqf_1_1_tracker_options.html#a3592276cfee7a4c004a2c7a1d60df943", null ], + [ "opencv_threads_", "structmsceqf_1_1_tracker_options.html#aadeb5121adee235acc42946e208f6b82", null ], + [ "optical_flow_pyramid_levels_", "structmsceqf_1_1_tracker_options.html#ab51e27a794eede37dd4a7b4a0a39ba8f", null ], + [ "optical_flow_win_size_", "structmsceqf_1_1_tracker_options.html#a2e594e1311109ed437b10a9efd31a62c", null ], + [ "ransac_reprojection_", "structmsceqf_1_1_tracker_options.html#a7e438ee7012eeafd573d79a5a95578ea", null ] +]; \ No newline at end of file diff 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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        msceqf::TriangulatedFeatures Member List
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        This is the complete list of members for msceqf::TriangulatedFeatures, including all inherited members.

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        features_msceqf::TriangulatedFeatures
        operator<(const TriangulatedFeatures &lhs, const TriangulatedFeatures &rhs)msceqf::TriangulatedFeaturesfriend
        operator<(const TriangulatedFeatures &lhs, const fp &timestamp)msceqf::TriangulatedFeaturesfriend
        operator< (defined in msceqf::TriangulatedFeatures)msceqf::TriangulatedFeaturesfriend
        points_msceqf::TriangulatedFeatures
        timestamp_msceqf::TriangulatedFeatures
        +
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        +Public Attributes | +Friends | +List of all members
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        msceqf::TriangulatedFeatures Struct Reference
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        +Collaboration diagram for msceqf::TriangulatedFeatures:
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        Collaboration graph
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        [legend]
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        +Public Attributes

        +Features features_
         The features detected in the image.
         
        +std::vector< Vector3 > points_
         The 3D points corresponding to the features.
         
        +fp timestamp_ = -1
         Timestamp of the Camera reading.
         
        + + + + + + + + + +

        +Friends

        +bool operator< (const TriangulatedFeatures &lhs, const TriangulatedFeatures &rhs)
         Comparison operator with other imu.
         
        +bool operator< (const TriangulatedFeatures &lhs, const fp &timestamp)
         Comparison operator with timestamp.
         
        +bool operator< (const fp &timestamp, const TriangulatedFeatures &rhs)
         
        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_triangulated_features.js b/structmsceqf_1_1_triangulated_features.js new file mode 100644 index 0000000..b5cc60e --- /dev/null +++ b/structmsceqf_1_1_triangulated_features.js @@ -0,0 +1,8 @@ +var structmsceqf_1_1_triangulated_features = +[ + [ "operator<", "structmsceqf_1_1_triangulated_features.html#a403118b276d90f8a86c0c9d74f954a3f", null ], + [ "operator<", "structmsceqf_1_1_triangulated_features.html#ad9e38234e508ac0466a461b54764706d", null ], + [ "features_", "structmsceqf_1_1_triangulated_features.html#abb6a71075a806d1cc1995f890dfed3bc", null ], + [ "points_", "structmsceqf_1_1_triangulated_features.html#a5ec9e04c743e8af61e04036df3e2f004", null ], + [ "timestamp_", "structmsceqf_1_1_triangulated_features.html#a53d61f771a055963bb72c0bea3eb758d", null ] +]; \ No newline at end of file diff --git a/structmsceqf_1_1_triangulated_features__coll__graph.map b/structmsceqf_1_1_triangulated_features__coll__graph.map new file mode 100644 index 0000000..6523e17 --- /dev/null +++ b/structmsceqf_1_1_triangulated_features__coll__graph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/structmsceqf_1_1_triangulated_features__coll__graph.md5 b/structmsceqf_1_1_triangulated_features__coll__graph.md5 new file mode 100644 index 0000000..e2eddd1 --- /dev/null +++ b/structmsceqf_1_1_triangulated_features__coll__graph.md5 @@ -0,0 +1 @@ +163ec44c9db86b21ffacd89118a9c9c1 \ No newline at end of file diff --git a/structmsceqf_1_1_triangulated_features__coll__graph.png b/structmsceqf_1_1_triangulated_features__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..495808cc10abf1c41795897ee82c956f238b6c6c GIT binary patch literal 5834 zcmZu#cQoAJ_WeloPP8Cegh`@=1W|%8A%lqaMWT+u=p}jyqE3vKNSLTWLPU$+dk>;# zlqf-T(R+K>d+V+BTW|fwnE7Mo-Z}T&bN1PLzt&J!rXpu0haiXw@ffZJ-n+p6OHyL+ zN@*2u0N#krRF&b-`NiMI+N@XzV)948AL@7}txfpo=Y^+ZeajsHn-FOO04%PU96J$K!#t=x?Hke&B3^FF@Xih7~Uyn|a7WZ9R)UlZCO z`(ZYiX?q1CLZnddv9hR06J-$3-I?uY*guoUkoW{AXJ1%8w)C8RH$)` ztmFnaHs?MXU@TKtmJ0b7y^evuMv)!q0#%V)w9^F)?`L9Zp3!}ARsMq=a?Vy zEySe55@ozZGu4xA)^tX$Z}mt_aoxVHYPlve#`9d7ppApsP$1$N1{)$m;aqsfl3R$W zO`xT<2^V5__IWnna-z!ZzV{ByeSOmYMY3@H3H=Jbz_HYRs_vzehljt;lE~c(eJM=@ zg6wQF+TRqPZ)AzD_B|98GO7w@yscYe<>Kn=7Ua@~Z3rNbzrPx{{&b1BE$eirJYZA#Jn*H!vF?yqxORs=JtLzK z)lQvJ1~zSJZRHjhXG)ZC6t@{KM$=gKB!pB{+&4#~XW#1?KXi8&XA*oKT#W8D`~L1G z>_wpPW37Yy4JTK2H2B}*|5W<72H`cKZsek-T>?yEKXlRhv(L9rJ9^V9t| zA3j)nu6D-qZ+^dBz%mxa@gRI|&OG;d>36&CvbMsU#TTtwhK3Qr!Gsalq?raYpEOUM zpLtMTlVX^hoWzNsh_$q|V&dY6p~osJO=qXaBDOyT4h|2wMMdeEg^dZJPnnr!lQmv3 zykw}hh{ix73QD5bxVTVogy7In9*~h7y@IxxRxAMoj@Y(RP#>k4p~Nj9KuJbM_E=Rl zsJvWazBe`6@AL?{HdYEjdU|@EK0f6*V(7gJQHTO^Xa7&UN!eBZ&6(Db66-6L-MCi^ zss0?`!rR+9{VDzZ{dxKL(x0Zvh90!GwpP6O6V5%~lPIC7pu^f0iJ?$jJC;d%ovxx3ZGbK$4^j<#vC6e~DE;4-b#`-YD7{{9b6; z>Z)Cp`x+}9-R|0W{NCC)+Uj@)D{R%1AO?ret*ofBNjTgqNtSX8Pw`&9Ibc&dRPJap zR_T(JCMY2h4{2Ci-&~uhj#r9c>7N(RHL8v~IXSUf_>rvSf9w6%o&%GYyNss?v(cet z5>vjhGcz+7jMe$sDFXw8`90l>g6QUy@r+6Fn!l=Opr#g))?*0HVDWwEOpFnUL>{b|oRbR+3+w3VWz^KLr=_KZx-E2n zxD0*C&TeeQGH;HeQ<2AeYYF$XQGD=6(J8{Y%g2 z=x91FvrUALZyqUu&vdP{Wl~+*^{%L_Uz0+o5kyo2^+qnReA>yPK($_2`W zJrEoMffy;Wpjcg7<3`Yn-n~o5!h(@IU3%Kl-3?b$qx|*j7cB=zltowE!>mDqfKj~^ z8yg!9W8+D)F?N?tHa0fr-%Ui_sdAi`NvK=a#><_j8weJ6y_;tfjekK9KR^H6!U9`d zR%T|Ibf%$@gk+Ra&lLlKbeLIdIOF5Tj~l)ro2QqSUVr_1OF;h{1Z}MQpR-j~R&MO> zK3bowbv`@s5-_S_fHs!0QhB7M+3M=*E=n!$H@j7rn8-#?PtS#*S5Q!(WoM57{f7idIa2K*OiayA`d-Dt zb4f~8mIG8k`*dRv9WAZt9;wwWOM{Dk@e$s@VzJppMFV%vw|nKZy}T-s#-FwN!6j2| z+mt43ZEsUC_x3EgO5M77Gwm+=M~rTceSfA__TtXc;80(m=}>0B)t8D2-1qO_F_@12 z{x>SBs)#&YZB5NL$l9)WVQph$|e!otx}oO0>_TGIjpFY(w&M%lOClZdkSG8EddH}=7{GKn!#*iOu92|Qi3 z)<=Wbf((Vq-C0+;AM_W5y2YjX9d(Y~{6^iN{NHg>q0ds>hjQ-G($NY2{$0g3tC8c) zyyJX{g}8|TYow)#g@wfwf3`k5Tgr>76{qUSF)vrXhqPmU$Cpt1@qpK+3+QkM4Wo$GU1^6Jgla&=~n*qK})Cxk?OHW&d0;Q#xQ|W-An$P72EKDP;|? 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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        msceqf::UpdaterHelper Member List
        +
        +
        + +

        This is the complete list of members for msceqf::UpdaterHelper, including all inherited members.

        + + + + + + +
        chi2Test(const fp &chi2, const size_t &dof, const std::map< uint, fp > &chi2_table)msceqf::UpdaterHelperstatic
        inverseDepthJacobian(const Vector3 &A_f)msceqf::UpdaterHelperstatic
        nullspaceProjection(Ref< MatrixX > Cf, MatrixXBlockRowRef Ct, VectorXBlockRowRef delta)msceqf::UpdaterHelperstatic
        updateQRCompression(MatrixX &C, VectorX &delta)msceqf::UpdaterHelperstatic
        Xi(const Vector3 &f)msceqf::UpdaterHelperstatic
        +
        + + + + diff --git a/structmsceqf_1_1_updater_helper.html b/structmsceqf_1_1_updater_helper.html new file mode 100644 index 0000000..2a1d0b7 --- /dev/null +++ b/structmsceqf_1_1_updater_helper.html @@ -0,0 +1,342 @@ + + + + + + + +MSCEqF: msceqf::UpdaterHelper Struct Reference + + + + + + + + + + + + + + + +
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        MSCEqF 1.0 +
        +
        Multi State Constraint Equivariant Filter for visual inertial navigation
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        msceqf::UpdaterHelper Struct Reference
        +
        +
        + +

        Updater helper struct. This structs implements common helper methods for MSCEqF update. + More...

        + +

        #include <updater_helper.hpp>

        + + + + + + + + + + + + + + + + + +

        +Static Public Member Functions

        static Matrix< 2, 4 > Xi (const Vector3 &f)
         Xi operator R^3 -> R^2x4.
         
        static Matrix3 inverseDepthJacobian (const Vector3 &A_f)
         Compute the Jacobian for inverse depth parametrization, used in the Cf matrix.
         
        static void nullspaceProjection (Ref< MatrixX > Cf, MatrixXBlockRowRef Ct, VectorXBlockRowRef delta)
         Perform in-place nullspace projection of the Cf matrix on the Ct matrix and the residual using QR decomposition.
         
        static void updateQRCompression (MatrixX &C, VectorX &delta)
         Perform in-place compression of the C matrix and the residual using QR decomposition.
         
        static bool chi2Test (const fp &chi2, const size_t &dof, const std::map< uint, fp > &chi2_table)
         Perform chi2 test (based on precomputed table) on the given block of the residual.
         
        +

        Detailed Description

        +

        Updater helper struct. This structs implements common helper methods for MSCEqF update.

        +

        Member Function Documentation

        + +

        ◆ chi2Test()

        + +
        +
        + + + + + +
        + + + + + + + + + + + + + + + + +
        static bool msceqf::UpdaterHelper::chi2Test (const fp & chi2,
        const size_t & dof,
        const std::map< uint, fp > & chi2_table )
        +         		+staticnodiscard
        +
        + +

        Perform chi2 test (based on precomputed table) on the given block of the residual.

        +
        Parameters
        + + + + +
        chi2Chi2 value
        dofDegrees of freedom
        chi2_tablePrecomputed chi2 table
        +
        +
        +
        Returns
        true if test passed, false otherwise
        + +
        +
        + +

        ◆ inverseDepthJacobian()

        + +
        +
        + + + + + +
        + + + + + + + +
        static Matrix3 msceqf::UpdaterHelper::inverseDepthJacobian (const Vector3 & A_f)
        +         		+staticnodiscard
        +
        + +

        Compute the Jacobian for inverse depth parametrization, used in the Cf matrix.

        +
        Parameters
        + + +
        A_fGiven feature in the anchor frame
        +
        +
        +
        Returns
        Jacobian matrix for inverse depth parametrization
        + +
        +
        + +

        ◆ nullspaceProjection()

        + +
        +
        + + + + + +
        + + + + + + + + + + + + + + + + +
        static void msceqf::UpdaterHelper::nullspaceProjection (Ref< MatrixX > Cf,
        MatrixXBlockRowRef Ct,
        VectorXBlockRowRef delta )
        +         		+static
        +
        + +

        Perform in-place nullspace projection of the Cf matrix on the Ct matrix and the residual using QR decomposition.

        +
        Parameters
        + + + + +
        CtC matrix
        deltaResidual
        CfCf matrix
        +
        +
        + +
        +
        + +

        ◆ updateQRCompression()

        + +
        +
        + + + + + +
        + + + + + + + + + + + +
        static void msceqf::UpdaterHelper::updateQRCompression (MatrixX & C,
        VectorX & delta )
        +         		+static
        +
        + +

        Perform in-place compression of the C matrix and the residual using QR decomposition.

        +
        Parameters
        + + + +
        CC matrix
        deltaResidual
        +
        +
        + +
        +
        + +

        ◆ Xi()

        + +
        +
        + + + + + +
        + + + + + + + +
        static Matrix< 2, 4 > msceqf::UpdaterHelper::Xi (const Vector3 & f)
        +         		+staticnodiscard
        +
        + +

        Xi operator R^3 -> R^2x4.

        +
        Parameters
        + + +
        f
        +
        +
        +
        Returns
        Matrix representing the Xi operator
        + +
        +
        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_updater_options-members.html b/structmsceqf_1_1_updater_options-members.html new file mode 100644 index 0000000..1fc7862 --- /dev/null +++ b/structmsceqf_1_1_updater_options-members.html @@ -0,0 +1,127 @@ + + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
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        msceqf::UpdaterOptions Member List
        +
        +
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        This is the complete list of members for msceqf::UpdaterOptions, including all inherited members.

        + + + + + + + + + + + + +
        curvature_correction_msceqf::UpdaterOptions
        max_depth_msceqf::UpdaterOptions
        max_iterations_msceqf::UpdaterOptions
        min_angle_msceqf::UpdaterOptions
        min_depth_msceqf::UpdaterOptions
        min_track_lenght_msceqf::UpdaterOptions
        msc_features_representation_msceqf::UpdaterOptions
        pixel_std_msceqf::UpdaterOptions
        projection_method_msceqf::UpdaterOptions
        refine_traingulation_msceqf::UpdaterOptions
        tollerance_msceqf::UpdaterOptions
        +
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        msceqf::UpdaterOptions Struct Reference
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        +Public Attributes

        +bool refine_traingulation_
         Boolean to enable feature triangulation refinement via nonlinear optimization.
         
        +fp min_depth_
         Minimum depth of triangulated features.
         
        +fp max_depth_
         Maximum depth of triangulated features.
         
        +uint max_iterations_
         Maximum number of iteration for features triangulation refinement.
         
        +fp tollerance_
         Tollerance for features triangulation refinement.
         
        +FeatureRepresentation msc_features_representation_
         Multi State Constraint features representation.
         
        +ProjectionMethod projection_method_
         The feature projection method.
         
        +uint min_track_lenght_
         Minimum track length for triangulation.
         
        +fp min_angle_
         Minimum angle (in degrees) between views for trianglulation.
         
        +fp pixel_std_
         The pixel standard deviation.
         
        +bool curvature_correction_
         Boolean to enable the curvature correction.
         
        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_updater_options.js b/structmsceqf_1_1_updater_options.js new file mode 100644 index 0000000..834f249 --- /dev/null +++ b/structmsceqf_1_1_updater_options.js @@ -0,0 +1,14 @@ +var structmsceqf_1_1_updater_options = +[ + [ "curvature_correction_", "structmsceqf_1_1_updater_options.html#a6d505cec7564bdc4d1ae1cbc3903ce49", null ], + [ "max_depth_", "structmsceqf_1_1_updater_options.html#ad3afe1345d2c413460e5ce7a86f17dad", null ], + [ "max_iterations_", "structmsceqf_1_1_updater_options.html#ad1653bda53f03f976de18bb337730145", null ], + [ "min_angle_", "structmsceqf_1_1_updater_options.html#aa34278f6298f4649e86a2a88494aa369", null ], + [ "min_depth_", "structmsceqf_1_1_updater_options.html#a39b8f06d758472140e1c3fa450cb9221", null ], + [ "min_track_lenght_", "structmsceqf_1_1_updater_options.html#afb462136dd7dca62faedea777e253a20", null ], + [ "msc_features_representation_", "structmsceqf_1_1_updater_options.html#a116df98da8d38dcb4240736ef8b13f1c", null ], + [ "pixel_std_", "structmsceqf_1_1_updater_options.html#a689194e8a0c0d615aa508301ea22978b", null ], + [ "projection_method_", "structmsceqf_1_1_updater_options.html#a561da6631d8b7881810bcd096f24ac96", null ], + [ "refine_traingulation_", "structmsceqf_1_1_updater_options.html#ad2f00bf871333e924379f7a51f8050eb", null ], + [ "tollerance_", "structmsceqf_1_1_updater_options.html#a8a74476884b4f6adac06662b41e484cf", null ] +]; \ No newline at end of file diff --git a/structmsceqf_1_1_zero_velocity_updater_options-members.html b/structmsceqf_1_1_zero_velocity_updater_options-members.html new file mode 100644 index 0000000..49ebfa5 --- /dev/null +++ b/structmsceqf_1_1_zero_velocity_updater_options-members.html @@ -0,0 +1,118 @@ + + + + + + + +MSCEqF: Member List + + + + + + + + + + + + + + + +
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        msceqf::ZeroVelocityUpdaterOptions Member List
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        This is the complete list of members for msceqf::ZeroVelocityUpdaterOptions, including all inherited members.

        + + + +
        curvature_correction_msceqf::ZeroVelocityUpdaterOptions
        zero_velocity_update_msceqf::ZeroVelocityUpdaterOptions
        +
        + + + + diff --git a/structmsceqf_1_1_zero_velocity_updater_options.html b/structmsceqf_1_1_zero_velocity_updater_options.html new file mode 100644 index 0000000..c91d95d --- /dev/null +++ b/structmsceqf_1_1_zero_velocity_updater_options.html @@ -0,0 +1,132 @@ + + + + + + + +MSCEqF: msceqf::ZeroVelocityUpdaterOptions Struct Reference + + + + + + + + + + + + + + + +
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        +Public Attributes | +List of all members
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        msceqf::ZeroVelocityUpdaterOptions Struct Reference
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        + + + + + + + + +

        +Public Attributes

        +ZeroVelocityUpdate zero_velocity_update_
         The zero velocity update method.
         
        +bool curvature_correction_
         Boolean to enable the curvature correction on the zero velocity update.
         
        +
        The documentation for this struct was generated from the following file: +
        +
        + + + + diff --git a/structmsceqf_1_1_zero_velocity_updater_options.js b/structmsceqf_1_1_zero_velocity_updater_options.js new file mode 100644 index 0000000..923bced --- /dev/null +++ b/structmsceqf_1_1_zero_velocity_updater_options.js @@ -0,0 +1,5 @@ +var structmsceqf_1_1_zero_velocity_updater_options = +[ + [ "curvature_correction_", "structmsceqf_1_1_zero_velocity_updater_options.html#a5bc059095e6b6528a98b3c24939bfe5b", null ], + [ "zero_velocity_update_", "structmsceqf_1_1_zero_velocity_updater_options.html#ab85ba685a33d090effe44bb93c23f48e", null ] +]; \ No newline at end of file diff --git a/structutils_1_1is__streamable.html b/structutils_1_1is__streamable.html new file mode 100644 index 0000000..e408cb6 --- /dev/null +++ b/structutils_1_1is__streamable.html @@ -0,0 +1,137 @@ + + + + + + + +MSCEqF: utils::is_streamable< S, C, typename > Struct Template Reference + + + + + + + + + + + + + + + +
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        utils::is_streamable< S, C, typename > Struct Template Reference
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        +Inheritance diagram for utils::is_streamable< S, C, typename >:
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        + + + + diff --git a/structutils_1_1is__streamable_3_01_s_00_01_c_00_01decltype_07void_07std_1_1declval_3_01_s_01_6_00b71ef35aa394ab1c5e764056d1aea2a.map b/structutils_1_1is__streamable_3_01_s_00_01_c_00_01decltype_07void_07std_1_1declval_3_01_s_01_6_00b71ef35aa394ab1c5e764056d1aea2a.map new file mode 100644 index 0000000..d7f02b8 --- /dev/null +++ b/structutils_1_1is__streamable_3_01_s_00_01_c_00_01decltype_07void_07std_1_1declval_3_01_s_01_6_00b71ef35aa394ab1c5e764056d1aea2a.map @@ -0,0 +1,5 @@ + + + + + diff --git a/structutils_1_1is__streamable_3_01_s_00_01_c_00_01decltype_07void_07std_1_1declval_3_01_s_01_6_00b71ef35aa394ab1c5e764056d1aea2a.md5 b/structutils_1_1is__streamable_3_01_s_00_01_c_00_01decltype_07void_07std_1_1declval_3_01_s_01_6_00b71ef35aa394ab1c5e764056d1aea2a.md5 new file mode 100644 index 0000000..aed5d34 --- /dev/null +++ b/structutils_1_1is__streamable_3_01_s_00_01_c_00_01decltype_07void_07std_1_1declval_3_01_s_01_6_00b71ef35aa394ab1c5e764056d1aea2a.md5 @@ 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        MSCEqF 1.0 +
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        utils::is_streamable< S, C, decltype(void(std::declval< S & >()<< std::declval< C const & >()))> Struct Template Reference
        +
        +
        +
        +Inheritance diagram for utils::is_streamable< S, C, decltype(void(std::declval< S & >()<< std::declval< C const & >()))>:
        +
        +
        Inheritance graph
        + + + + + +
        [legend]
        +
        +Collaboration diagram for utils::is_streamable< S, C, decltype(void(std::declval< S & >()<< std::declval< C const & >()))>:
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        +
        Collaboration graph
        + + + + + +
        [legend]
        +
        The documentation for this struct was generated from the following file: +
        +
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zXNk$lz}TZDF}-=WJ5^DEWSJWOd$vC>e|GQ>G&Z(EP%I9d@ySuC6@jc+_7&n+L~_73w;-{?!kr znoTbDHbDOrKyy!f`v=g@nNr5Xz_3NFT`CqDM{R1 +* @license MIT +* +* BUILT: Wed Jan 26 2022 23:19:07 GMT+0100 (Mitteleuropäische Normalzeit) +*/var SVG=function(){"use strict";const methods$1={};const names=[];function registerMethods(name,m){if(Array.isArray(name)){for(const _name of name){registerMethods(_name,m)}return}if(typeof name==="object"){for(const _name in name){registerMethods(_name,name[_name])}return}addMethodNames(Object.getOwnPropertyNames(m));methods$1[name]=Object.assign(methods$1[name]||{},m)}function getMethodsFor(name){return methods$1[name]||{}}function getMethodNames(){return[...new Set(names)]}function addMethodNames(_names){names.push(..._names)}function map(array,block){let i;const il=array.length;const result=[];for(i=0;i=0;i--){assignNewId(node.children[i])}if(node.id){node.id=eid(node.nodeName);return node}return node}function extend(modules,methods){let key,i;modules=Array.isArray(modules)?modules:[modules];for(i=modules.length-1;i>=0;i--){for(key in methods){modules[i].prototype[key]=methods[key]}}}function wrapWithAttrCheck(fn){return function(...args){const o=args[args.length-1];if(o&&o.constructor===Object&&!(o instanceof Array)){return fn.apply(this,args.slice(0,-1)).attr(o)}else{return fn.apply(this,args)}}}function siblings(){return this.parent().children()}function position(){return this.parent().index(this)}function next(){return this.siblings()[this.position()+1]}function prev(){return this.siblings()[this.position()-1]}function forward(){const i=this.position();const p=this.parent();p.add(this.remove(),i+1);return this}function backward(){const i=this.position();const p=this.parent();p.add(this.remove(),i?i-1:0);return this}function front(){const p=this.parent();p.add(this.remove());return this}function back(){const p=this.parent();p.add(this.remove(),0);return this}function before(element){element=makeInstance(element);element.remove();const i=this.position();this.parent().add(element,i);return this}function after(element){element=makeInstance(element);element.remove();const i=this.position();this.parent().add(element,i+1);return this}function insertBefore(element){element=makeInstance(element);element.before(this);return this}function insertAfter(element){element=makeInstance(element);element.after(this);return this}registerMethods("Dom",{siblings:siblings,position:position,next:next,prev:prev,forward:forward,backward:backward,front:front,back:back,before:before,after:after,insertBefore:insertBefore,insertAfter:insertAfter});const numberAndUnit=/^([+-]?(\d+(\.\d*)?|\.\d+)(e[+-]?\d+)?)([a-z%]*)$/i;const hex=/^#?([a-f\d]{2})([a-f\d]{2})([a-f\d]{2})$/i;const rgb=/rgb\((\d+),(\d+),(\d+)\)/;const reference=/(#[a-z_][a-z0-9\-_]*)/i;const transforms=/\)\s*,?\s*/;const whitespace=/\s/g;const isHex=/^#[a-f0-9]{3}$|^#[a-f0-9]{6}$/i;const isRgb=/^rgb\(/;const isBlank=/^(\s+)?$/;const isNumber=/^[+-]?(\d+(\.\d*)?|\.\d+)(e[+-]?\d+)?$/i;const isImage=/\.(jpg|jpeg|png|gif|svg)(\?[^=]+.*)?/i;const delimiter=/[\s,]+/;const isPathLetter=/[MLHVCSQTAZ]/i;var regex={__proto__:null,numberAndUnit:numberAndUnit,hex:hex,rgb:rgb,reference:reference,transforms:transforms,whitespace:whitespace,isHex:isHex,isRgb:isRgb,isBlank:isBlank,isNumber:isNumber,isImage:isImage,delimiter:delimiter,isPathLetter:isPathLetter};function classes(){const attr=this.attr("class");return attr==null?[]:attr.trim().split(delimiter)}function hasClass(name){return this.classes().indexOf(name)!==-1}function addClass(name){if(!this.hasClass(name)){const array=this.classes();array.push(name);this.attr("class",array.join(" "))}return this}function removeClass(name){if(this.hasClass(name)){this.attr("class",this.classes().filter(function(c){return c!==name}).join(" "))}return this}function toggleClass(name){return this.hasClass(name)?this.removeClass(name):this.addClass(name)}registerMethods("Dom",{classes:classes,hasClass:hasClass,addClass:addClass,removeClass:removeClass,toggleClass:toggleClass});function css(style,val){const ret={};if(arguments.length===0){this.node.style.cssText.split(/\s*;\s*/).filter(function(el){return!!el.length}).forEach(function(el){const t=el.split(/\s*:\s*/);ret[t[0]]=t[1]});return ret}if(arguments.length<2){if(Array.isArray(style)){for(const name of style){const cased=camelCase(name);ret[name]=this.node.style[cased]}return ret}if(typeof style==="string"){return this.node.style[camelCase(style)]}if(typeof style==="object"){for(const name in style){this.node.style[camelCase(name)]=style[name]==null||isBlank.test(style[name])?"":style[name]}}}if(arguments.length===2){this.node.style[camelCase(style)]=val==null||isBlank.test(val)?"":val}return this}function show(){return this.css("display","")}function hide(){return this.css("display","none")}function visible(){return this.css("display")!=="none"}registerMethods("Dom",{css:css,show:show,hide:hide,visible:visible});function data(a,v,r){if(a==null){return this.data(map(filter(this.node.attributes,el=>el.nodeName.indexOf("data-")===0),el=>el.nodeName.slice(5)))}else if(a instanceof Array){const data={};for(const key of a){data[key]=this.data(key)}return data}else if(typeof a==="object"){for(v in a){this.data(v,a[v])}}else if(arguments.length<2){try{return JSON.parse(this.attr("data-"+a))}catch(e){return this.attr("data-"+a)}}else{this.attr("data-"+a,v===null?null:r===true||typeof v==="string"||typeof v==="number"?v:JSON.stringify(v))}return this}registerMethods("Dom",{data:data});function remember(k,v){if(typeof arguments[0]==="object"){for(const key in k){this.remember(key,k[key])}}else if(arguments.length===1){return this.memory()[k]}else{this.memory()[k]=v}return this}function forget(){if(arguments.length===0){this._memory={}}else{for(let i=arguments.length-1;i>=0;i--){delete this.memory()[arguments[i]]}}return this}function memory(){return this._memory=this._memory||{}}registerMethods("Dom",{remember:remember,forget:forget,memory:memory});function sixDigitHex(hex){return hex.length===4?["#",hex.substring(1,2),hex.substring(1,2),hex.substring(2,3),hex.substring(2,3),hex.substring(3,4),hex.substring(3,4)].join(""):hex}function componentHex(component){const integer=Math.round(component);const bounded=Math.max(0,Math.min(255,integer));const hex=bounded.toString(16);return hex.length===1?"0"+hex:hex}function is(object,space){for(let i=space.length;i--;){if(object[space[i]]==null){return false}}return true}function getParameters(a,b){const params=is(a,"rgb")?{_a:a.r,_b:a.g,_c:a.b,_d:0,space:"rgb"}:is(a,"xyz")?{_a:a.x,_b:a.y,_c:a.z,_d:0,space:"xyz"}:is(a,"hsl")?{_a:a.h,_b:a.s,_c:a.l,_d:0,space:"hsl"}:is(a,"lab")?{_a:a.l,_b:a.a,_c:a.b,_d:0,space:"lab"}:is(a,"lch")?{_a:a.l,_b:a.c,_c:a.h,_d:0,space:"lch"}:is(a,"cmyk")?{_a:a.c,_b:a.m,_c:a.y,_d:a.k,space:"cmyk"}:{_a:0,_b:0,_c:0,space:"rgb"};params.space=b||params.space;return params}function cieSpace(space){if(space==="lab"||space==="xyz"||space==="lch"){return true}else{return false}}function hueToRgb(p,q,t){if(t<0)t+=1;if(t>1)t-=1;if(t<1/6)return p+(q-p)*6*t;if(t<1/2)return q;if(t<2/3)return p+(q-p)*(2/3-t)*6;return p}class Color{constructor(...inputs){this.init(...inputs)}static isColor(color){return color&&(color instanceof Color||this.isRgb(color)||this.test(color))}static isRgb(color){return color&&typeof color.r==="number"&&typeof color.g==="number"&&typeof color.b==="number"}static random(mode="vibrant",t,u){const{random,round,sin,PI:pi}=Math;if(mode==="vibrant"){const l=(81-57)*random()+57;const c=(83-45)*random()+45;const h=360*random();const color=new Color(l,c,h,"lch");return color}else if(mode==="sine"){t=t==null?random():t;const r=round(80*sin(2*pi*t/.5+.01)+150);const g=round(50*sin(2*pi*t/.5+4.6)+200);const b=round(100*sin(2*pi*t/.5+2.3)+150);const color=new Color(r,g,b);return color}else if(mode==="pastel"){const l=(94-86)*random()+86;const c=(26-9)*random()+9;const h=360*random();const color=new Color(l,c,h,"lch");return color}else if(mode==="dark"){const l=10+10*random();const c=(125-75)*random()+86;const h=360*random();const color=new Color(l,c,h,"lch");return color}else if(mode==="rgb"){const r=255*random();const g=255*random();const b=255*random();const color=new Color(r,g,b);return color}else if(mode==="lab"){const l=100*random();const a=256*random()-128;const b=256*random()-128;const color=new Color(l,a,b,"lab");return color}else if(mode==="grey"){const grey=255*random();const color=new Color(grey,grey,grey);return color}else{throw new Error("Unsupported random color mode")}}static test(color){return typeof color==="string"&&(isHex.test(color)||isRgb.test(color))}cmyk(){const{_a,_b,_c}=this.rgb();const[r,g,b]=[_a,_b,_c].map(v=>v/255);const k=Math.min(1-r,1-g,1-b);if(k===1){return new Color(0,0,0,1,"cmyk")}const c=(1-r-k)/(1-k);const m=(1-g-k)/(1-k);const y=(1-b-k)/(1-k);const color=new Color(c,m,y,k,"cmyk");return color}hsl(){const{_a,_b,_c}=this.rgb();const[r,g,b]=[_a,_b,_c].map(v=>v/255);const max=Math.max(r,g,b);const min=Math.min(r,g,b);const l=(max+min)/2;const isGrey=max===min;const delta=max-min;const s=isGrey?0:l>.5?delta/(2-max-min):delta/(max+min);const h=isGrey?0:max===r?((g-b)/delta+(gparseInt(v));Object.assign(this,{_a:_a,_b:_b,_c:_c,_d:0,space:"rgb"})}else if(isHex.test(a)){const hexParse=v=>parseInt(v,16);const[,_a,_b,_c]=hex.exec(sixDigitHex(a)).map(hexParse);Object.assign(this,{_a:_a,_b:_b,_c:_c,_d:0,space:"rgb"})}else throw Error("Unsupported string format, can't construct Color")}const{_a,_b,_c,_d}=this;const components=this.space==="rgb"?{r:_a,g:_b,b:_c}:this.space==="xyz"?{x:_a,y:_b,z:_c}:this.space==="hsl"?{h:_a,s:_b,l:_c}:this.space==="lab"?{l:_a,a:_b,b:_c}:this.space==="lch"?{l:_a,c:_b,h:_c}:this.space==="cmyk"?{c:_a,m:_b,y:_c,k:_d}:{};Object.assign(this,components)}lab(){const{x,y,z}=this.xyz();const l=116*y-16;const a=500*(x-y);const b=200*(y-z);const color=new Color(l,a,b,"lab");return color}lch(){const{l,a,b}=this.lab();const c=Math.sqrt(a**2+b**2);let h=180*Math.atan2(b,a)/Math.PI;if(h<0){h*=-1;h=360-h}const color=new Color(l,c,h,"lch");return color}rgb(){if(this.space==="rgb"){return this}else if(cieSpace(this.space)){let{x,y,z}=this;if(this.space==="lab"||this.space==="lch"){let{l,a,b}=this;if(this.space==="lch"){const{c,h}=this;const dToR=Math.PI/180;a=c*Math.cos(dToR*h);b=c*Math.sin(dToR*h)}const yL=(l+16)/116;const xL=a/500+yL;const zL=yL-b/200;const ct=16/116;const mx=.008856;const nm=7.787;x=.95047*(xL**3>mx?xL**3:(xL-ct)/nm);y=1*(yL**3>mx?yL**3:(yL-ct)/nm);z=1.08883*(zL**3>mx?zL**3:(zL-ct)/nm)}const rU=x*3.2406+y*-1.5372+z*-.4986;const gU=x*-.9689+y*1.8758+z*.0415;const bU=x*.0557+y*-.204+z*1.057;const pow=Math.pow;const bd=.0031308;const r=rU>bd?1.055*pow(rU,1/2.4)-.055:12.92*rU;const g=gU>bd?1.055*pow(gU,1/2.4)-.055:12.92*gU;const b=bU>bd?1.055*pow(bU,1/2.4)-.055:12.92*bU;const color=new Color(255*r,255*g,255*b);return color}else if(this.space==="hsl"){let{h,s,l}=this;h/=360;s/=100;l/=100;if(s===0){l*=255;const color=new Color(l,l,l);return color}const q=l<.5?l*(1+s):l+s-l*s;const p=2*l-q;const r=255*hueToRgb(p,q,h+1/3);const g=255*hueToRgb(p,q,h);const b=255*hueToRgb(p,q,h-1/3);const color=new Color(r,g,b);return color}else if(this.space==="cmyk"){const{c,m,y,k}=this;const r=255*(1-Math.min(1,c*(1-k)+k));const g=255*(1-Math.min(1,m*(1-k)+k));const b=255*(1-Math.min(1,y*(1-k)+k));const color=new Color(r,g,b);return color}else{return this}}toArray(){const{_a,_b,_c,_d,space}=this;return[_a,_b,_c,_d,space]}toHex(){const[r,g,b]=this._clamped().map(componentHex);return`#${r}${g}${b}`}toRgb(){const[rV,gV,bV]=this._clamped();const string=`rgb(${rV},${gV},${bV})`;return string}toString(){return this.toHex()}xyz(){const{_a:r255,_b:g255,_c:b255}=this.rgb();const[r,g,b]=[r255,g255,b255].map(v=>v/255);const rL=r>.04045?Math.pow((r+.055)/1.055,2.4):r/12.92;const gL=g>.04045?Math.pow((g+.055)/1.055,2.4):g/12.92;const bL=b>.04045?Math.pow((b+.055)/1.055,2.4):b/12.92;const xU=(rL*.4124+gL*.3576+bL*.1805)/.95047;const yU=(rL*.2126+gL*.7152+bL*.0722)/1;const zU=(rL*.0193+gL*.1192+bL*.9505)/1.08883;const x=xU>.008856?Math.pow(xU,1/3):7.787*xU+16/116;const y=yU>.008856?Math.pow(yU,1/3):7.787*yU+16/116;const z=zU>.008856?Math.pow(zU,1/3):7.787*zU+16/116;const color=new Color(x,y,z,"xyz");return color}_clamped(){const{_a,_b,_c}=this.rgb();const{max,min,round}=Math;const format=v=>max(0,min(round(v),255));return[_a,_b,_c].map(format)}}class Point{constructor(...args){this.init(...args)}clone(){return new Point(this)}init(x,y){const base={x:0,y:0};const source=Array.isArray(x)?{x:x[0],y:x[1]}:typeof x==="object"?{x:x.x,y:x.y}:{x:x,y:y};this.x=source.x==null?base.x:source.x;this.y=source.y==null?base.y:source.y;return this}toArray(){return[this.x,this.y]}transform(m){return this.clone().transformO(m)}transformO(m){if(!Matrix.isMatrixLike(m)){m=new Matrix(m)}const{x,y}=this;this.x=m.a*x+m.c*y+m.e;this.y=m.b*x+m.d*y+m.f;return this}}function point(x,y){return new Point(x,y).transform(this.screenCTM().inverse())}function closeEnough(a,b,threshold){return Math.abs(b-a)<(threshold||1e-6)}class Matrix{constructor(...args){this.init(...args)}static formatTransforms(o){const flipBoth=o.flip==="both"||o.flip===true;const flipX=o.flip&&(flipBoth||o.flip==="x")?-1:1;const flipY=o.flip&&(flipBoth||o.flip==="y")?-1:1;const skewX=o.skew&&o.skew.length?o.skew[0]:isFinite(o.skew)?o.skew:isFinite(o.skewX)?o.skewX:0;const skewY=o.skew&&o.skew.length?o.skew[1]:isFinite(o.skew)?o.skew:isFinite(o.skewY)?o.skewY:0;const scaleX=o.scale&&o.scale.length?o.scale[0]*flipX:isFinite(o.scale)?o.scale*flipX:isFinite(o.scaleX)?o.scaleX*flipX:flipX;const scaleY=o.scale&&o.scale.length?o.scale[1]*flipY:isFinite(o.scale)?o.scale*flipY:isFinite(o.scaleY)?o.scaleY*flipY:flipY;const shear=o.shear||0;const theta=o.rotate||o.theta||0;const origin=new Point(o.origin||o.around||o.ox||o.originX,o.oy||o.originY);const ox=origin.x;const oy=origin.y;const position=new Point(o.position||o.px||o.positionX||NaN,o.py||o.positionY||NaN);const px=position.x;const py=position.y;const translate=new Point(o.translate||o.tx||o.translateX,o.ty||o.translateY);const tx=translate.x;const ty=translate.y;const relative=new Point(o.relative||o.rx||o.relativeX,o.ry||o.relativeY);const rx=relative.x;const ry=relative.y;return{scaleX:scaleX,scaleY:scaleY,skewX:skewX,skewY:skewY,shear:shear,theta:theta,rx:rx,ry:ry,tx:tx,ty:ty,ox:ox,oy:oy,px:px,py:py}}static fromArray(a){return{a:a[0],b:a[1],c:a[2],d:a[3],e:a[4],f:a[5]}}static isMatrixLike(o){return o.a!=null||o.b!=null||o.c!=null||o.d!=null||o.e!=null||o.f!=null}static matrixMultiply(l,r,o){const a=l.a*r.a+l.c*r.b;const b=l.b*r.a+l.d*r.b;const c=l.a*r.c+l.c*r.d;const d=l.b*r.c+l.d*r.d;const e=l.e+l.a*r.e+l.c*r.f;const f=l.f+l.b*r.e+l.d*r.f;o.a=a;o.b=b;o.c=c;o.d=d;o.e=e;o.f=f;return o}around(cx,cy,matrix){return this.clone().aroundO(cx,cy,matrix)}aroundO(cx,cy,matrix){const dx=cx||0;const dy=cy||0;return this.translateO(-dx,-dy).lmultiplyO(matrix).translateO(dx,dy)}clone(){return new Matrix(this)}decompose(cx=0,cy=0){const a=this.a;const b=this.b;const c=this.c;const d=this.d;const e=this.e;const f=this.f;const determinant=a*d-b*c;const ccw=determinant>0?1:-1;const sx=ccw*Math.sqrt(a*a+b*b);const thetaRad=Math.atan2(ccw*b,ccw*a);const theta=180/Math.PI*thetaRad;const ct=Math.cos(thetaRad);const st=Math.sin(thetaRad);const lam=(a*c+b*d)/determinant;const sy=c*sx/(lam*a-b)||d*sx/(lam*b+a);const tx=e-cx+cx*ct*sx+cy*(lam*ct*sx-st*sy);const ty=f-cy+cx*st*sx+cy*(lam*st*sx+ct*sy);return{scaleX:sx,scaleY:sy,shear:lam,rotate:theta,translateX:tx,translateY:ty,originX:cx,originY:cy,a:this.a,b:this.b,c:this.c,d:this.d,e:this.e,f:this.f}}equals(other){if(other===this)return true;const comp=new Matrix(other);return closeEnough(this.a,comp.a)&&closeEnough(this.b,comp.b)&&closeEnough(this.c,comp.c)&&closeEnough(this.d,comp.d)&&closeEnough(this.e,comp.e)&&closeEnough(this.f,comp.f)}flip(axis,around){return this.clone().flipO(axis,around)}flipO(axis,around){return axis==="x"?this.scaleO(-1,1,around,0):axis==="y"?this.scaleO(1,-1,0,around):this.scaleO(-1,-1,axis,around||axis)}init(source){const base=Matrix.fromArray([1,0,0,1,0,0]);source=source instanceof Element?source.matrixify():typeof source==="string"?Matrix.fromArray(source.split(delimiter).map(parseFloat)):Array.isArray(source)?Matrix.fromArray(source):typeof source==="object"&&Matrix.isMatrixLike(source)?source:typeof source==="object"?(new Matrix).transform(source):arguments.length===6?Matrix.fromArray([].slice.call(arguments)):base;this.a=source.a!=null?source.a:base.a;this.b=source.b!=null?source.b:base.b;this.c=source.c!=null?source.c:base.c;this.d=source.d!=null?source.d:base.d;this.e=source.e!=null?source.e:base.e;this.f=source.f!=null?source.f:base.f;return this}inverse(){return this.clone().inverseO()}inverseO(){const a=this.a;const b=this.b;const c=this.c;const d=this.d;const e=this.e;const f=this.f;const det=a*d-b*c;if(!det)throw new Error("Cannot invert "+this);const na=d/det;const nb=-b/det;const nc=-c/det;const nd=a/det;const ne=-(na*e+nc*f);const nf=-(nb*e+nd*f);this.a=na;this.b=nb;this.c=nc;this.d=nd;this.e=ne;this.f=nf;return this}lmultiply(matrix){return this.clone().lmultiplyO(matrix)}lmultiplyO(matrix){const r=this;const l=matrix instanceof Matrix?matrix:new Matrix(matrix);return Matrix.matrixMultiply(l,r,this)}multiply(matrix){return this.clone().multiplyO(matrix)}multiplyO(matrix){const l=this;const r=matrix instanceof Matrix?matrix:new Matrix(matrix);return Matrix.matrixMultiply(l,r,this)}rotate(r,cx,cy){return this.clone().rotateO(r,cx,cy)}rotateO(r,cx=0,cy=0){r=radians(r);const cos=Math.cos(r);const sin=Math.sin(r);const{a,b,c,d,e,f}=this;this.a=a*cos-b*sin;this.b=b*cos+a*sin;this.c=c*cos-d*sin;this.d=d*cos+c*sin;this.e=e*cos-f*sin+cy*sin-cx*cos+cx;this.f=f*cos+e*sin-cx*sin-cy*cos+cy;return this}scale(x,y,cx,cy){return this.clone().scaleO(...arguments)}scaleO(x,y=x,cx=0,cy=0){if(arguments.length===3){cy=cx;cx=y;y=x}const{a,b,c,d,e,f}=this;this.a=a*x;this.b=b*y;this.c=c*x;this.d=d*y;this.e=e*x-cx*x+cx;this.f=f*y-cy*y+cy;return this}shear(a,cx,cy){return this.clone().shearO(a,cx,cy)}shearO(lx,cx=0,cy=0){const{a,b,c,d,e,f}=this;this.a=a+b*lx;this.c=c+d*lx;this.e=e+f*lx-cy*lx;return this}skew(x,y,cx,cy){return this.clone().skewO(...arguments)}skewO(x,y=x,cx=0,cy=0){if(arguments.length===3){cy=cx;cx=y;y=x}x=radians(x);y=radians(y);const lx=Math.tan(x);const ly=Math.tan(y);const{a,b,c,d,e,f}=this;this.a=a+b*lx;this.b=b+a*ly;this.c=c+d*lx;this.d=d+c*ly;this.e=e+f*lx-cy*lx;this.f=f+e*ly-cx*ly;return this}skewX(x,cx,cy){return this.skew(x,0,cx,cy)}skewY(y,cx,cy){return this.skew(0,y,cx,cy)}toArray(){return[this.a,this.b,this.c,this.d,this.e,this.f]}toString(){return"matrix("+this.a+","+this.b+","+this.c+","+this.d+","+this.e+","+this.f+")"}transform(o){if(Matrix.isMatrixLike(o)){const matrix=new Matrix(o);return matrix.multiplyO(this)}const t=Matrix.formatTransforms(o);const current=this;const{x:ox,y:oy}=new Point(t.ox,t.oy).transform(current);const transformer=(new Matrix).translateO(t.rx,t.ry).lmultiplyO(current).translateO(-ox,-oy).scaleO(t.scaleX,t.scaleY).skewO(t.skewX,t.skewY).shearO(t.shear).rotateO(t.theta).translateO(ox,oy);if(isFinite(t.px)||isFinite(t.py)){const origin=new Point(ox,oy).transform(transformer);const dx=isFinite(t.px)?t.px-origin.x:0;const dy=isFinite(t.py)?t.py-origin.y:0;transformer.translateO(dx,dy)}transformer.translateO(t.tx,t.ty);return transformer}translate(x,y){return this.clone().translateO(x,y)}translateO(x,y){this.e+=x||0;this.f+=y||0;return this}valueOf(){return{a:this.a,b:this.b,c:this.c,d:this.d,e:this.e,f:this.f}}}function ctm(){return new Matrix(this.node.getCTM())}function screenCTM(){if(typeof this.isRoot==="function"&&!this.isRoot()){const rect=this.rect(1,1);const m=rect.node.getScreenCTM();rect.remove();return new Matrix(m)}return new Matrix(this.node.getScreenCTM())}register(Matrix,"Matrix");function parser(){if(!parser.nodes){const svg=makeInstance().size(2,0);svg.node.style.cssText=["opacity: 0","position: absolute","left: -100%","top: -100%","overflow: hidden"].join(";");svg.attr("focusable","false");svg.attr("aria-hidden","true");const path=svg.path().node;parser.nodes={svg:svg,path:path}}if(!parser.nodes.svg.node.parentNode){const b=globals.document.body||globals.document.documentElement;parser.nodes.svg.addTo(b)}return parser.nodes}function isNulledBox(box){return!box.width&&!box.height&&!box.x&&!box.y}function domContains(node){return node===globals.document||(globals.document.documentElement.contains||function(node){while(node.parentNode){node=node.parentNode}return node===globals.document}).call(globals.document.documentElement,node)}class Box{constructor(...args){this.init(...args)}addOffset(){this.x+=globals.window.pageXOffset;this.y+=globals.window.pageYOffset;return new Box(this)}init(source){const base=[0,0,0,0];source=typeof source==="string"?source.split(delimiter).map(parseFloat):Array.isArray(source)?source:typeof source==="object"?[source.left!=null?source.left:source.x,source.top!=null?source.top:source.y,source.width,source.height]:arguments.length===4?[].slice.call(arguments):base;this.x=source[0]||0;this.y=source[1]||0;this.width=this.w=source[2]||0;this.height=this.h=source[3]||0;this.x2=this.x+this.w;this.y2=this.y+this.h;this.cx=this.x+this.w/2;this.cy=this.y+this.h/2;return this}isNulled(){return isNulledBox(this)}merge(box){const x=Math.min(this.x,box.x);const y=Math.min(this.y,box.y);const width=Math.max(this.x+this.width,box.x+box.width)-x;const height=Math.max(this.y+this.height,box.y+box.height)-y;return new Box(x,y,width,height)}toArray(){return[this.x,this.y,this.width,this.height]}toString(){return this.x+" "+this.y+" "+this.width+" "+this.height}transform(m){if(!(m instanceof Matrix)){m=new Matrix(m)}let xMin=Infinity;let xMax=-Infinity;let yMin=Infinity;let yMax=-Infinity;const pts=[new Point(this.x,this.y),new Point(this.x2,this.y),new Point(this.x,this.y2),new Point(this.x2,this.y2)];pts.forEach(function(p){p=p.transform(m);xMin=Math.min(xMin,p.x);xMax=Math.max(xMax,p.x);yMin=Math.min(yMin,p.y);yMax=Math.max(yMax,p.y)});return new Box(xMin,yMin,xMax-xMin,yMax-yMin)}}function getBox(el,getBBoxFn,retry){let box;try{box=getBBoxFn(el.node);if(isNulledBox(box)&&!domContains(el.node)){throw new Error("Element not in the dom")}}catch(e){box=retry(el)}return box}function bbox(){const getBBox=node=>node.getBBox();const retry=el=>{try{const clone=el.clone().addTo(parser().svg).show();const box=clone.node.getBBox();clone.remove();return box}catch(e){throw new Error(`Getting bbox of element "${el.node.nodeName}" is not possible: ${e.toString()}`)}};const box=getBox(this,getBBox,retry);const bbox=new Box(box);return bbox}function rbox(el){const getRBox=node=>node.getBoundingClientRect();const retry=el=>{throw new Error(`Getting rbox of element "${el.node.nodeName}" is not possible`)};const box=getBox(this,getRBox,retry);const rbox=new Box(box);if(el){return rbox.transform(el.screenCTM().inverseO())}return rbox.addOffset()}function inside(x,y){const box=this.bbox();return x>box.x&&y>box.y&&x{return fnOrMethodName.call(el,el,i,arr)})}else{return this.map(el=>{return el[fnOrMethodName](...args)})}},toArray(){return Array.prototype.concat.apply([],this)}});const reserved=["toArray","constructor","each"];List.extend=function(methods){methods=methods.reduce((obj,name)=>{if(reserved.includes(name))return obj;if(name[0]==="_")return obj;obj[name]=function(...attrs){return this.each(name,...attrs)};return obj},{});extend([List],methods)};function baseFind(query,parent){return new List(map((parent||globals.document).querySelectorAll(query),function(node){return adopt(node)}))}function find(query){return baseFind(query,this.node)}function findOne(query){return adopt(this.node.querySelector(query))}let listenerId=0;const windowEvents={};function getEvents(instance){let n=instance.getEventHolder();if(n===globals.window)n=windowEvents;if(!n.events)n.events={};return n.events}function getEventTarget(instance){return instance.getEventTarget()}function clearEvents(instance){let n=instance.getEventHolder();if(n===globals.window)n=windowEvents;if(n.events)n.events={}}function on(node,events,listener,binding,options){const l=listener.bind(binding||node);const instance=makeInstance(node);const bag=getEvents(instance);const n=getEventTarget(instance);events=Array.isArray(events)?events:events.split(delimiter);if(!listener._svgjsListenerId){listener._svgjsListenerId=++listenerId}events.forEach(function(event){const ev=event.split(".")[0];const ns=event.split(".")[1]||"*";bag[ev]=bag[ev]||{};bag[ev][ns]=bag[ev][ns]||{};bag[ev][ns][listener._svgjsListenerId]=l;n.addEventListener(ev,l,options||false)})}function off(node,events,listener,options){const instance=makeInstance(node);const bag=getEvents(instance);const n=getEventTarget(instance);if(typeof listener==="function"){listener=listener._svgjsListenerId;if(!listener)return}events=Array.isArray(events)?events:(events||"").split(delimiter);events.forEach(function(event){const ev=event&&event.split(".")[0];const ns=event&&event.split(".")[1];let namespace,l;if(listener){if(bag[ev]&&bag[ev][ns||"*"]){n.removeEventListener(ev,bag[ev][ns||"*"][listener],options||false);delete bag[ev][ns||"*"][listener]}}else if(ev&&ns){if(bag[ev]&&bag[ev][ns]){for(l in bag[ev][ns]){off(n,[ev,ns].join("."),l)}delete bag[ev][ns]}}else if(ns){for(event in bag){for(namespace in bag[event]){if(ns===namespace){off(n,[event,ns].join("."))}}}}else if(ev){if(bag[ev]){for(namespace in bag[ev]){off(n,[ev,namespace].join("."))}delete bag[ev]}}else{for(event in bag){off(n,event)}clearEvents(instance)}})}function dispatch(node,event,data,options){const n=getEventTarget(node);if(event instanceof globals.window.Event){n.dispatchEvent(event)}else{event=new globals.window.CustomEvent(event,{detail:data,cancelable:true,...options});n.dispatchEvent(event)}return event}class EventTarget extends Base{addEventListener(){}dispatch(event,data,options){return dispatch(this,event,data,options)}dispatchEvent(event){const bag=this.getEventHolder().events;if(!bag)return true;const events=bag[event.type];for(const i in events){for(const j in events[i]){events[i][j](event)}}return!event.defaultPrevented}fire(event,data,options){this.dispatch(event,data,options);return this}getEventHolder(){return this}getEventTarget(){return this}off(event,listener,options){off(this,event,listener,options);return this}on(event,listener,binding,options){on(this,event,listener,binding,options);return this}removeEventListener(){}}register(EventTarget,"EventTarget");function noop(){}const timeline={duration:400,ease:">",delay:0};const attrs={"fill-opacity":1,"stroke-opacity":1,"stroke-width":0,"stroke-linejoin":"miter","stroke-linecap":"butt",fill:"#000000",stroke:"#000000",opacity:1,x:0,y:0,cx:0,cy:0,width:0,height:0,r:0,rx:0,ry:0,offset:0,"stop-opacity":1,"stop-color":"#000000","text-anchor":"start"};var defaults={__proto__:null,noop:noop,timeline:timeline,attrs:attrs};class SVGArray extends Array{constructor(...args){super(...args);this.init(...args)}clone(){return new this.constructor(this)}init(arr){if(typeof arr==="number")return this;this.length=0;this.push(...this.parse(arr));return this}parse(array=[]){if(array instanceof Array)return array;return array.trim().split(delimiter).map(parseFloat)}toArray(){return Array.prototype.concat.apply([],this)}toSet(){return new Set(this)}toString(){return this.join(" ")}valueOf(){const ret=[];ret.push(...this);return ret}}class SVGNumber{constructor(...args){this.init(...args)}convert(unit){return new SVGNumber(this.value,unit)}divide(number){number=new SVGNumber(number);return new SVGNumber(this/number,this.unit||number.unit)}init(value,unit){unit=Array.isArray(value)?value[1]:unit;value=Array.isArray(value)?value[0]:value;this.value=0;this.unit=unit||"";if(typeof value==="number"){this.value=isNaN(value)?0:!isFinite(value)?value<0?-34e37:+34e37:value}else if(typeof value==="string"){unit=value.match(numberAndUnit);if(unit){this.value=parseFloat(unit[1]);if(unit[5]==="%"){this.value/=100}else if(unit[5]==="s"){this.value*=1e3}this.unit=unit[5]}}else{if(value instanceof SVGNumber){this.value=value.valueOf();this.unit=value.unit}}return this}minus(number){number=new SVGNumber(number);return new SVGNumber(this-number,this.unit||number.unit)}plus(number){number=new SVGNumber(number);return new SVGNumber(this+number,this.unit||number.unit)}times(number){number=new SVGNumber(number);return new SVGNumber(this*number,this.unit||number.unit)}toArray(){return[this.value,this.unit]}toJSON(){return this.toString()}toString(){return(this.unit==="%"?~~(this.value*1e8)/1e6:this.unit==="s"?this.value/1e3:this.value)+this.unit}valueOf(){return this.value}}const hooks=[];function registerAttrHook(fn){hooks.push(fn)}function attr(attr,val,ns){if(attr==null){attr={};val=this.node.attributes;for(const node of val){attr[node.nodeName]=isNumber.test(node.nodeValue)?parseFloat(node.nodeValue):node.nodeValue}return attr}else if(attr instanceof Array){return attr.reduce((last,curr)=>{last[curr]=this.attr(curr);return last},{})}else if(typeof attr==="object"&&attr.constructor===Object){for(val in attr)this.attr(val,attr[val])}else if(val===null){this.node.removeAttribute(attr)}else if(val==null){val=this.node.getAttribute(attr);return val==null?attrs[attr]:isNumber.test(val)?parseFloat(val):val}else{val=hooks.reduce((_val,hook)=>{return hook(attr,_val,this)},val);if(typeof val==="number"){val=new SVGNumber(val)}else if(Color.isColor(val)){val=new Color(val)}else if(val.constructor===Array){val=new SVGArray(val)}if(attr==="leading"){if(this.leading){this.leading(val)}}else{typeof ns==="string"?this.node.setAttributeNS(ns,attr,val.toString()):this.node.setAttribute(attr,val.toString())}if(this.rebuild&&(attr==="font-size"||attr==="x")){this.rebuild()}}return this}class Dom extends EventTarget{constructor(node,attrs){super();this.node=node;this.type=node.nodeName;if(attrs&&node!==attrs){this.attr(attrs)}}add(element,i){element=makeInstance(element);if(element.removeNamespace&&this.node instanceof globals.window.SVGElement){element.removeNamespace()}if(i==null){this.node.appendChild(element.node)}else if(element.node!==this.node.childNodes[i]){this.node.insertBefore(element.node,this.node.childNodes[i])}return this}addTo(parent,i){return makeInstance(parent).put(this,i)}children(){return new List(map(this.node.children,function(node){return adopt(node)}))}clear(){while(this.node.hasChildNodes()){this.node.removeChild(this.node.lastChild)}return this}clone(deep=true){this.writeDataToDom();return new this.constructor(assignNewId(this.node.cloneNode(deep)))}each(block,deep){const children=this.children();let i,il;for(i=0,il=children.length;i=0}html(htmlOrFn,outerHTML){return this.xml(htmlOrFn,outerHTML,html)}id(id){if(typeof id==="undefined"&&!this.node.id){this.node.id=eid(this.type)}return this.attr("id",id)}index(element){return[].slice.call(this.node.childNodes).indexOf(element.node)}last(){return adopt(this.node.lastChild)}matches(selector){const el=this.node;const matcher=el.matches||el.matchesSelector||el.msMatchesSelector||el.mozMatchesSelector||el.webkitMatchesSelector||el.oMatchesSelector||null;return matcher&&matcher.call(el,selector)}parent(type){let parent=this;if(!parent.node.parentNode)return null;parent=adopt(parent.node.parentNode);if(!type)return parent;do{if(typeof type==="string"?parent.matches(type):parent instanceof type)return parent}while(parent=adopt(parent.node.parentNode));return parent}put(element,i){element=makeInstance(element);this.add(element,i);return element}putIn(parent,i){return makeInstance(parent).add(this,i)}remove(){if(this.parent()){this.parent().removeElement(this)}return this}removeElement(element){this.node.removeChild(element.node);return this}replace(element){element=makeInstance(element);if(this.node.parentNode){this.node.parentNode.replaceChild(element.node,this.node)}return element}round(precision=2,map=null){const factor=10**precision;const attrs=this.attr(map);for(const i in attrs){if(typeof attrs[i]==="number"){attrs[i]=Math.round(attrs[i]*factor)/factor}}this.attr(attrs);return this}svg(svgOrFn,outerSVG){return this.xml(svgOrFn,outerSVG,svg)}toString(){return this.id()}words(text){this.node.textContent=text;return this}wrap(node){const parent=this.parent();if(!parent){return this.addTo(node)}const position=parent.index(this);return parent.put(node,position).put(this)}writeDataToDom(){this.each(function(){this.writeDataToDom()});return this}xml(xmlOrFn,outerXML,ns){if(typeof xmlOrFn==="boolean"){ns=outerXML;outerXML=xmlOrFn;xmlOrFn=null}if(xmlOrFn==null||typeof xmlOrFn==="function"){outerXML=outerXML==null?true:outerXML;this.writeDataToDom();let current=this;if(xmlOrFn!=null){current=adopt(current.node.cloneNode(true));if(outerXML){const result=xmlOrFn(current);current=result||current;if(result===false)return""}current.each(function(){const result=xmlOrFn(this);const _this=result||this;if(result===false){this.remove()}else if(result&&this!==_this){this.replace(_this)}},true)}return outerXML?current.node.outerHTML:current.node.innerHTML}outerXML=outerXML==null?false:outerXML;const well=create("wrapper",ns);const fragment=globals.document.createDocumentFragment();well.innerHTML=xmlOrFn;for(let len=well.children.length;len--;){fragment.appendChild(well.firstElementChild)}const parent=this.parent();return outerXML?this.replace(fragment)&&parent:this.add(fragment)}}extend(Dom,{attr:attr,find:find,findOne:findOne});register(Dom,"Dom");class Element extends Dom{constructor(node,attrs){super(node,attrs);this.dom={};this.node.instance=this;if(node.hasAttribute("svgjs:data")){this.setData(JSON.parse(node.getAttribute("svgjs:data"))||{})}}center(x,y){return this.cx(x).cy(y)}cx(x){return x==null?this.x()+this.width()/2:this.x(x-this.width()/2)}cy(y){return y==null?this.y()+this.height()/2:this.y(y-this.height()/2)}defs(){const root=this.root();return root&&root.defs()}dmove(x,y){return this.dx(x).dy(y)}dx(x=0){return this.x(new SVGNumber(x).plus(this.x()))}dy(y=0){return this.y(new SVGNumber(y).plus(this.y()))}getEventHolder(){return this}height(height){return this.attr("height",height)}move(x,y){return this.x(x).y(y)}parents(until=this.root()){const isSelector=typeof until==="string";if(!isSelector){until=makeInstance(until)}const parents=new List;let parent=this;while((parent=parent.parent())&&parent.node!==globals.document&&parent.nodeName!=="#document-fragment"){parents.push(parent);if(!isSelector&&parent.node===until.node){break}if(isSelector&&parent.matches(until)){break}if(parent.node===this.root().node){return null}}return parents}reference(attr){attr=this.attr(attr);if(!attr)return null;const m=(attr+"").match(reference);return m?makeInstance(m[1]):null}root(){const p=this.parent(getClass(root));return p&&p.root()}setData(o){this.dom=o;return this}size(width,height){const p=proportionalSize(this,width,height);return this.width(new SVGNumber(p.width)).height(new SVGNumber(p.height))}width(width){return this.attr("width",width)}writeDataToDom(){this.node.removeAttribute("svgjs:data");if(Object.keys(this.dom).length){this.node.setAttribute("svgjs:data",JSON.stringify(this.dom))}return super.writeDataToDom()}x(x){return this.attr("x",x)}y(y){return this.attr("y",y)}}extend(Element,{bbox:bbox,rbox:rbox,inside:inside,point:point,ctm:ctm,screenCTM:screenCTM});register(Element,"Element");const sugar={stroke:["color","width","opacity","linecap","linejoin","miterlimit","dasharray","dashoffset"],fill:["color","opacity","rule"],prefix:function(t,a){return a==="color"?t:t+"-"+a}};["fill","stroke"].forEach(function(m){const extension={};let i;extension[m]=function(o){if(typeof o==="undefined"){return this.attr(m)}if(typeof o==="string"||o instanceof Color||Color.isRgb(o)||o instanceof Element){this.attr(m,o)}else{for(i=sugar[m].length-1;i>=0;i--){if(o[sugar[m][i]]!=null){this.attr(sugar.prefix(m,sugar[m][i]),o[sugar[m][i]])}}}return this};registerMethods(["Element","Runner"],extension)});registerMethods(["Element","Runner"],{matrix:function(mat,b,c,d,e,f){if(mat==null){return new Matrix(this)}return this.attr("transform",new Matrix(mat,b,c,d,e,f))},rotate:function(angle,cx,cy){return this.transform({rotate:angle,ox:cx,oy:cy},true)},skew:function(x,y,cx,cy){return arguments.length===1||arguments.length===3?this.transform({skew:x,ox:y,oy:cx},true):this.transform({skew:[x,y],ox:cx,oy:cy},true)},shear:function(lam,cx,cy){return this.transform({shear:lam,ox:cx,oy:cy},true)},scale:function(x,y,cx,cy){return arguments.length===1||arguments.length===3?this.transform({scale:x,ox:y,oy:cx},true):this.transform({scale:[x,y],ox:cx,oy:cy},true)},translate:function(x,y){return this.transform({translate:[x,y]},true)},relative:function(x,y){return this.transform({relative:[x,y]},true)},flip:function(direction="both",origin="center"){if("xybothtrue".indexOf(direction)===-1){origin=direction;direction="both"}return this.transform({flip:direction,origin:origin},true)},opacity:function(value){return this.attr("opacity",value)}});registerMethods("radius",{radius:function(x,y=x){const type=(this._element||this).type;return type==="radialGradient"?this.attr("r",new SVGNumber(x)):this.rx(x).ry(y)}});registerMethods("Path",{length:function(){return this.node.getTotalLength()},pointAt:function(length){return new Point(this.node.getPointAtLength(length))}});registerMethods(["Element","Runner"],{font:function(a,v){if(typeof a==="object"){for(v in a)this.font(v,a[v]);return this}return a==="leading"?this.leading(v):a==="anchor"?this.attr("text-anchor",v):a==="size"||a==="family"||a==="weight"||a==="stretch"||a==="variant"||a==="style"?this.attr("font-"+a,v):this.attr(a,v)}});const methods=["click","dblclick","mousedown","mouseup","mouseover","mouseout","mousemove","mouseenter","mouseleave","touchstart","touchmove","touchleave","touchend","touchcancel"].reduce(function(last,event){const fn=function(f){if(f===null){this.off(event)}else{this.on(event,f)}return this};last[event]=fn;return last},{});registerMethods("Element",methods);function untransform(){return this.attr("transform",null)}function matrixify(){const matrix=(this.attr("transform")||"").split(transforms).slice(0,-1).map(function(str){const kv=str.trim().split("(");return[kv[0],kv[1].split(delimiter).map(function(str){return parseFloat(str)})]}).reverse().reduce(function(matrix,transform){if(transform[0]==="matrix"){return matrix.lmultiply(Matrix.fromArray(transform[1]))}return matrix[transform[0]].apply(matrix,transform[1])},new Matrix);return matrix}function toParent(parent,i){if(this===parent)return this;const ctm=this.screenCTM();const pCtm=parent.screenCTM().inverse();this.addTo(parent,i).untransform().transform(pCtm.multiply(ctm));return this}function toRoot(i){return this.toParent(this.root(),i)}function transform(o,relative){if(o==null||typeof o==="string"){const decomposed=new Matrix(this).decompose();return o==null?decomposed:decomposed[o]}if(!Matrix.isMatrixLike(o)){o={...o,origin:getOrigin(o,this)}}const cleanRelative=relative===true?this:relative||false;const result=new Matrix(cleanRelative).transform(o);return this.attr("transform",result)}registerMethods("Element",{untransform:untransform,matrixify:matrixify,toParent:toParent,toRoot:toRoot,transform:transform});class Container extends Element{flatten(parent=this,index){this.each(function(){if(this instanceof Container){return this.flatten().ungroup()}});return this}ungroup(parent=this.parent(),index=parent.index(this)){index=index===-1?parent.children().length:index;this.each(function(i,children){return children[children.length-i-1].toParent(parent,index)});return this.remove()}}register(Container,"Container");class Defs extends Container{constructor(node,attrs=node){super(nodeOrNew("defs",node),attrs)}flatten(){return this}ungroup(){return this}}register(Defs,"Defs");class Shape extends Element{}register(Shape,"Shape");function rx(rx){return this.attr("rx",rx)}function ry(ry){return this.attr("ry",ry)}function x$3(x){return x==null?this.cx()-this.rx():this.cx(x+this.rx())}function y$3(y){return y==null?this.cy()-this.ry():this.cy(y+this.ry())}function cx$1(x){return this.attr("cx",x)}function cy$1(y){return this.attr("cy",y)}function width$2(width){return width==null?this.rx()*2:this.rx(new SVGNumber(width).divide(2))}function height$2(height){return height==null?this.ry()*2:this.ry(new SVGNumber(height).divide(2))}var circled={__proto__:null,rx:rx,ry:ry,x:x$3,y:y$3,cx:cx$1,cy:cy$1,width:width$2,height:height$2};class Ellipse extends Shape{constructor(node,attrs=node){super(nodeOrNew("ellipse",node),attrs)}size(width,height){const p=proportionalSize(this,width,height);return this.rx(new SVGNumber(p.width).divide(2)).ry(new SVGNumber(p.height).divide(2))}}extend(Ellipse,circled);registerMethods("Container",{ellipse:wrapWithAttrCheck(function(width=0,height=width){return this.put(new Ellipse).size(width,height).move(0,0)})});register(Ellipse,"Ellipse");class Fragment extends Dom{constructor(node=globals.document.createDocumentFragment()){super(node)}xml(xmlOrFn,outerXML,ns){if(typeof xmlOrFn==="boolean"){ns=outerXML;outerXML=xmlOrFn;xmlOrFn=null}if(xmlOrFn==null||typeof xmlOrFn==="function"){const wrapper=new Dom(create("wrapper",ns));wrapper.add(this.node.cloneNode(true));return wrapper.xml(false,ns)}return super.xml(xmlOrFn,false,ns)}}register(Fragment,"Fragment");function from(x,y){return(this._element||this).type==="radialGradient"?this.attr({fx:new SVGNumber(x),fy:new SVGNumber(y)}):this.attr({x1:new SVGNumber(x),y1:new SVGNumber(y)})}function to(x,y){return(this._element||this).type==="radialGradient"?this.attr({cx:new SVGNumber(x),cy:new SVGNumber(y)}):this.attr({x2:new SVGNumber(x),y2:new SVGNumber(y)})}var gradiented={__proto__:null,from:from,to:to};class Gradient extends Container{constructor(type,attrs){super(nodeOrNew(type+"Gradient",typeof type==="string"?null:type),attrs)}attr(a,b,c){if(a==="transform")a="gradientTransform";return super.attr(a,b,c)}bbox(){return new Box}targets(){return baseFind('svg [fill*="'+this.id()+'"]')}toString(){return this.url()}update(block){this.clear();if(typeof block==="function"){block.call(this,this)}return this}url(){return'url("#'+this.id()+'")'}}extend(Gradient,gradiented);registerMethods({Container:{gradient(...args){return this.defs().gradient(...args)}},Defs:{gradient:wrapWithAttrCheck(function(type,block){return this.put(new Gradient(type)).update(block)})}});register(Gradient,"Gradient");class Pattern extends Container{constructor(node,attrs=node){super(nodeOrNew("pattern",node),attrs)}attr(a,b,c){if(a==="transform")a="patternTransform";return super.attr(a,b,c)}bbox(){return new Box}targets(){return baseFind('svg [fill*="'+this.id()+'"]')}toString(){return this.url()}update(block){this.clear();if(typeof block==="function"){block.call(this,this)}return this}url(){return'url("#'+this.id()+'")'}}registerMethods({Container:{pattern(...args){return this.defs().pattern(...args)}},Defs:{pattern:wrapWithAttrCheck(function(width,height,block){return this.put(new Pattern).update(block).attr({x:0,y:0,width:width,height:height,patternUnits:"userSpaceOnUse"})})}});register(Pattern,"Pattern");class Image extends Shape{constructor(node,attrs=node){super(nodeOrNew("image",node),attrs)}load(url,callback){if(!url)return this;const img=new globals.window.Image;on(img,"load",function(e){const p=this.parent(Pattern);if(this.width()===0&&this.height()===0){this.size(img.width,img.height)}if(p instanceof Pattern){if(p.width()===0&&p.height()===0){p.size(this.width(),this.height())}}if(typeof callback==="function"){callback.call(this,e)}},this);on(img,"load error",function(){off(img)});return this.attr("href",img.src=url,xlink)}}registerAttrHook(function(attr,val,_this){if(attr==="fill"||attr==="stroke"){if(isImage.test(val)){val=_this.root().defs().image(val)}}if(val instanceof Image){val=_this.root().defs().pattern(0,0,pattern=>{pattern.add(val)})}return val});registerMethods({Container:{image:wrapWithAttrCheck(function(source,callback){return this.put(new Image).size(0,0).load(source,callback)})}});register(Image,"Image");class PointArray extends SVGArray{bbox(){let maxX=-Infinity;let maxY=-Infinity;let minX=Infinity;let minY=Infinity;this.forEach(function(el){maxX=Math.max(el[0],maxX);maxY=Math.max(el[1],maxY);minX=Math.min(el[0],minX);minY=Math.min(el[1],minY)});return new Box(minX,minY,maxX-minX,maxY-minY)}move(x,y){const box=this.bbox();x-=box.x;y-=box.y;if(!isNaN(x)&&!isNaN(y)){for(let i=this.length-1;i>=0;i--){this[i]=[this[i][0]+x,this[i][1]+y]}}return this}parse(array=[0,0]){const points=[];if(array instanceof Array){array=Array.prototype.concat.apply([],array)}else{array=array.trim().split(delimiter).map(parseFloat)}if(array.length%2!==0)array.pop();for(let i=0,len=array.length;i=0;i--){if(box.width)this[i][0]=(this[i][0]-box.x)*width/box.width+box.x;if(box.height)this[i][1]=(this[i][1]-box.y)*height/box.height+box.y}return this}toLine(){return{x1:this[0][0],y1:this[0][1],x2:this[1][0],y2:this[1][1]}}toString(){const array=[];for(let i=0,il=this.length;i":function(pos){return-Math.cos(pos*Math.PI)/2+.5},">":function(pos){return Math.sin(pos*Math.PI/2)},"<":function(pos){return-Math.cos(pos*Math.PI/2)+1},bezier:function(x1,y1,x2,y2){return function(t){if(t<0){if(x1>0){return y1/x1*t}else if(x2>0){return y2/x2*t}else{return 0}}else if(t>1){if(x2<1){return(1-y2)/(1-x2)*t+(y2-x2)/(1-x2)}else if(x1<1){return(1-y1)/(1-x1)*t+(y1-x1)/(1-x1)}else{return 1}}else{return 3*t*(1-t)**2*y1+3*t**2*(1-t)*y2+t**3}}},steps:function(steps,stepPosition="end"){stepPosition=stepPosition.split("-").reverse()[0];let jumps=steps;if(stepPosition==="none"){--jumps}else if(stepPosition==="both"){++jumps}return(t,beforeFlag=false)=>{let step=Math.floor(t*steps);const jumping=t*step%1===0;if(stepPosition==="start"||stepPosition==="both"){++step}if(beforeFlag&&jumping){--step}if(t>=0&&step<0){step=0}if(t<=1&&step>jumps){step=jumps}return step/jumps}}};class Stepper{done(){return false}}class Ease extends Stepper{constructor(fn=timeline.ease){super();this.ease=easing[fn]||fn}step(from,to,pos){if(typeof from!=="number"){return pos<1?from:to}return from+(to-from)*this.ease(pos)}}class Controller extends Stepper{constructor(fn){super();this.stepper=fn}done(c){return c.done}step(current,target,dt,c){return this.stepper(current,target,dt,c)}}function recalculate(){const duration=(this._duration||500)/1e3;const overshoot=this._overshoot||0;const eps=1e-10;const pi=Math.PI;const os=Math.log(overshoot/100+eps);const zeta=-os/Math.sqrt(pi*pi+os*os);const wn=3.9/(zeta*duration);this.d=2*zeta*wn;this.k=wn*wn}class Spring extends Controller{constructor(duration=500,overshoot=0){super();this.duration(duration).overshoot(overshoot)}step(current,target,dt,c){if(typeof current==="string")return current;c.done=dt===Infinity;if(dt===Infinity)return target;if(dt===0)return current;if(dt>100)dt=16;dt/=1e3;const velocity=c.velocity||0;const acceleration=-this.d*velocity-this.k*(current-target);const newPosition=current+velocity*dt+acceleration*dt*dt/2;c.velocity=velocity+acceleration*dt;c.done=Math.abs(target-newPosition)+Math.abs(velocity)<.002;return c.done?target:newPosition}}extend(Spring,{duration:makeSetterGetter("_duration",recalculate),overshoot:makeSetterGetter("_overshoot",recalculate)});class PID extends Controller{constructor(p=.1,i=.01,d=0,windup=1e3){super();this.p(p).i(i).d(d).windup(windup)}step(current,target,dt,c){if(typeof current==="string")return current;c.done=dt===Infinity;if(dt===Infinity)return target;if(dt===0)return current;const p=target-current;let i=(c.integral||0)+p*dt;const d=(p-(c.error||0))/dt;const windup=this._windup;if(windup!==false){i=Math.max(-windup,Math.min(i,windup))}c.error=p;c.integral=i;c.done=Math.abs(p)<.001;return c.done?target:current+(this.P*p+this.I*i+this.D*d)}}extend(PID,{windup:makeSetterGetter("_windup"),p:makeSetterGetter("P"),i:makeSetterGetter("I"),d:makeSetterGetter("D")});const segmentParameters={M:2,L:2,H:1,V:1,C:6,S:4,Q:4,T:2,A:7,Z:0};const pathHandlers={M:function(c,p,p0){p.x=p0.x=c[0];p.y=p0.y=c[1];return["M",p.x,p.y]},L:function(c,p){p.x=c[0];p.y=c[1];return["L",c[0],c[1]]},H:function(c,p){p.x=c[0];return["H",c[0]]},V:function(c,p){p.y=c[0];return["V",c[0]]},C:function(c,p){p.x=c[4];p.y=c[5];return["C",c[0],c[1],c[2],c[3],c[4],c[5]]},S:function(c,p){p.x=c[2];p.y=c[3];return["S",c[0],c[1],c[2],c[3]]},Q:function(c,p){p.x=c[2];p.y=c[3];return["Q",c[0],c[1],c[2],c[3]]},T:function(c,p){p.x=c[0];p.y=c[1];return["T",c[0],c[1]]},Z:function(c,p,p0){p.x=p0.x;p.y=p0.y;return["Z"]},A:function(c,p){p.x=c[5];p.y=c[6];return["A",c[0],c[1],c[2],c[3],c[4],c[5],c[6]]}};const mlhvqtcsaz="mlhvqtcsaz".split("");for(let i=0,il=mlhvqtcsaz.length;i=0;i--){l=this[i][0];if(l==="M"||l==="L"||l==="T"){this[i][1]+=x;this[i][2]+=y}else if(l==="H"){this[i][1]+=x}else if(l==="V"){this[i][1]+=y}else if(l==="C"||l==="S"||l==="Q"){this[i][1]+=x;this[i][2]+=y;this[i][3]+=x;this[i][4]+=y;if(l==="C"){this[i][5]+=x;this[i][6]+=y}}else if(l==="A"){this[i][6]+=x;this[i][7]+=y}}}return this}parse(d="M0 0"){if(Array.isArray(d)){d=Array.prototype.concat.apply([],d).toString()}return pathParser(d)}size(width,height){const box=this.bbox();let i,l;box.width=box.width===0?1:box.width;box.height=box.height===0?1:box.height;for(i=this.length-1;i>=0;i--){l=this[i][0];if(l==="M"||l==="L"||l==="T"){this[i][1]=(this[i][1]-box.x)*width/box.width+box.x;this[i][2]=(this[i][2]-box.y)*height/box.height+box.y}else if(l==="H"){this[i][1]=(this[i][1]-box.x)*width/box.width+box.x}else if(l==="V"){this[i][1]=(this[i][1]-box.y)*height/box.height+box.y}else if(l==="C"||l==="S"||l==="Q"){this[i][1]=(this[i][1]-box.x)*width/box.width+box.x;this[i][2]=(this[i][2]-box.y)*height/box.height+box.y;this[i][3]=(this[i][3]-box.x)*width/box.width+box.x;this[i][4]=(this[i][4]-box.y)*height/box.height+box.y;if(l==="C"){this[i][5]=(this[i][5]-box.x)*width/box.width+box.x;this[i][6]=(this[i][6]-box.y)*height/box.height+box.y}}else if(l==="A"){this[i][1]=this[i][1]*width/box.width;this[i][2]=this[i][2]*height/box.height;this[i][6]=(this[i][6]-box.x)*width/box.width+box.x;this[i][7]=(this[i][7]-box.y)*height/box.height+box.y}}return this}toString(){return arrayToString(this)}}const getClassForType=value=>{const type=typeof value;if(type==="number"){return SVGNumber}else if(type==="string"){if(Color.isColor(value)){return Color}else if(delimiter.test(value)){return isPathLetter.test(value)?PathArray:SVGArray}else if(numberAndUnit.test(value)){return SVGNumber}else{return NonMorphable}}else if(morphableTypes.indexOf(value.constructor)>-1){return value.constructor}else if(Array.isArray(value)){return SVGArray}else if(type==="object"){return ObjectBag}else{return NonMorphable}};class Morphable{constructor(stepper){this._stepper=stepper||new Ease("-");this._from=null;this._to=null;this._type=null;this._context=null;this._morphObj=null}at(pos){return this._morphObj.morph(this._from,this._to,pos,this._stepper,this._context)}done(){const complete=this._context.map(this._stepper.done).reduce(function(last,curr){return last&&curr},true);return complete}from(val){if(val==null){return this._from}this._from=this._set(val);return this}stepper(stepper){if(stepper==null)return this._stepper;this._stepper=stepper;return this}to(val){if(val==null){return this._to}this._to=this._set(val);return this}type(type){if(type==null){return this._type}this._type=type;return this}_set(value){if(!this._type){this.type(getClassForType(value))}let result=new this._type(value);if(this._type===Color){result=this._to?result[this._to[4]]():this._from?result[this._from[4]]():result}if(this._type===ObjectBag){result=this._to?result.align(this._to):this._from?result.align(this._from):result}result=result.toConsumable();this._morphObj=this._morphObj||new this._type;this._context=this._context||Array.apply(null,Array(result.length)).map(Object).map(function(o){o.done=true;return o});return result}}class NonMorphable{constructor(...args){this.init(...args)}init(val){val=Array.isArray(val)?val[0]:val;this.value=val;return this}toArray(){return[this.value]}valueOf(){return this.value}}class TransformBag{constructor(...args){this.init(...args)}init(obj){if(Array.isArray(obj)){obj={scaleX:obj[0],scaleY:obj[1],shear:obj[2],rotate:obj[3],translateX:obj[4],translateY:obj[5],originX:obj[6],originY:obj[7]}}Object.assign(this,TransformBag.defaults,obj);return this}toArray(){const v=this;return[v.scaleX,v.scaleY,v.shear,v.rotate,v.translateX,v.translateY,v.originX,v.originY]}}TransformBag.defaults={scaleX:1,scaleY:1,shear:0,rotate:0,translateX:0,translateY:0,originX:0,originY:0};const sortByKey=(a,b)=>{return a[0]b[0]?1:0};class ObjectBag{constructor(...args){this.init(...args)}align(other){const values=this.values;for(let i=0,il=values.length;ilast.concat(curr),[]);return this}toArray(){return this.values}valueOf(){const obj={};const arr=this.values;while(arr.length){const key=arr.shift();const Type=arr.shift();const num=arr.shift();const values=arr.splice(0,num);obj[key]=new Type(values)}return obj}}const morphableTypes=[NonMorphable,TransformBag,ObjectBag];function registerMorphableType(type=[]){morphableTypes.push(...[].concat(type))}function makeMorphable(){extend(morphableTypes,{to(val){return(new Morphable).type(this.constructor).from(this.toArray()).to(val)},fromArray(arr){this.init(arr);return this},toConsumable(){return this.toArray()},morph(from,to,pos,stepper,context){const mapper=function(i,index){return stepper.step(i,to[index],pos,context[index],context)};return this.fromArray(from.map(mapper))}})}class Path extends Shape{constructor(node,attrs=node){super(nodeOrNew("path",node),attrs)}array(){return this._array||(this._array=new PathArray(this.attr("d")))}clear(){delete this._array;return this}height(height){return height==null?this.bbox().height:this.size(this.bbox().width,height)}move(x,y){return this.attr("d",this.array().move(x,y))}plot(d){return d==null?this.array():this.clear().attr("d",typeof d==="string"?d:this._array=new PathArray(d))}size(width,height){const p=proportionalSize(this,width,height);return this.attr("d",this.array().size(p.width,p.height))}width(width){return width==null?this.bbox().width:this.size(width,this.bbox().height)}x(x){return x==null?this.bbox().x:this.move(x,this.bbox().y)}y(y){return y==null?this.bbox().y:this.move(this.bbox().x,y)}}Path.prototype.MorphArray=PathArray;registerMethods({Container:{path:wrapWithAttrCheck(function(d){return this.put(new Path).plot(d||new PathArray)})}});register(Path,"Path");function array(){return this._array||(this._array=new PointArray(this.attr("points")))}function clear(){delete this._array;return this}function move$2(x,y){return this.attr("points",this.array().move(x,y))}function plot(p){return p==null?this.array():this.clear().attr("points",typeof p==="string"?p:this._array=new PointArray(p))}function size$1(width,height){const p=proportionalSize(this,width,height);return this.attr("points",this.array().size(p.width,p.height))}var poly={__proto__:null,array:array,clear:clear,move:move$2,plot:plot,size:size$1};class Polygon extends Shape{constructor(node,attrs=node){super(nodeOrNew("polygon",node),attrs)}}registerMethods({Container:{polygon:wrapWithAttrCheck(function(p){return this.put(new Polygon).plot(p||new PointArray)})}});extend(Polygon,pointed);extend(Polygon,poly);register(Polygon,"Polygon");class Polyline extends Shape{constructor(node,attrs=node){super(nodeOrNew("polyline",node),attrs)}}registerMethods({Container:{polyline:wrapWithAttrCheck(function(p){return this.put(new Polyline).plot(p||new PointArray)})}});extend(Polyline,pointed);extend(Polyline,poly);register(Polyline,"Polyline");class Rect extends Shape{constructor(node,attrs=node){super(nodeOrNew("rect",node),attrs)}}extend(Rect,{rx:rx,ry:ry});registerMethods({Container:{rect:wrapWithAttrCheck(function(width,height){return this.put(new Rect).size(width,height)})}});register(Rect,"Rect");class Queue{constructor(){this._first=null;this._last=null}first(){return this._first&&this._first.value}last(){return this._last&&this._last.value}push(value){const item=typeof value.next!=="undefined"?value:{value:value,next:null,prev:null};if(this._last){item.prev=this._last;this._last.next=item;this._last=item}else{this._last=item;this._first=item}return item}remove(item){if(item.prev)item.prev.next=item.next;if(item.next)item.next.prev=item.prev;if(item===this._last)this._last=item.prev;if(item===this._first)this._first=item.next;item.prev=null;item.next=null}shift(){const remove=this._first;if(!remove)return null;this._first=remove.next;if(this._first)this._first.prev=null;this._last=this._first?this._last:null;return remove.value}}const Animator={nextDraw:null,frames:new Queue,timeouts:new Queue,immediates:new Queue,timer:()=>globals.window.performance||globals.window.Date,transforms:[],frame(fn){const node=Animator.frames.push({run:fn});if(Animator.nextDraw===null){Animator.nextDraw=globals.window.requestAnimationFrame(Animator._draw)}return node},timeout(fn,delay){delay=delay||0;const time=Animator.timer().now()+delay;const node=Animator.timeouts.push({run:fn,time:time});if(Animator.nextDraw===null){Animator.nextDraw=globals.window.requestAnimationFrame(Animator._draw)}return node},immediate(fn){const node=Animator.immediates.push(fn);if(Animator.nextDraw===null){Animator.nextDraw=globals.window.requestAnimationFrame(Animator._draw)}return node},cancelFrame(node){node!=null&&Animator.frames.remove(node)},clearTimeout(node){node!=null&&Animator.timeouts.remove(node)},cancelImmediate(node){node!=null&&Animator.immediates.remove(node)},_draw(now){let nextTimeout=null;const lastTimeout=Animator.timeouts.last();while(nextTimeout=Animator.timeouts.shift()){if(now>=nextTimeout.time){nextTimeout.run()}else{Animator.timeouts.push(nextTimeout)}if(nextTimeout===lastTimeout)break}let nextFrame=null;const lastFrame=Animator.frames.last();while(nextFrame!==lastFrame&&(nextFrame=Animator.frames.shift())){nextFrame.run(now)}let nextImmediate=null;while(nextImmediate=Animator.immediates.shift()){nextImmediate()}Animator.nextDraw=Animator.timeouts.first()||Animator.frames.first()?globals.window.requestAnimationFrame(Animator._draw):null}};const makeSchedule=function(runnerInfo){const start=runnerInfo.start;const duration=runnerInfo.runner.duration();const end=start+duration;return{start:start,duration:duration,end:end,runner:runnerInfo.runner}};const defaultSource=function(){const w=globals.window;return(w.performance||w.Date).now()};class Timeline extends EventTarget{constructor(timeSource=defaultSource){super();this._timeSource=timeSource;this._startTime=0;this._speed=1;this._persist=0;this._nextFrame=null;this._paused=true;this._runners=[];this._runnerIds=[];this._lastRunnerId=-1;this._time=0;this._lastSourceTime=0;this._lastStepTime=0;this._step=this._stepFn.bind(this,false);this._stepImmediate=this._stepFn.bind(this,true)}active(){return!!this._nextFrame}finish(){this.time(this.getEndTimeOfTimeline()+1);return this.pause()}getEndTime(){const lastRunnerInfo=this.getLastRunnerInfo();const lastDuration=lastRunnerInfo?lastRunnerInfo.runner.duration():0;const lastStartTime=lastRunnerInfo?lastRunnerInfo.start:this._time;return lastStartTime+lastDuration}getEndTimeOfTimeline(){const endTimes=this._runners.map(i=>i.start+i.runner.duration());return Math.max(0,...endTimes)}getLastRunnerInfo(){return this.getRunnerInfoById(this._lastRunnerId)}getRunnerInfoById(id){return this._runners[this._runnerIds.indexOf(id)]||null}pause(){this._paused=true;return this._continue()}persist(dtOrForever){if(dtOrForever==null)return this._persist;this._persist=dtOrForever;return this}play(){this._paused=false;return this.updateTime()._continue()}reverse(yes){const currentSpeed=this.speed();if(yes==null)return this.speed(-currentSpeed);const positive=Math.abs(currentSpeed);return this.speed(yes?-positive:positive)}schedule(runner,delay,when){if(runner==null){return this._runners.map(makeSchedule)}let absoluteStartTime=0;const endTime=this.getEndTime();delay=delay||0;if(when==null||when==="last"||when==="after"){absoluteStartTime=endTime}else if(when==="absolute"||when==="start"){absoluteStartTime=delay;delay=0}else if(when==="now"){absoluteStartTime=this._time}else if(when==="relative"){const runnerInfo=this.getRunnerInfoById(runner.id);if(runnerInfo){absoluteStartTime=runnerInfo.start+delay;delay=0}}else if(when==="with-last"){const lastRunnerInfo=this.getLastRunnerInfo();const lastStartTime=lastRunnerInfo?lastRunnerInfo.start:this._time;absoluteStartTime=lastStartTime}else{throw new Error('Invalid value for the "when" parameter')}runner.unschedule();runner.timeline(this);const persist=runner.persist();const runnerInfo={persist:persist===null?this._persist:persist,start:absoluteStartTime+delay,runner:runner};this._lastRunnerId=runner.id;this._runners.push(runnerInfo);this._runners.sort((a,b)=>a.start-b.start);this._runnerIds=this._runners.map(info=>info.runner.id);this.updateTime()._continue();return this}seek(dt){return this.time(this._time+dt)}source(fn){if(fn==null)return this._timeSource;this._timeSource=fn;return this}speed(speed){if(speed==null)return this._speed;this._speed=speed;return this}stop(){this.time(0);return this.pause()}time(time){if(time==null)return this._time;this._time=time;return this._continue(true)}unschedule(runner){const index=this._runnerIds.indexOf(runner.id);if(index<0)return this;this._runners.splice(index,1);this._runnerIds.splice(index,1);runner.timeline(null);return this}updateTime(){if(!this.active()){this._lastSourceTime=this._timeSource()}return this}_continue(immediateStep=false){Animator.cancelFrame(this._nextFrame);this._nextFrame=null;if(immediateStep)return this._stepImmediate();if(this._paused)return this;this._nextFrame=Animator.frame(this._step);return this}_stepFn(immediateStep=false){const time=this._timeSource();let dtSource=time-this._lastSourceTime;if(immediateStep)dtSource=0;const dtTime=this._speed*dtSource+(this._time-this._lastStepTime);this._lastSourceTime=time;if(!immediateStep){this._time+=dtTime;this._time=this._time<0?0:this._time}this._lastStepTime=this._time;this.fire("time",this._time);for(let k=this._runners.length;k--;){const runnerInfo=this._runners[k];const runner=runnerInfo.runner;const dtToStart=this._time-runnerInfo.start;if(dtToStart<=0){runner.reset()}}let runnersLeft=false;for(let i=0,len=this._runners.length;i0){this._continue()}else{this.pause();this.fire("finished")}return this}}registerMethods({Element:{timeline:function(timeline){if(timeline==null){this._timeline=this._timeline||new Timeline;return this._timeline}else{this._timeline=timeline;return this}}}});class Runner extends EventTarget{constructor(options){super();this.id=Runner.id++;options=options==null?timeline.duration:options;options=typeof options==="function"?new Controller(options):options;this._element=null;this._timeline=null;this.done=false;this._queue=[];this._duration=typeof options==="number"&&options;this._isDeclarative=options instanceof Controller;this._stepper=this._isDeclarative?options:new Ease;this._history={};this.enabled=true;this._time=0;this._lastTime=0;this._reseted=true;this.transforms=new Matrix;this.transformId=1;this._haveReversed=false;this._reverse=false;this._loopsDone=0;this._swing=false;this._wait=0;this._times=1;this._frameId=null;this._persist=this._isDeclarative?true:null}static sanitise(duration,delay,when){let times=1;let swing=false;let wait=0;duration=duration||timeline.duration;delay=delay||timeline.delay;when=when||"last";if(typeof duration==="object"&&!(duration instanceof Stepper)){delay=duration.delay||delay;when=duration.when||when;swing=duration.swing||swing;times=duration.times||times;wait=duration.wait||wait;duration=duration.duration||timeline.duration}return{duration:duration,delay:delay,swing:swing,times:times,wait:wait,when:when}}active(enabled){if(enabled==null)return this.enabled;this.enabled=enabled;return this}addTransform(transform,index){this.transforms.lmultiplyO(transform);return this}after(fn){return this.on("finished",fn)}animate(duration,delay,when){const o=Runner.sanitise(duration,delay,when);const runner=new Runner(o.duration);if(this._timeline)runner.timeline(this._timeline);if(this._element)runner.element(this._element);return runner.loop(o).schedule(o.delay,o.when)}clearTransform(){this.transforms=new Matrix;return this}clearTransformsFromQueue(){if(!this.done||!this._timeline||!this._timeline._runnerIds.includes(this.id)){this._queue=this._queue.filter(item=>{return!item.isTransform})}}delay(delay){return this.animate(0,delay)}duration(){return this._times*(this._wait+this._duration)-this._wait}during(fn){return this.queue(null,fn)}ease(fn){this._stepper=new Ease(fn);return this}element(element){if(element==null)return this._element;this._element=element;element._prepareRunner();return this}finish(){return this.step(Infinity)}loop(times,swing,wait){if(typeof times==="object"){swing=times.swing;wait=times.wait;times=times.times}this._times=times||Infinity;this._swing=swing||false;this._wait=wait||0;if(this._times===true){this._times=Infinity}return this}loops(p){const loopDuration=this._duration+this._wait;if(p==null){const loopsDone=Math.floor(this._time/loopDuration);const relativeTime=this._time-loopsDone*loopDuration;const position=relativeTime/this._duration;return Math.min(loopsDone+position,this._times)}const whole=Math.floor(p);const partial=p%1;const time=loopDuration*whole+this._duration*partial;return this.time(time)}persist(dtOrForever){if(dtOrForever==null)return this._persist;this._persist=dtOrForever;return this}position(p){const x=this._time;const d=this._duration;const w=this._wait;const t=this._times;const s=this._swing;const r=this._reverse;let position;if(p==null){const f=function(x){const swinging=s*Math.floor(x%(2*(w+d))/(w+d));const backwards=swinging&&!r||!swinging&&r;const uncliped=Math.pow(-1,backwards)*(x%(w+d))/d+backwards;const clipped=Math.max(Math.min(uncliped,1),0);return clipped};const endTime=t*(w+d)-w;position=x<=0?Math.round(f(1e-5)):x=0;this._lastPosition=position;const duration=this.duration();const justStarted=this._lastTime<=0&&this._time>0;const justFinished=this._lastTime=duration;this._lastTime=this._time;if(justStarted){this.fire("start",this)}const declarative=this._isDeclarative;this.done=!declarative&&!justFinished&&this._time>=duration;this._reseted=false;let converged=false;if(running||declarative){this._initialise(running);this.transforms=new Matrix;converged=this._run(declarative?dt:position);this.fire("step",this)}this.done=this.done||converged&&declarative;if(justFinished){this.fire("finished",this)}return this}time(time){if(time==null){return this._time}const dt=time-this._time;this.step(dt);return this}timeline(timeline){if(typeof timeline==="undefined")return this._timeline;this._timeline=timeline;return this}unschedule(){const timeline=this.timeline();timeline&&timeline.unschedule(this);return this}_initialise(running){if(!running&&!this._isDeclarative)return;for(let i=0,len=this._queue.length;ilast.lmultiplyO(curr);const getRunnerTransform=runner=>runner.transforms;function mergeTransforms(){const runners=this._transformationRunners.runners;const netTransform=runners.map(getRunnerTransform).reduce(lmultiply,new Matrix);this.transform(netTransform);this._transformationRunners.merge();if(this._transformationRunners.length()===1){this._frameId=null}}class RunnerArray{constructor(){this.runners=[];this.ids=[]}add(runner){if(this.runners.includes(runner))return;const id=runner.id+1;this.runners.push(runner);this.ids.push(id);return this}clearBefore(id){const deleteCnt=this.ids.indexOf(id+1)||1;this.ids.splice(0,deleteCnt,0);this.runners.splice(0,deleteCnt,new FakeRunner).forEach(r=>r.clearTransformsFromQueue());return this}edit(id,newRunner){const index=this.ids.indexOf(id+1);this.ids.splice(index,1,id+1);this.runners.splice(index,1,newRunner);return this}getByID(id){return this.runners[this.ids.indexOf(id+1)]}length(){return this.ids.length}merge(){let lastRunner=null;for(let i=0;irunner.id<=current.id).map(getRunnerTransform).reduce(lmultiply,new Matrix)},_addRunner(runner){this._transformationRunners.add(runner);Animator.cancelImmediate(this._frameId);this._frameId=Animator.immediate(mergeTransforms.bind(this))},_prepareRunner(){if(this._frameId==null){this._transformationRunners=(new RunnerArray).add(new FakeRunner(new Matrix(this)))}}}});const difference=(a,b)=>a.filter(x=>!b.includes(x));extend(Runner,{attr(a,v){return this.styleAttr("attr",a,v)},css(s,v){return this.styleAttr("css",s,v)},styleAttr(type,nameOrAttrs,val){if(typeof nameOrAttrs==="string"){return this.styleAttr(type,{[nameOrAttrs]:val})}let attrs=nameOrAttrs;if(this._tryRetarget(type,attrs))return this;let morpher=new Morphable(this._stepper).to(attrs);let keys=Object.keys(attrs);this.queue(function(){morpher=morpher.from(this.element()[type](keys))},function(pos){this.element()[type](morpher.at(pos).valueOf());return morpher.done()},function(newToAttrs){const newKeys=Object.keys(newToAttrs);const differences=difference(newKeys,keys);if(differences.length){const addedFromAttrs=this.element()[type](differences);const oldFromAttrs=new ObjectBag(morpher.from()).valueOf();Object.assign(oldFromAttrs,addedFromAttrs);morpher.from(oldFromAttrs)}const oldToAttrs=new ObjectBag(morpher.to()).valueOf();Object.assign(oldToAttrs,newToAttrs);morpher.to(oldToAttrs);keys=newKeys;attrs=newToAttrs});this._rememberMorpher(type,morpher);return this},zoom(level,point){if(this._tryRetarget("zoom",level,point))return this;let morpher=new Morphable(this._stepper).to(new SVGNumber(level));this.queue(function(){morpher=morpher.from(this.element().zoom())},function(pos){this.element().zoom(morpher.at(pos),point);return morpher.done()},function(newLevel,newPoint){point=newPoint;morpher.to(newLevel)});this._rememberMorpher("zoom",morpher);return this},transform(transforms,relative,affine){relative=transforms.relative||relative;if(this._isDeclarative&&!relative&&this._tryRetarget("transform",transforms)){return this}const isMatrix=Matrix.isMatrixLike(transforms);affine=transforms.affine!=null?transforms.affine:affine!=null?affine:!isMatrix;const morpher=new Morphable(this._stepper).type(affine?TransformBag:Matrix);let origin;let element;let current;let currentAngle;let startTransform;function setup(){element=element||this.element();origin=origin||getOrigin(transforms,element);startTransform=new Matrix(relative?undefined:element);element._addRunner(this);if(!relative){element._clearTransformRunnersBefore(this)}}function run(pos){if(!relative)this.clearTransform();const{x,y}=new Point(origin).transform(element._currentTransform(this));let target=new Matrix({...transforms,origin:[x,y]});let start=this._isDeclarative&¤t?current:startTransform;if(affine){target=target.decompose(x,y);start=start.decompose(x,y);const rTarget=target.rotate;const rCurrent=start.rotate;const possibilities=[rTarget-360,rTarget,rTarget+360];const distances=possibilities.map(a=>Math.abs(a-rCurrent));const shortest=Math.min(...distances);const index=distances.indexOf(shortest);target.rotate=possibilities[index]}if(relative){if(!isMatrix){target.rotate=transforms.rotate||0}if(this._isDeclarative&¤tAngle){start.rotate=currentAngle}}morpher.from(start);morpher.to(target);const affineParameters=morpher.at(pos);currentAngle=affineParameters.rotate;current=new Matrix(affineParameters);this.addTransform(current);element._addRunner(this);return morpher.done()}function retarget(newTransforms){if((newTransforms.origin||"center").toString()!==(transforms.origin||"center").toString()){origin=getOrigin(newTransforms,element)}transforms={...newTransforms,origin:origin}}this.queue(setup,run,retarget,true);this._isDeclarative&&this._rememberMorpher("transform",morpher);return this},x(x,relative){return this._queueNumber("x",x)},y(y){return this._queueNumber("y",y)},dx(x=0){return this._queueNumberDelta("x",x)},dy(y=0){return this._queueNumberDelta("y",y)},dmove(x,y){return this.dx(x).dy(y)},_queueNumberDelta(method,to){to=new SVGNumber(to);if(this._tryRetarget(method,to))return this;const morpher=new Morphable(this._stepper).to(to);let from=null;this.queue(function(){from=this.element()[method]();morpher.from(from);morpher.to(from+to)},function(pos){this.element()[method](morpher.at(pos));return morpher.done()},function(newTo){morpher.to(from+new SVGNumber(newTo))});this._rememberMorpher(method,morpher);return this},_queueObject(method,to){if(this._tryRetarget(method,to))return this;const morpher=new Morphable(this._stepper).to(to);this.queue(function(){morpher.from(this.element()[method]())},function(pos){this.element()[method](morpher.at(pos));return morpher.done()});this._rememberMorpher(method,morpher);return this},_queueNumber(method,value){return this._queueObject(method,new SVGNumber(value))},cx(x){return this._queueNumber("cx",x)},cy(y){return this._queueNumber("cy",y)},move(x,y){return this.x(x).y(y)},center(x,y){return this.cx(x).cy(y)},size(width,height){let box;if(!width||!height){box=this._element.bbox()}if(!width){width=box.width/box.height*height}if(!height){height=box.height/box.width*width}return this.width(width).height(height)},width(width){return this._queueNumber("width",width)},height(height){return this._queueNumber("height",height)},plot(a,b,c,d){if(arguments.length===4){return this.plot([a,b,c,d])}if(this._tryRetarget("plot",a))return this;const morpher=new Morphable(this._stepper).type(this._element.MorphArray).to(a);this.queue(function(){morpher.from(this._element.array())},function(pos){this._element.plot(morpher.at(pos));return morpher.done()});this._rememberMorpher("plot",morpher);return this},leading(value){return this._queueNumber("leading",value)},viewbox(x,y,width,height){return this._queueObject("viewbox",new Box(x,y,width,height))},update(o){if(typeof o!=="object"){return this.update({offset:arguments[0],color:arguments[1],opacity:arguments[2]})}if(o.opacity!=null)this.attr("stop-opacity",o.opacity);if(o.color!=null)this.attr("stop-color",o.color);if(o.offset!=null)this.attr("offset",o.offset);return this}});extend(Runner,{rx:rx,ry:ry,from:from,to:to});register(Runner,"Runner");class Svg extends Container{constructor(node,attrs=node){super(nodeOrNew("svg",node),attrs);this.namespace()}defs(){if(!this.isRoot())return this.root().defs();return adopt(this.node.querySelector("defs"))||this.put(new Defs)}isRoot(){return!this.node.parentNode||!(this.node.parentNode instanceof globals.window.SVGElement)&&this.node.parentNode.nodeName!=="#document-fragment"}namespace(){if(!this.isRoot())return this.root().namespace();return this.attr({xmlns:svg,version:"1.1"}).attr("xmlns:xlink",xlink,xmlns).attr("xmlns:svgjs",svgjs,xmlns)}removeNamespace(){return this.attr({xmlns:null,version:null}).attr("xmlns:xlink",null,xmlns).attr("xmlns:svgjs",null,xmlns)}root(){if(this.isRoot())return this;return super.root()}}registerMethods({Container:{nested:wrapWithAttrCheck(function(){return this.put(new Svg)})}});register(Svg,"Svg",true);class Symbol extends Container{constructor(node,attrs=node){super(nodeOrNew("symbol",node),attrs)}}registerMethods({Container:{symbol:wrapWithAttrCheck(function(){return this.put(new Symbol)})}});register(Symbol,"Symbol");function plain(text){if(this._build===false){this.clear()}this.node.appendChild(globals.document.createTextNode(text));return this}function length(){return this.node.getComputedTextLength()}function x$1(x,box=this.bbox()){if(x==null){return box.x}return this.attr("x",this.attr("x")+x-box.x)}function y$1(y,box=this.bbox()){if(y==null){return box.y}return this.attr("y",this.attr("y")+y-box.y)}function move$1(x,y,box=this.bbox()){return this.x(x,box).y(y,box)}function cx(x,box=this.bbox()){if(x==null){return box.cx}return this.attr("x",this.attr("x")+x-box.cx)}function cy(y,box=this.bbox()){if(y==null){return box.cy}return this.attr("y",this.attr("y")+y-box.cy)}function center(x,y,box=this.bbox()){return this.cx(x,box).cy(y,box)}function ax(x){return this.attr("x",x)}function ay(y){return this.attr("y",y)}function amove(x,y){return this.ax(x).ay(y)}function build(build){this._build=!!build;return this}var textable={__proto__:null,plain:plain,length:length,x:x$1,y:y$1,move:move$1,cx:cx,cy:cy,center:center,ax:ax,ay:ay,amove:amove,build:build};class Text extends Shape{constructor(node,attrs=node){super(nodeOrNew("text",node),attrs);this.dom.leading=new SVGNumber(1.3);this._rebuild=true;this._build=false}leading(value){if(value==null){return this.dom.leading}this.dom.leading=new SVGNumber(value);return this.rebuild()}rebuild(rebuild){if(typeof rebuild==="boolean"){this._rebuild=rebuild}if(this._rebuild){const self=this;let blankLineOffset=0;const leading=this.dom.leading;this.each(function(i){const fontSize=globals.window.getComputedStyle(this.node).getPropertyValue("font-size");const dy=leading*new SVGNumber(fontSize);if(this.dom.newLined){this.attr("x",self.attr("x"));if(this.text()==="\n"){blankLineOffset+=dy}else{this.attr("dy",i?dy+blankLineOffset:0);blankLineOffset=0}}});this.fire("rebuild")}return this}setData(o){this.dom=o;this.dom.leading=new SVGNumber(o.leading||1.3);return this}text(text){if(text===undefined){const children=this.node.childNodes;let firstLine=0;text="";for(let i=0,len=children.length;i{let bbox;try{bbox=child.bbox()}catch(e){return}const m=new Matrix(child);const matrix=m.translate(dx,dy).transform(m.inverse());const p=new Point(bbox.x,bbox.y).transform(matrix);child.move(p.x,p.y)});return this}function dx(dx){return this.dmove(dx,0)}function dy(dy){return this.dmove(0,dy)}function height(height,box=this.bbox()){if(height==null)return box.height;return this.size(box.width,height,box)}function 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IN NO EVENT SHALL Andrea Leofreddi OR + CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON + ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + The views and conclusions contained in the software and documentation are those of the + authors and should not be interpreted as representing official policies, either expressed + or implied, of Andrea Leofreddi. + + @licend The above is the entire license notice for the JavaScript code in this file + */ +var root=document.documentElement;var state="none";var stateOrigin;var stateTf=root.createSVGMatrix();var cursorGrab=' url("data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAA4AAAAOCAMAAAAolt3jAAAAGXRFWHRTb2Z0d2FyZQBBZG9iZSBJbWFnZVJlYWR5ccllPAAAAAlQTFRFAAAA////////c3ilYwAAAAN0Uk5T//8A18oNQQAAAD1JREFUeNp0zlEKACAIA9Bt9z90bZBZkQj29qFBEuBOzQHSnWTTyckEfqUuZgFvslH4ch3qLCO/Kr8cAgwATw4Ax6XRCcoAAAAASUVORK5CYII="), move';var zoomSteps=10;var zoomInFactor;var zoomOutFactor;var windowWidth;var windowHeight;var svgDoc;var minZoom;var maxZoom;if(!window)window=this;function show(){if(window.innerHeight){windowWidth=window.innerWidth;windowHeight=window.innerHeight}else if(document.documentElement.clientWidth){windowWidth=document.documentElement.clientWidth;windowHeight=document.documentElement.clientHeight}if(!windowWidth||!windowHeight){windowWidth=800;windowHeight=600}minZoom=Math.min(Math.min(viewHeight,windowHeight)/viewHeight,Math.min(viewWidth,windowWidth)/viewWidth);maxZoom=minZoom+1.5;zoomInFactor=Math.pow(maxZoom/minZoom,1/zoomSteps);zoomOutFactor=1/zoomInFactor;var g=svgDoc.getElementById("viewport");try{var bb=g.getBBox();var tx=(windowWidth-viewWidth*minZoom+8)/(2*minZoom);var ty=viewHeight+(windowHeight-viewHeight*minZoom)/(2*minZoom);var a="scale("+minZoom+") rotate(0) translate("+tx+" "+ty+")";g.setAttribute("transform",a)}catch(e){}}function init(evt){svgDoc=evt.target.ownerDocument;try{if(top.window&&top.window.registerShow){top.window.registerShow(sectionId,show)}}catch(e){}show();setAttributes(root,{onmousedown:"handleMouseDown(evt)",onmousemove:"handleMouseMove(evt)",onmouseup:"handleMouseUp(evt)"});if(window.addEventListener){if(navigator.userAgent.toLowerCase().indexOf("webkit")>=0||navigator.userAgent.toLowerCase().indexOf("opera")>=0||navigator.appVersion.indexOf("MSIE")!=-1){window.addEventListener("mousewheel",handleMouseWheel,false)}else{window.addEventListener("DOMMouseScroll",handleMouseWheel,false)}}}window.onresize=function(){if(svgDoc){show()}};function getEventPoint(evt){var p=root.createSVGPoint();p.x=evt.clientX;p.y=evt.clientY;return p}function setCTM(element,matrix){var s="matrix("+matrix.a+","+matrix.b+","+matrix.c+","+matrix.d+","+matrix.e+","+matrix.f+")";element.setAttribute("transform",s)}function setAttributes(element,attributes){for(i in attributes)element.setAttributeNS(null,i,attributes[i])}function doZoom(g,point,zoomFactor){var p=point.matrixTransform(g.getCTM().inverse());var k=root.createSVGMatrix().translate(p.x,p.y).scale(zoomFactor).translate(-p.x,-p.y);var n=g.getCTM().multiply(k);var s=Math.max(n.a,n.d);if(s>maxZoom)n=n.translate(p.x,p.y).scale(maxZoom/s).translate(-p.x,-p.y);else if(s');d.write("Print SVG");d.write('');d.write('
        '+xs+"
        ");d.write("");d.write("");d.close()}catch(e){alert("Failed to open popup window needed for printing!\n"+e.message)}}function highlightEdges(){var elems=document.getElementsByTagName("g");if(elems){for(var i=0;i g");function findEnclosingG(domEl){let curEl=domEl;while(curEl.nodeName!="g"||curEl.id.substr(0,4)!="Node"){curEl=curEl.parentElement}return curEl}function onMouseOverElem(domEl){let e=SVG(findEnclosingG(domEl.target));walk(s,e=>{if(SVG(e)!=s)SVG(e).attr("data-mouse-over-selected","false")});walk(e,e=>SVG(e).attr("data-mouse-over-selected","true"));let{nodes,edges}=getEdgesAndDistance1Nodes(SVG(e),s);for(let node of nodes){walk(node,e=>SVG(e).attr("data-mouse-over-selected","true"))}for(let edge of edges){walk(edge,e=>SVG(e).attr("data-mouse-over-selected","true"))}}function onMouseOutElem(domEl){let e=SVG(findEnclosingG(domEl.target));walk(s,e=>e.attr("data-mouse-over-selected",null))}let gs=s.find("g[id^=Node]");for(let g of gs){g.on("mouseover",onMouseOverElem);g.on("mouseout",onMouseOutElem)}} diff --git a/symmetry_8hpp_source.html b/symmetry_8hpp_source.html new file mode 100644 index 0000000..59eae7e --- /dev/null +++ b/symmetry_8hpp_source.html @@ -0,0 +1,164 @@ + + + + + + + +MSCEqF: include/msceqf/symmetry/symmetry.hpp Source File + + + + + + + + + + + + + + + +
        +
        + + + + + + + +
        +
        MSCEqF 1.0 +
        +
        Multi State Constraint Equivariant Filter for visual inertial navigation
        +
        +
        + + + + + + + + +
        +
        + +
        +
        +
        + +
        + +
        +
        + + +
        +
        +
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        +
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        +
        +
        + +
        +
        symmetry.hpp
        +
        +
        +
        1// Copyright (C) 2023 Alessandro Fornasier.
        +
        2// Control of Networked Systems, University of Klagenfurt, Austria.
        +
        3//
        +
        4// All rights reserved.
        +
        5//
        +
        6// This software is licensed under the terms of the BSD-2-Clause-License with
        +
        7// no commercial use allowed, the full terms of which are made available
        +
        8// in the LICENSE file. No license in patents is granted.
        +
        9//
        +
        10// You can contact the authors at <alessandro.fornasier@ieee.org>
        +
        11
        +
        12#ifndef SYMMETRY_HPP
        +
        13#define SYMMETRY_HPP
        +
        14
        +
        15#include "msceqf/state/state.hpp"
        +
        16#include "sensors/sensor_data.hpp"
        +
        17#include "msceqf/state/state.hpp"
        +
        18#include "utils/tools.hpp"
        +
        19
        +
        20namespace msceqf
        +
        21{
        +
        +
        22class Symmetry
        +
        23{
        +
        24 public:
        +
        32 [[nodiscard]] static const SystemState phi(const MSCEqFState& X, const SystemState& xi);
        +
        33
        +
        41 [[nodiscard]] static const SystemState::SystemStateAlgebraMap lift(const SystemState& xi, const Imu& u);
        +
        42
        +
        50 [[nodiscard]] static const MatrixX curvatureCorrection(const MSCEqFState& X, const VectorX& inn);
        +
        51
        +
        52 static const Matrix5 D;
        +
        53
        +
        54 private:
        +
        55 Symmetry() = default;
        +
        56};
        +
        +
        57
        +
        58} // namespace msceqf
        +
        59
        +
        60#endif // SYMMETRY_HPP
        +
        msceqf::MSCEqFState
        this class represent the state of the MSCEqF. This includes the state of the lifted system (element o...
        Definition state.hpp:30
        +
        msceqf::Symmetry
        Definition symmetry.hpp:23
        +
        msceqf::Symmetry::D
        static const Matrix5 D
        The D matrix.
        Definition symmetry.hpp:52
        +
        msceqf::Symmetry::phi
        static const SystemState phi(const MSCEqFState &X, const SystemState &xi)
        Implement the right group action phi of the symmetry group, acting on the homogenous space (phi(X,...
        +
        msceqf::Symmetry::lift
        static const SystemState::SystemStateAlgebraMap lift(const SystemState &xi, const Imu &u)
        Implement the lift function. Lift the actual dynamics onto the symmetry group.
        +
        msceqf::Symmetry::curvatureCorrection
        static const MatrixX curvatureCorrection(const MSCEqFState &X, const VectorX &inn)
        Return the Gamma matrix for the reset / curvature correction.
        +
        msceqf::SystemState
        The SystemState class represent the state of the system posed on the Homogenous space.
        Definition system.hpp:29
        +
        msceqf::SystemState::SystemStateAlgebraMap
        std::unordered_map< SystemStateKey, VectorX > SystemStateAlgebraMap
        System state algebra map.
        Definition system.hpp:33
        +
        msceqf::Imu
        Struct for one IMU reading. It includes timestamp, angular velocity and linear acceleration....
        Definition sensor_data.hpp:29
        +
        +
        + + + + diff --git a/sync_off.png b/sync_off.png new file mode 100644 index 0000000000000000000000000000000000000000..3b443fc62892114406e3d399421b2a881b897acc GIT binary patch literal 853 zcmV-b1FHOqP)oT|#XixUYy%lpuf3i8{fX!o zUyDD0jOrAiT^tq>fLSOOABs-#u{dV^F$b{L9&!2=9&RmV;;8s^x&UqB$PCj4FdKbh zoB1WTskPUPu05XzFbA}=KZ-GP1fPpAfSs>6AHb12UlR%-i&uOlTpFNS7{jm@mkU1V zh`nrXr~+^lsV-s1dkZOaI|kYyVj3WBpPCY{n~yd%u%e+d=f%`N0FItMPtdgBb@py; zq@v6NVArhyTC7)ULw-Jy8y42S1~4n(3LkrW8mW(F-4oXUP3E`e#g**YyqI7h-J2zK zK{m9##m4ri!7N>CqQqCcnI3hqo1I;Yh&QLNY4T`*ptiQGozK>FF$!$+84Z`xwmeMh zJ0WT+OH$WYFALEaGj2_l+#DC3t7_S`vHpSivNeFbP6+r50cO8iu)`7i%Z4BTPh@_m3Tk!nAm^)5Bqnr%Ov|Baunj#&RPtRuK& z4RGz|D5HNrW83-#ydk}tVKJrNmyYt-sTxLGlJY5nc&Re zU4SgHNPx8~Yxwr$bsju?4q&%T1874xxzq+_%?h8_ofw~(bld=o3iC)LUNR*BY%c0y zWd_jX{Y8`l%z+ol1$@Qa?Cy!(0CVIEeYpKZ`(9{z>3$CIe;pJDQk$m3p}$>xBm4lb zKo{4S)`wdU9Ba9jJbVJ0C=SOefZe%d$8=2r={nu<_^a3~>c#t_U6dye5)JrR(_a^E f@}b6j1K9lwFJq@>o)+Ry00000NkvXXu0mjfWa5j* literal 0 HcmV?d00001 diff --git a/sync_on.png b/sync_on.png new file mode 100644 index 0000000000000000000000000000000000000000..e08320fb64e6fa33b573005ed6d8fe294e19db76 GIT binary patch literal 845 zcmV-T1G4;yP)Y;xxyHF2B5Wzm| zOOGupOTn@c(JmBOl)e;XMNnZuiTJP>rM8<|Q`7I_))aP?*T)ow&n59{}X4$3Goat zgjs?*aasfbrokzG5cT4K=uG`E14xZl@z)F={P0Y^?$4t z>v!teRnNZym<6h{7sLyF1V0HsfEl+l6TrZpsfr1}luH~F7L}ktXu|*uVX^RG$L0`K zWs3j|0tIvVe(N%_?2{(iCPFGf#B6Hjy6o&}D$A%W%jfO8_W%ZO#-mh}EM$LMn7joJ z05dHr!5Y92g+31l<%i1(=L1a1pXX+OYnalY>31V4K}BjyRe3)9n#;-cCVRD_IG1fT zOKGeNY8q;TL@K{dj@D^scf&VCs*-Jb>8b>|`b*osv52-!A?BpbYtTQBns5EAU**$m zSnVSm(teh>tQi*S*A>#ySc=n;`BHz`DuG4&g4Kf8lLhca+zvZ7t7RflD6-i-mcK=M z!=^P$*u2)bkY5asG4gsss!Hn%u~>}kIW`vMs%lJLH+u*9<4PaV_c6U`KqWXQH%+Nu zTv41O(^ZVi@qhjQdG!fbZw&y+2o!iYymO^?ud3{P*HdoX83YV*Uu_HB=?U&W9%AU# z80}k1SS-CXTU7dcQlsm<^oYLxVSseqY6NO}dc`Nj?8vrhNuCdm@^{a3AQ_>6myOj+ z`1RsLUXF|dm|3k7s2jD(B{rzE>WI2scH8i1;=O5Cc9xB3^aJk%fQjqsu+kH#0=_5a z0nCE8@dbQa-|YIuUVvG0L_IwHMEhOj$Mj4Uq05 X8=0q~qBNan00000NkvXXu0mjfptF>5 literal 0 HcmV?d00001 diff --git a/system_8hpp_source.html b/system_8hpp_source.html new file mode 100644 index 0000000..e856766 --- /dev/null +++ b/system_8hpp_source.html @@ -0,0 +1,240 @@ + + + + + + + +MSCEqF: include/msceqf/system/system.hpp Source File + + + + + + + + + + + + + + + +
        +
        + + + + + + + +
        +
        MSCEqF 1.0 +
        +
        Multi State Constraint Equivariant Filter for visual inertial navigation
        +
        +
        + + + + + + + + +
        +
        + +
        +
        +
        + +
        + +
        +
        + + +
        +
        +
        +
        +
        +
        Loading...
        +
        Searching...
        +
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        +
        +
        +
        +
        + +
        +
        system.hpp
        +
        +
        +
        1// Copyright (C) 2023 Alessandro Fornasier.
        +
        2// Control of Networked Systems, University of Klagenfurt, Austria.
        +
        3//
        +
        4// All rights reserved.
        +
        5//
        +
        6// This software is licensed under the terms of the BSD-2-Clause-License with
        +
        7// no commercial use allowed, the full terms of which are made available
        +
        8// in the LICENSE file. No license in patents is granted.
        +
        9//
        +
        10// You can contact the authors at <alessandro.fornasier@ieee.org>
        +
        11
        +
        12#ifndef SYSTEM_HPP
        +
        13#define SYSTEM_HPP
        +
        14
        +
        15#include <variant>
        +
        16
        +
        17#include "msceqf/system/system_elements.hpp"
        +
        18#include "msceqf/options/msceqf_options.hpp"
        +
        19
        +
        20namespace msceqf
        +
        21{
        +
        +
        28class SystemState
        +
        29{
        +
        30 public:
        +
        31 using SystemStateKey = std::variant<SystemStateElementName, uint>;
        +
        32 using SystemStateMap = std::unordered_map<SystemStateKey, SystemStateElementSharedPtr>;
        +
        33 using SystemStateAlgebraMap = std::unordered_map<SystemStateKey, VectorX>;
        +
        34
        +
        38 SystemState() = delete;
        +
        39
        +
        48 SystemState(const StateOptions& opts, const SE23& T0 = SE23(), const Vector6& b0 = Vector6::Zero());
        +
        49
        +
        67 template <typename... Args>
        +
        +
        68 SystemState(const StateOptions& opts, Args&&... pairs_of_key_ptr) : opts_(opts), state_()
        +
        69 {
        +
        70 preallocate();
        +
        71
        +
        72 insertSystemStateElement(std::make_pair(
        +
        73 SystemStateElementName::S,
        +
        74 createSystemStateElement<CameraExtrinsicState>(std::make_tuple(opts.initial_camera_extrinsics_))));
        +
        75
        +
        76 if (opts.enable_camera_intrinsics_calibration_)
        +
        77 {
        +
        78 insertSystemStateElement(std::make_pair(
        +
        79 SystemStateElementName::K,
        +
        80 createSystemStateElement<CameraIntrinsicState>(std::make_tuple(opts.initial_camera_intrinsics_))));
        +
        81 }
        +
        82
        +
        83 (insertSystemStateElement(std::forward<decltype(pairs_of_key_ptr)>(pairs_of_key_ptr)), ...);
        +
        84 }
        +
        +
        85
        +
        87 SystemState(const SystemState& other);
        +
        88 SystemState(SystemState&& other) noexcept;
        +
        89 SystemState& operator=(const SystemState& other);
        +
        90 SystemState& operator=(SystemState&& other) noexcept;
        +
        91 ~SystemState();
        +
        92
        +
        98 [[nodiscard]] const SE23& T() const;
        +
        99
        +
        105 [[nodiscard]] const SE3 P() const;
        +
        106
        +
        112 [[nodiscard]] const SE3 V() const;
        +
        113
        +
        119 [[nodiscard]] const Vector6& b() const;
        +
        120
        +
        128 [[nodiscard]] const SE3& S() const;
        +
        129
        +
        137 [[nodiscard]] const In& K() const;
        +
        138
        +
        146 [[nodiscard]] const Vector4 k() const;
        +
        147
        +
        155 [[nodiscard]] const Vector3& f(const uint& feat_id) const;
        +
        156
        +
        162 [[nodiscard]] const Vector3 ge3() const;
        +
        163
        +
        169 [[nodiscard]] inline const StateOptions& opts() const { return opts_; }
        +
        170
        +
        177 static std::string toString(const SystemStateKey& key);
        +
        178
        +
        179 private:
        +
        184 void preallocate();
        +
        185
        +
        192 void insertSystemStateElement(std::pair<SystemStateKey, SystemStateElementUniquePtr>&& key_ptr);
        +
        193
        +
        200 void insertSystemStateElement(std::vector<std::pair<SystemStateKey, SystemStateElementUniquePtr>>& keys_ptrs);
        +
        201
        +
        202 friend class Symmetry;
        +
        203
        +
        204 StateOptions opts_;
        +
        205
        +
        206 SystemStateMap state_;
        +
        207};
        +
        +
        208
        +
        209} // namespace msceqf
        +
        210
        +
        211#endif // SYSTEM_HPP
        +
        212
        +
        213// [COMMENT] I can use unorderd map as soon as i check for out of order images when getting a image...
        +
        msceqf::Symmetry
        Definition symmetry.hpp:23
        +
        msceqf::SystemState
        The SystemState class represent the state of the system posed on the Homogenous space.
        Definition system.hpp:29
        +
        msceqf::SystemState::SystemStateKey
        std::variant< SystemStateElementName, uint > SystemStateKey
        Key to access the system state map.
        Definition system.hpp:31
        +
        msceqf::SystemState::T
        const SE23 & T() const
        return a constant reference to the extended pose element (R,v,p) of the system state as a SE23-torsor
        +
        msceqf::SystemState::SystemStateAlgebraMap
        std::unordered_map< SystemStateKey, VectorX > SystemStateAlgebraMap
        System state algebra map.
        Definition system.hpp:33
        +
        msceqf::SystemState::opts
        const StateOptions & opts() const
        Get the state options.
        Definition system.hpp:169
        +
        msceqf::SystemState::SystemStateMap
        std::unordered_map< SystemStateKey, SystemStateElementSharedPtr > SystemStateMap
        System state map.
        Definition system.hpp:32
        +
        msceqf::SystemState::toString
        static std::string toString(const SystemStateKey &key)
        Get a string describing the given SystemStateKey.
        +
        msceqf::SystemState::SystemState
        SystemState(const StateOptions &opts, const SE23 &T0=SE23(), const Vector6 &b0=Vector6::Zero())
        Initialize a system state with given extended pose and bias (Identity and zero by default)....
        +
        msceqf::SystemState::SystemState
        SystemState(const SystemState &other)
        Rule of Five.
        +
        msceqf::SystemState::V
        const SE3 V() const
        return a copy of the pose element (R,v) of the system state as a SE3-torsor
        +
        msceqf::SystemState::b
        const Vector6 & b() const
        return a constant reference to the bias element of the system state as a vector
        +
        msceqf::SystemState::f
        const Vector3 & f(const uint &feat_id) const
        return a constant reference to a persistent feature element of the system state as a vector,...
        +
        msceqf::SystemState::K
        const In & K() const
        return a constant reference to the camera intrinsics element of the system state as a In-torsor If th...
        +
        msceqf::SystemState::SystemState
        SystemState()=delete
        Deleted default constructor.
        +
        msceqf::SystemState::k
        const Vector4 k() const
        return a copy of the camera intrinsics element of the system state as a 4-vector If the camera intrin...
        +
        msceqf::SystemState::SystemState
        SystemState(const StateOptions &opts, Args &&... pairs_of_key_ptr)
        Construct system state given a multiple pairs of key-pointer of states element. This methods prealloc...
        Definition system.hpp:68
        +
        msceqf::SystemState::ge3
        const Vector3 ge3() const
        return a copy of g*e3 as a vector
        +
        msceqf::SystemState::S
        const SE3 & S() const
        return a constant reference to the camera extrinsics element of the system state as a SE3-torsor....
        +
        msceqf::SystemState::P
        const SE3 P() const
        return a copy of the pose element (R,p) of the system state as a SE3-torsor
        +
        msceqf::StateOptions
        Definition msceqf_options.hpp:98
        +
        msceqf::StateOptions::enable_camera_intrinsics_calibration_
        bool enable_camera_intrinsics_calibration_
        Boolean to enable intinsic camera calibration.
        Definition msceqf_options.hpp:105
        +
        msceqf::StateOptions::initial_camera_intrinsics_
        In initial_camera_intrinsics_
        Initial camera intrinsics.
        Definition msceqf_options.hpp:104
        +
        msceqf::StateOptions::initial_camera_extrinsics_
        SE3 initial_camera_extrinsics_
        Initial camera extrinsics.
        Definition msceqf_options.hpp:103
        +
        +
        + + + + diff --git a/system__elements_8hpp_source.html b/system__elements_8hpp_source.html new file mode 100644 index 0000000..fdbfc06 --- /dev/null +++ b/system__elements_8hpp_source.html @@ -0,0 +1,278 @@ + + + + + + + +MSCEqF: include/msceqf/system/system_elements.hpp Source File + + + + + + + + + + + + + + + +
        +
        + + + + + + + +
        +
        MSCEqF 1.0 +
        +
        Multi State Constraint Equivariant Filter for visual inertial navigation
        +
        +
        + + + + + + + + +
        +
        + +
        +
        +
        + +
        + +
        +
        + + +
        +
        +
        +
        +
        +
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        +
        system_elements.hpp
        +
        +
        +
        1// Copyright (C) 2023 Alessandro Fornasier.
        +
        2// Control of Networked Systems, University of Klagenfurt, Austria.
        +
        3//
        +
        4// All rights reserved.
        +
        5//
        +
        6// This software is licensed under the terms of the BSD-2-Clause-License with
        +
        7// no commercial use allowed, the full terms of which are made available
        +
        8// in the LICENSE file. No license in patents is granted.
        +
        9//
        +
        10// You can contact the authors at <alessandro.fornasier@ieee.org>
        +
        11
        +
        12#ifndef SYSTEM_ELEMENTS_HPP
        +
        13#define SYSTEM_ELEMENTS_HPP
        +
        14
        +
        15#include <memory>
        +
        16
        +
        17#include "types/fptypes.hpp"
        +
        18
        +
        19namespace msceqf
        +
        20{
        +
        28enum class SystemStateElementName
        +
        29{
        +
        30 T,
        +
        31 b,
        +
        32 S,
        +
        33 K,
        +
        34};
        +
        35
        +
        +
        40class SystemStateElement
        +
        41{
        +
        42 public:
        +
        43 virtual ~SystemStateElement() = default;
        +
        44
        +
        50 virtual std::unique_ptr<SystemStateElement> clone() const = 0;
        +
        51
        +
        52 protected:
        +
        54 SystemStateElement() = default;
        +
        55 SystemStateElement(const SystemStateElement&) = default;
        +
        56 SystemStateElement(SystemStateElement&&) = default;
        +
        57 SystemStateElement& operator=(const SystemStateElement&) = default;
        +
        58 SystemStateElement& operator=(SystemStateElement&&) = default;
        +
        59};
        +
        +
        60
        +
        +
        65struct ExtendedPoseState final : public SystemStateElement
        +
        66{
        +
        67 ExtendedPoseState() : T_(){};
        +
        68 ExtendedPoseState(const SE23& T) : T_(T){};
        +
        69
        +
        75 std::unique_ptr<SystemStateElement> clone() const override { return std::make_unique<ExtendedPoseState>(*this); }
        +
        76
        +
        77 SE23 T_;
        +
        78};
        +
        +
        79
        +
        +
        84struct BiasState final : public SystemStateElement
        +
        85{
        +
        86 BiasState() : b_(Vector6::Zero()){};
        +
        87 BiasState(const Vector6& b) : b_(b){};
        +
        88
        +
        94 std::unique_ptr<SystemStateElement> clone() const override { return std::make_unique<BiasState>(*this); }
        +
        95
        +
        96 Vector6 b_;
        +
        97};
        +
        +
        98
        +
        +
        103struct CameraExtrinsicState final : public SystemStateElement
        +
        104{
        +
        105 CameraExtrinsicState() : S_(){};
        +
        106 CameraExtrinsicState(const Quaternion& q, const Vector3& t) : S_(q, {t}){};
        +
        107 CameraExtrinsicState(const Matrix3& R, const Vector3& t) : S_(R, {t}){};
        +
        108 CameraExtrinsicState(const Matrix4& S) : S_(S){};
        +
        109 CameraExtrinsicState(const SE3& S) : S_(S){};
        +
        110
        +
        116 std::unique_ptr<SystemStateElement> clone() const override { return std::make_unique<CameraExtrinsicState>(*this); }
        +
        117
        +
        118 SE3 S_;
        +
        119};
        +
        +
        120
        +
        +
        125struct CameraIntrinsicState final : public SystemStateElement
        +
        126{
        +
        127 CameraIntrinsicState() : K_(){};
        +
        128 CameraIntrinsicState(const fp& fx, const fp& fy, const fp& cx, const fp& cy) : K_(fx, fy, cx, cy){};
        +
        129 CameraIntrinsicState(const Vector4& intr) : K_(intr){};
        +
        130 CameraIntrinsicState(const Matrix3& K) : K_(K){};
        +
        131 CameraIntrinsicState(const In& K) : K_(K){};
        +
        132
        +
        138 std::unique_ptr<SystemStateElement> clone() const override { return std::make_unique<CameraIntrinsicState>(*this); }
        +
        139
        +
        140 In K_;
        +
        141};
        +
        +
        142
        +
        +
        147struct FeatureState final : public SystemStateElement
        +
        148{
        +
        149 public:
        +
        150 FeatureState() : f_(Vector3::Zero()){};
        +
        151 FeatureState(const Vector3& f) : f_(f){};
        +
        152 FeatureState(const fp& x, const fp& y, const fp& z) : f_({x, y, z}){};
        +
        153
        +
        159 std::unique_ptr<SystemStateElement> clone() const override { return std::make_unique<FeatureState>(*this); }
        +
        160
        +
        161 Vector3 f_;
        +
        162};
        +
        +
        163
        +
        164using SystemStateElementSharedPtr = std::shared_ptr<SystemStateElement>;
        +
        165using SystemStateElementUniquePtr = std::unique_ptr<SystemStateElement>;
        +
        166using ExtendedPoseStateSharedPtr = std::shared_ptr<ExtendedPoseState>;
        +
        167using ExtendedPoseUniquePtr = std::unique_ptr<ExtendedPoseState>;
        +
        168using BiasStateStateSharedPtr = std::shared_ptr<BiasState>;
        +
        169using BiasStateStateUniquePtr = std::unique_ptr<BiasState>;
        +
        170using CameraExtrinsicStateStateSharedPtr = std::shared_ptr<CameraExtrinsicState>;
        +
        171using CameraExtrinsicStateStateUniquePtr = std::unique_ptr<CameraExtrinsicState>;
        +
        172using CameraIntrinsicStateStateSharedPtr = std::shared_ptr<CameraIntrinsicState>;
        +
        173using CameraIntrinsicStateStateUniquePtr = std::unique_ptr<CameraIntrinsicState>;
        +
        174using FeatureStateStateStateSharedPtr = std::shared_ptr<FeatureState>;
        +
        175using FeatureStateStateStateUniquePtr = std::unique_ptr<FeatureState>;
        +
        176
        +
        189template <typename T, typename... Args>
        +
        190[[nodiscard]] static SystemStateElementUniquePtr createSystemStateElement(const std::tuple<Args...>& args)
        +
        191{
        +
        192 return std::apply(
        +
        193 [](const auto&... args) {
        +
        194 if constexpr (std::is_base_of_v<SystemStateElement, T> && std::is_constructible_v<T, decltype(args)...>)
        +
        195 {
        +
        196 return std::make_unique<T>(args...);
        +
        197 }
        +
        198 else
        +
        199 {
        +
        200 return nullptr;
        +
        201 }
        +
        202 },
        +
        203 args);
        +
        204}
        +
        205
        +
        206} // namespace msceqf
        +
        207
        +
        208#endif // SYSTEM_ELEMENTS_HPP
        +
        msceqf::SystemStateElement
        This struct represent the base struct for a general element of the system state.
        Definition system_elements.hpp:41
        +
        msceqf::SystemStateElement::SystemStateElement
        SystemStateElement()=default
        Rule of Five.
        +
        msceqf::SystemStateElement::clone
        virtual std::unique_ptr< SystemStateElement > clone() const =0
        Clone.
        +
        msceqf::BiasState
        This struct represent the IMU bias state of the system.
        Definition system_elements.hpp:85
        +
        msceqf::BiasState::b_
        Vector6 b_
        The Inertial Measurement Unit (IMU) biases (bw, ba)
        Definition system_elements.hpp:96
        +
        msceqf::BiasState::clone
        std::unique_ptr< SystemStateElement > clone() const override
        Clone the bias state element of the system.
        Definition system_elements.hpp:94
        +
        msceqf::CameraExtrinsicState
        This struct represent the camera extrinsics state of the system.
        Definition system_elements.hpp:104
        +
        msceqf::CameraExtrinsicState::S_
        SE3 S_
        The camera extrinsics calibration (SR, St)
        Definition system_elements.hpp:118
        +
        msceqf::CameraExtrinsicState::clone
        std::unique_ptr< SystemStateElement > clone() const override
        Clone the camera extrinsics state element of the system.
        Definition system_elements.hpp:116
        +
        msceqf::CameraIntrinsicState
        This struct represent the camera intrinsics state of the system.
        Definition system_elements.hpp:126
        +
        msceqf::CameraIntrinsicState::clone
        std::unique_ptr< SystemStateElement > clone() const override
        Clone the camera instirnsic state element of the system.
        Definition system_elements.hpp:138
        +
        msceqf::CameraIntrinsicState::K_
        In K_
        The camera intrinsics calibration (K)
        Definition system_elements.hpp:140
        +
        msceqf::ExtendedPoseState
        This struct represent the extended pose state of the system.
        Definition system_elements.hpp:66
        +
        msceqf::ExtendedPoseState::T_
        SE23 T_
        The extended pose of the system (R, v, p)
        Definition system_elements.hpp:77
        +
        msceqf::ExtendedPoseState::clone
        std::unique_ptr< SystemStateElement > clone() const override
        Clone the extended pose state element of the system.
        Definition system_elements.hpp:75
        +
        msceqf::FeatureState
        This struct represent a single persistent feature state of the system.
        Definition system_elements.hpp:148
        +
        msceqf::FeatureState::f_
        Vector3 f_
        The persistent feature (f)
        Definition system_elements.hpp:161
        +
        msceqf::FeatureState::clone
        std::unique_ptr< SystemStateElement > clone() const override
        Clone the persistent feature state element of the system.
        Definition system_elements.hpp:159
        +
        +
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b/tools_8hpp_source.html new file mode 100644 index 0000000..4c40d55 --- /dev/null +++ b/tools_8hpp_source.html @@ -0,0 +1,351 @@ + + + + + + + +MSCEqF: include/utils/tools.hpp Source File + + + + + + + + + + + + + + + +
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        Multi State Constraint Equivariant Filter for visual inertial navigation
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        tools.hpp
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        +
        1// Copyright (C) 2023 Alessandro Fornasier.
        +
        2// Control of Networked Systems, University of Klagenfurt, Austria.
        +
        3//
        +
        4// All rights reserved.
        +
        5//
        +
        6// This software is licensed under the terms of the BSD-2-Clause-License with
        +
        7// no commercial use allowed, the full terms of which are made available
        +
        8// in the LICENSE file. No license in patents is granted.
        +
        9//
        +
        10// You can contact the authors at <alessandro.fornasier@ieee.org>
        +
        11
        +
        12#ifndef TOOLS_HPP
        +
        13#define TOOLS_HPP
        +
        14
        +
        15#include <algorithm>
        +
        16#include <array>
        +
        17#include <cmath>
        +
        18#include <iterator>
        +
        19#include <queue>
        +
        20#include <random>
        +
        21#include <type_traits>
        +
        22#include <Eigen/Dense>
        +
        23
        +
        24namespace utils
        +
        25{
        +
        32template <typename Key, typename Value>
        +
        +
        33class InsertionOrderedMap
        +
        34{
        +
        35 public:
        +
        +
        42 void insert(const Key& key, const Value& value)
        +
        43 {
        +
        44 if (map_.find(key) == map_.end())
        +
        45 {
        +
        46 map_[key] = vector_.size();
        +
        47 vector_.emplace_back(std::make_pair(key, value));
        +
        48 }
        +
        49 }
        +
        +
        50
        +
        +
        57 const Value& at(const Key& key) const
        +
        58 {
        +
        59 auto index = map_.at(key);
        +
        60 return vector_.at(index).second;
        +
        61 }
        +
        +
        62
        +
        +
        69 Value& at(const Key& key)
        +
        70 {
        +
        71 auto index = map_.at(key);
        +
        72 return vector_.at(index).second;
        +
        73 }
        +
        +
        74
        +
        +
        80 const std::vector<Key> keys() const
        +
        81 {
        +
        82 std::vector<Key> result;
        +
        83 for (const auto& pair : vector_)
        +
        84 {
        +
        85 result.push_back(pair.first);
        +
        86 }
        +
        87 return result;
        +
        88 }
        +
        +
        89
        +
        +
        95 const std::vector<Value> values() const
        +
        96 {
        +
        97 std::vector<Value> result;
        +
        98 for (const auto& pair : vector_)
        +
        99 {
        +
        100 result.push_back(pair.second);
        +
        101 }
        +
        102 return result;
        +
        103 }
        +
        +
        104
        +
        +
        109 void clear()
        +
        110 {
        +
        111 map_.clear();
        +
        112 vector_.clear();
        +
        113 }
        +
        +
        114
        +
        115 private:
        +
        116 std::unordered_map<Key, size_t> map_;
        +
        117 std::vector<std::pair<Key, Value>> vector_;
        +
        118};
        +
        +
        119
        +
        129template <typename FPType>
        +
        130static Eigen::Matrix<FPType, Eigen::Dynamic, 1> diff(
        +
        131 const Eigen::Matrix<FPType, Eigen::Dynamic, 1>& x,
        +
        132 const std::function<double(const Eigen::Matrix<FPType, Eigen::Dynamic, 1>&)>& f,
        +
        133 double h = 1e-6)
        +
        134{
        +
        135 int n = x.size();
        +
        136 Eigen::Matrix<FPType, Eigen::Dynamic, 1> grad(n);
        +
        137 for (int i = 0; i < n; i++)
        +
        138 {
        +
        139 Eigen::Matrix<FPType, Eigen::Dynamic, 1> x_plus = x, x_minus = x;
        +
        140 x_plus(i) += h;
        +
        141 x_minus(i) -= h;
        +
        142 grad(i) = (f(x_plus) - f(x_minus)) / (2 * h);
        +
        143 }
        +
        144 return grad;
        +
        145}
        +
        146
        +
        159template <typename Numeric, typename Generator = std::mt19937>
        +
        160static Numeric random(Numeric from, Numeric to)
        +
        161{
        +
        162 thread_local static Generator gen(std::random_device{}());
        +
        163 using dist_type = typename std::conditional<std::is_integral<Numeric>::value, std::uniform_int_distribution<Numeric>,
        +
        164 std::uniform_real_distribution<Numeric>>::type;
        +
        165 thread_local static dist_type dist;
        +
        166 return dist(gen, typename dist_type::param_type{from, to});
        +
        167}
        +
        168
        +
        174static inline void trimString(std::string& s)
        +
        175{
        +
        176 s.erase(s.begin(), std::find_if_not(s.begin(), s.end(), [](unsigned char ch) { return std::isspace(ch); }));
        +
        177 s.erase(std::find_if_not(s.rbegin(), s.rend(), [](unsigned char ch) { return std::isspace(ch); }).base(), s.end());
        +
        178}
        +
        179
        +
        187template <typename T>
        +
        188static std::vector<T> flatten(const std::vector<std::vector<T>>& vector_of_vectors)
        +
        189{
        +
        190 std::vector<T> flat;
        +
        191 size_t total_size = std::accumulate(vector_of_vectors.begin(), vector_of_vectors.end(), 0,
        +
        192 [](size_t size, const std::vector<T>& vec) { return size + vec.size(); });
        +
        193 flat.reserve(total_size);
        +
        194 for (const auto& vec : vector_of_vectors)
        +
        195 {
        +
        196 flat.insert(flat.end(), vec.begin(), vec.end());
        +
        197 }
        +
        198 return flat;
        +
        199}
        +
        200
        +
        201// /**
        +
        202// * @brief Flatten a vector of vectors and insert in given vector (append if the given vector in non empty)
        +
        203// *
        +
        204// * @tparam Type of data in vector
        +
        205// * @param vector_of_vectors Vector of vectors
        +
        206// * @return Flatten vector
        +
        207// *
        +
        208// * @note The vector of vectors is moved into flat so it becames unusable
        +
        209// */
        +
        210// template <typename T>
        +
        211// static void flattenInto(const std::vector<std::vector<T>>& vector_of_vectors, std::vector<T>& flat)
        +
        212// {
        +
        213// size_t total_size =
        +
        214// flat.size() + std::accumulate(vector_of_vectors.begin(), vector_of_vectors.end(), 0,
        +
        215// [](size_t size, const std::vector<T>& vec) { return size + vec.size(); });
        +
        216// flat.reserve(total_size);
        +
        217// for (const auto& vec : vector_of_vectors)
        +
        218// {
        +
        219// flat.insert(flat.end(), std::make_move_iterator(vec.begin()), std::make_move_iterator(vec.end()));
        +
        220// }
        +
        221// }
        +
        222
        +
        229static inline int pow2(const int& n) { return static_cast<int>(std::ldexp(1.0f, n)); }
        +
        230
        +
        231} // namespace utils
        +
        232
        +
        240template <typename T>
        +
        241std::ostream& operator<<(std::ostream& stream, const std::vector<T>& v)
        +
        242{
        +
        243 // Check container is not empty
        +
        244 if (!v.empty())
        +
        245 {
        +
        246 // Beginning bracket
        +
        247 stream << "[";
        +
        248
        +
        249 // Copy element of container into output stream
        +
        250 std::copy(v.begin(), v.end() - 1, std::ostream_iterator<T>(stream, ", "));
        +
        251
        +
        252 // Last element and end bracket
        +
        253 stream << v.back() << "]";
        +
        254 }
        +
        255 return stream;
        +
        256}
        +
        257
        +
        265template <typename T, std::size_t N>
        +
        266std::ostream& operator<<(std::ostream& stream, const std::array<T, N>& v)
        +
        267{
        +
        268 // Check container is not empty
        +
        269 if (!v.empty())
        +
        270 {
        +
        271 // Beginning bracket
        +
        272 stream << "[";
        +
        273
        +
        274 // Copy element of container into output stream
        +
        275 std::copy(v.begin(), v.end() - 1, std::ostream_iterator<T>(stream, ", "));
        +
        276
        +
        277 // Last element and end bracket
        +
        278 stream << v.back() << "]";
        +
        279 }
        +
        280 return stream;
        +
        281}
        +
        282
        +
        290template <typename T>
        +
        291std::ostream& operator<<(std::ostream& stream, const std::deque<T>& v)
        +
        292{
        +
        293 // Check container is not empty
        +
        294 if (!v.empty())
        +
        295 {
        +
        296 // Beginning bracket
        +
        297 stream << "[";
        +
        298
        +
        299 // Copy element of container into output stream
        +
        300 std::copy(v.begin(), v.end() - 1, std::ostream_iterator<T>(stream, ", "));
        +
        301
        +
        302 // Last element and end bracket
        +
        303 stream << v.back() << "]";
        +
        304 }
        +
        305 return stream;
        +
        306}
        +
        307
        +
        315template <typename T, typename std::enable_if<std::is_enum<T>::value, T>::type* = nullptr>
        +
        316std::ostream& operator<<(std::ostream& stream, const T& e)
        +
        317{
        +
        318 return stream << static_cast<typename std::underlying_type<T>::type>(e);
        +
        319}
        +
        320
        +
        321#endif // TOOLS_HPP
        +
        utils::InsertionOrderedMap
        This calss define a map that keeps the insertion order.
        Definition tools.hpp:34
        +
        utils::InsertionOrderedMap::keys
        const std::vector< Key > keys() const
        Return a vector containing the keys.
        Definition tools.hpp:80
        +
        utils::InsertionOrderedMap::at
        const Value & at(const Key &key) const
        Return the value associated with the key.
        Definition tools.hpp:57
        +
        utils::InsertionOrderedMap::clear
        void clear()
        Clear the map and the vector.
        Definition tools.hpp:109
        +
        utils::InsertionOrderedMap::insert
        void insert(const Key &key, const Value &value)
        Insert a key-value pair into the map if the key does not exists.
        Definition tools.hpp:42
        +
        utils::InsertionOrderedMap::at
        Value & at(const Key &key)
        Return the value associated with the key.
        Definition tools.hpp:69
        +
        utils::InsertionOrderedMap::values
        const std::vector< Value > values() const
        Return a vector containing the values.
        Definition tools.hpp:95
        +
        +
        + + + + diff --git a/track_8hpp_source.html b/track_8hpp_source.html new file mode 100644 index 0000000..6b9560b --- /dev/null +++ b/track_8hpp_source.html @@ -0,0 +1,236 @@ + + + + + + + +MSCEqF: include/vision/track.hpp Source File + + + + + + + + + + + + + + + +
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        MSCEqF 1.0 +
        +
        Multi State Constraint Equivariant Filter for visual inertial navigation
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        track.hpp
        +
        +
        +
        1// Copyright (C) 2023 Alessandro Fornasier.
        +
        2// Control of Networked Systems, University of Klagenfurt, Austria.
        +
        3//
        +
        4// All rights reserved.
        +
        5//
        +
        6// This software is licensed under the terms of the BSD-2-Clause-License with
        +
        7// no commercial use allowed, the full terms of which are made available
        +
        8// in the LICENSE file. No license in patents is granted.
        +
        9//
        +
        10// You can contact the authors at <alessandro.fornasier@ieee.org>
        +
        11
        +
        12#ifndef TRACK_HPP
        +
        13#define TRACK_HPP
        +
        14
        +
        15#include <opencv2/opencv.hpp>
        +
        16
        +
        17#include "types/fptypes.hpp"
        +
        18#include "vision/features.hpp"
        +
        19
        +
        20namespace msceqf
        +
        21{
        +
        +
        29struct Track
        +
        30{
        +
        31 using Times = std::vector<fp>;
        +
        32
        +
        38 inline bool empty() const noexcept { return uvs_.empty(); }
        +
        39
        +
        +
        45 inline size_t size() const noexcept
        +
        46 {
        +
        47 assert(uvs_.size() == normalized_uvs_.size());
        +
        48 assert(uvs_.size() == timestamps_.size());
        +
        49 return uvs_.size();
        +
        50 }
        +
        +
        51
        +
        +
        58 void removeInvalid(std::vector<bool>& invalid)
        +
        59 {
        +
        60 assert(invalid.size() == uvs_.size());
        +
        61 assert(uvs_.size() == normalized_uvs_.size());
        +
        62 assert(uvs_.size() == timestamps_.size());
        +
        63
        +
        64 size_t i = 0;
        +
        65 size_t j = 0;
        +
        66
        +
        67 while (i < uvs_.size())
        +
        68 {
        +
        69 if (!invalid[i])
        +
        70 {
        +
        71 uvs_[j] = uvs_[i];
        +
        72 normalized_uvs_[j] = normalized_uvs_[i];
        +
        73 timestamps_[j] = timestamps_[i];
        +
        74 ++j;
        +
        75 }
        +
        76 ++i;
        +
        77 }
        +
        78
        +
        79 uvs_.resize(j);
        +
        80 normalized_uvs_.resize(j);
        +
        81 timestamps_.resize(j);
        +
        82 }
        +
        +
        83
        +
        +
        92 void removeTail(const fp& timestamp, const bool& remove_equal = true)
        +
        93 {
        +
        94 assert(uvs_.size() == normalized_uvs_.size());
        +
        95 assert(uvs_.size() == timestamps_.size());
        +
        96
        +
        97 size_t j = 0;
        +
        98 size_t i = 0;
        +
        99
        +
        100 while (i < uvs_.size())
        +
        101 {
        +
        102 if (remove_equal && timestamps_[i] > timestamp)
        +
        103 {
        +
        104 uvs_[j] = uvs_[i];
        +
        105 normalized_uvs_[j] = normalized_uvs_[i];
        +
        106 timestamps_[j] = timestamps_[i];
        +
        107 ++j;
        +
        108 }
        +
        109 if (!remove_equal && timestamps_[i] >= timestamp)
        +
        110 {
        +
        111 uvs_[j] = uvs_[i];
        +
        112 normalized_uvs_[j] = normalized_uvs_[i];
        +
        113 timestamps_[j] = timestamps_[i];
        +
        114 ++j;
        +
        115 }
        +
        116 ++i;
        +
        117 }
        +
        118
        +
        119 uvs_.resize(j);
        +
        120 normalized_uvs_.resize(j);
        +
        121 timestamps_.resize(j);
        +
        122 }
        +
        +
        123
        +
        128 friend bool operator<(const Track& lhs, const Track& rhs) { return lhs.size() < rhs.size(); }
        +
        129
        +
        130 FeaturesCoordinates uvs_;
        +
        131 FeaturesCoordinates normalized_uvs_;
        +
        132 Times timestamps_;
        +
        133};
        +
        +
        134
        +
        135using Tracks = std::unordered_map<uint, Track>;
        +
        136
        +
        137} // namespace msceqf
        +
        138
        +
        139#endif // TRACK_HPP
        +
        msceqf::Track
        (Cache friendly) Track struct. Define a feature (labeled via a feature id) detected/tracked at differ...
        Definition track.hpp:30
        +
        msceqf::Track::removeInvalid
        void removeInvalid(std::vector< bool > &invalid)
        Remove invalid features coordinates, normalized feature coordinates and ids given a vector of boolean...
        Definition track.hpp:58
        +
        msceqf::Track::empty
        bool empty() const noexcept
        Check if there valid coordinates in uvs_.
        Definition track.hpp:38
        +
        msceqf::Track::removeTail
        void removeTail(const fp &timestamp, const bool &remove_equal=true)
        Remove the tail of the track. this method removes coordinates and timestamps that are older or equal ...
        Definition track.hpp:92
        +
        msceqf::Track::uvs_
        FeaturesCoordinates uvs_
        (u, v) coordinates of the same feature at different time steps
        Definition track.hpp:130
        +
        msceqf::Track::size
        size_t size() const noexcept
        Return the amount of features (size of uvs_)
        Definition track.hpp:45
        +
        msceqf::Track::operator<
        friend bool operator<(const Track &lhs, const Track &rhs)
        Comparison operator with other tracks for sorting based on track length.
        Definition track.hpp:128
        +
        msceqf::Track::normalized_uvs_
        FeaturesCoordinates normalized_uvs_
        Normalized (u, v) coordinates of the same feature at different time steps.
        Definition track.hpp:131
        +
        msceqf::Track::timestamps_
        Times timestamps_
        Timestamps of the camera measurement containing the feature.
        Definition track.hpp:132
        +
        msceqf::Track::Times
        std::vector< fp > Times
        vector of timestamps
        Definition track.hpp:31
        +
        +
        + + + + diff --git a/track__manager_8hpp_source.html b/track__manager_8hpp_source.html new file mode 100644 index 0000000..9607785 --- /dev/null +++ b/track__manager_8hpp_source.html @@ -0,0 +1,191 @@ + + + + + + + +MSCEqF: include/vision/track_manager.hpp Source File + + + + + + + + + + + + + + + +
        +
        + + + + + + + +
        +
        MSCEqF 1.0 +
        +
        Multi State Constraint Equivariant Filter for visual inertial navigation
        +
        +
        + + + + + + + + +
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        track_manager.hpp
        +
        +
        +
        1// Copyright (C) 2023 Alessandro Fornasier.
        +
        2// Control of Networked Systems, University of Klagenfurt, Austria.
        +
        3//
        +
        4// All rights reserved.
        +
        5//
        +
        6// This software is licensed under the terms of the BSD-2-Clause-License with
        +
        7// no commercial use allowed, the full terms of which are made available
        +
        8// in the LICENSE file. No license in patents is granted.
        +
        9//
        +
        10// You can contact the authors at <alessandro.fornasier@ieee.org>
        +
        11
        +
        12#ifndef TRACK_MANAGER_HPP
        +
        13#define TRACK_MANAGER_HPP
        +
        14
        +
        15#include <opencv2/opencv.hpp>
        +
        16#include <unordered_set>
        +
        17
        +
        18#include "types/fptypes.hpp"
        +
        19#include "vision/tracker.hpp"
        +
        20
        +
        21namespace msceqf
        +
        22{
        +
        +
        27class TrackManager
        +
        28{
        +
        29 public:
        +
        36 TrackManager(const TrackManagerOptions& opts, const Vector4& intrinsics);
        +
        37
        +
        43 void processCamera(Camera& cam);
        +
        44
        +
        50 void processFeatures(const TriangulatedFeatures& features);
        +
        51
        +
        57 const Tracks& tracks() const;
        +
        58
        +
        68 void tracksIds(const fp& timestamp, std::unordered_set<uint>& active_ids, std::unordered_set<uint>& lost_ids) const;
        +
        69
        +
        77 void activeTracksIds(const fp& timestamp, std::unordered_set<uint>& active_ids) const;
        +
        78
        +
        86 void lostTracksIds(const fp& timestamp, std::unordered_set<uint>& lost_ids) const;
        +
        87
        +
        95 void removeTracksId(const std::unordered_set<uint>& ids);
        +
        96
        +
        105 void removeTracksTail(const fp& timestamp, const bool& remove_equal = true);
        +
        106
        +
        111 inline void clear() { tracks_.clear(); }
        +
        112
        +
        118 const PinholeCameraUniquePtr& cam() const;
        +
        119
        +
        120 private:
        +
        125 void updateTracks();
        +
        126
        +
        127 Tracker tracker_;
        +
        128 Tracks tracks_;
        +
        129
        +
        130 size_t max_track_length_;
        +
        131};
        +
        +
        132
        +
        133} // namespace msceqf
        +
        134
        +
        135#endif // TRACK_MANAGER_HPP
        +
        msceqf::TrackManager
        This class manages the multiple tracks of feature traked in time.
        Definition track_manager.hpp:28
        +
        msceqf::TrackManager::activeTracksIds
        void activeTracksIds(const fp &timestamp, std::unordered_set< uint > &active_ids) const
        Get all the ids corresponding to active tracks at a given timestamp. Active tracks are defined as tra...
        +
        msceqf::TrackManager::lostTracksIds
        void lostTracksIds(const fp &timestamp, std::unordered_set< uint > &lost_ids) const
        Get all the ids corresponding to lost tracks at a given timestamp. Lost tracks are defined as tracks ...
        +
        msceqf::TrackManager::processCamera
        void processCamera(Camera &cam)
        Process a single camera measurement. Forward camera measurement to tracker, and update tracks.
        +
        msceqf::TrackManager::clear
        void clear()
        Clear all the tracks.
        Definition track_manager.hpp:111
        +
        msceqf::TrackManager::removeTracksTail
        void removeTracksTail(const fp &timestamp, const bool &remove_equal=true)
        Remove the tail of tracks. This method remove from each track all the coordinates as well as the time...
        +
        msceqf::TrackManager::processFeatures
        void processFeatures(const TriangulatedFeatures &features)
        Process a single features measurement. update tracks.
        +
        msceqf::TrackManager::tracksIds
        void tracksIds(const fp &timestamp, std::unordered_set< uint > &active_ids, std::unordered_set< uint > &lost_ids) const
        Get all the ids corresponding to active and lost tracks at a given timestamp. Active tracks are defin...
        +
        msceqf::TrackManager::TrackManager
        TrackManager(const TrackManagerOptions &opts, const Vector4 &intrinsics)
        TrackManager constructor.
        +
        msceqf::TrackManager::tracks
        const Tracks & tracks() const
        Get all the tracks.
        +
        msceqf::TrackManager::removeTracksId
        void removeTracksId(const std::unordered_set< uint > &ids)
        Remove all the tracks corresponding to given ids.
        +
        msceqf::TrackManager::cam
        const PinholeCameraUniquePtr & cam() const
        Get the camera pointer.
        +
        msceqf::Tracker
        This class implement the feature tracker module based on Lucas-Kanade optical flow....
        Definition tracker.hpp:31
        +
        msceqf::Camera
        Definition sensor_data.hpp:78
        +
        msceqf::TrackManagerOptions
        Definition msceqf_options.hpp:200
        +
        msceqf::TriangulatedFeatures
        Definition sensor_data.hpp:98
        +
        +
        + + + + diff --git a/tracker_8hpp_source.html b/tracker_8hpp_source.html new file mode 100644 index 0000000..4b8ecc5 --- /dev/null +++ b/tracker_8hpp_source.html @@ -0,0 +1,201 @@ + + + + + + + +MSCEqF: include/vision/tracker.hpp Source File + + + + + + + + + + + + + + + +
        +
        + + + + + + + +
        +
        MSCEqF 1.0 +
        +
        Multi State Constraint Equivariant Filter for visual inertial navigation
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        +
        + + + + + + + + +
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        tracker.hpp
        +
        +
        +
        1// Copyright (C) 2023 Alessandro Fornasier.
        +
        2// Control of Networked Systems, University of Klagenfurt, Austria.
        +
        3//
        +
        4// All rights reserved.
        +
        5//
        +
        6// This software is licensed under the terms of the BSD-2-Clause-License with
        +
        7// no commercial use allowed, the full terms of which are made available
        +
        8// in the LICENSE file. No license in patents is granted.
        +
        9//
        +
        10// You can contact the authors at <alessandro.fornasier@ieee.org>
        +
        11
        +
        12#ifndef TRACKER_HPP
        +
        13#define TRACKER_HPP
        +
        14
        +
        15#include <atomic>
        +
        16
        +
        17#include "sensors/sensor_data.hpp"
        +
        18#include "types/fptypes.hpp"
        +
        19#include "vision/camera.hpp"
        +
        20#include "vision/features.hpp"
        +
        21#include "vision/track.hpp"
        +
        22
        +
        23namespace msceqf
        +
        24{
        +
        +
        30class Tracker
        +
        31{
        +
        32 public:
        +
        33 using Keypoints = std::vector<cv::KeyPoint>;
        +
        34 using TimedFeatures = std::pair<fp, Features>;
        +
        35
        +
        42 Tracker(const TrackerOptions& opts, const Vector4& intrinsics);
        +
        43
        +
        50 void processCamera(Camera& cam);
        +
        51
        +
        57 const TimedFeatures& currentFeatures() const;
        +
        58
        +
        64 const PinholeCameraUniquePtr& cam() const;
        +
        65
        +
        66 private:
        +
        76 void track(Camera& cam);
        +
        77
        +
        92 void detect(std::vector<cv::Mat>& pyramids, cv::Mat& mask, Features& features);
        +
        93
        +
        100 void matchKLT(std::vector<uchar>& mask);
        +
        101
        +
        108 void ransac(std::vector<uchar>& mask);
        +
        109
        +
        119 void extractCellKeypoints(const uint& idx, const cv::Mat& cell, const cv::Mat& mask, Keypoints& cell_kpts);
        +
        120
        +
        129 void maskGivenFeatures(cv::Mat& mask, const FeaturesCoordinates& points);
        +
        130
        +
        131 TrackerOptions opts_;
        +
        132
        +
        133 PinholeCameraUniquePtr cam_;
        +
        134 cv::Ptr<cv::Feature2D> detector_;
        +
        135
        +
        136 std::map<uint, std::atomic<uint>> max_kpts_per_cell_;
        +
        137 uint id_;
        +
        138
        +
        139 cv::Mat feature_mask_;
        +
        140
        +
        141 std::vector<cv::Mat> previous_pyramids_;
        +
        142 TimedFeatures previous_features_;
        +
        143
        +
        144 std::vector<cv::Mat> current_pyramids_;
        +
        145 TimedFeatures current_features_;
        +
        146
        +
        147 cv::Size win_;
        +
        148
        +
        149 static constexpr std::array<uint, 4> ratio_ = {10, 6, 3, 1};
        +
        150};
        +
        +
        151
        +
        152} // namespace msceqf
        +
        153
        +
        154#endif // TRACKER_HPP
        +
        msceqf::Tracker
        This class implement the feature tracker module based on Lucas-Kanade optical flow....
        Definition tracker.hpp:31
        +
        msceqf::Tracker::Keypoints
        std::vector< cv::KeyPoint > Keypoints
        A vector of features keypoints.
        Definition tracker.hpp:33
        +
        msceqf::Tracker::TimedFeatures
        std::pair< fp, Features > TimedFeatures
        Set of features associated with a time.
        Definition tracker.hpp:34
        +
        msceqf::Tracker::currentFeatures
        const TimedFeatures & currentFeatures() const
        Get the current detected/tracked features.
        +
        msceqf::Tracker::cam
        const PinholeCameraUniquePtr & cam() const
        Get the camera pointer.
        +
        msceqf::Tracker::processCamera
        void processCamera(Camera &cam)
        This method process the input camera measurement. If first pre-process the camera image,...
        +
        msceqf::Tracker::Tracker
        Tracker(const TrackerOptions &opts, const Vector4 &intrinsics)
        Tracker constructor.
        +
        msceqf::Camera
        Definition sensor_data.hpp:78
        +
        msceqf::Features
        (Cache friendly) Features struct. Define a set of features detected/tracked.
        Definition features.hpp:30
        +
        msceqf::TrackerOptions
        Definition msceqf_options.hpp:180
        +
        +
        + + + + diff --git a/updater_8hpp_source.html b/updater_8hpp_source.html new file mode 100644 index 0000000..8a24b73 --- /dev/null +++ b/updater_8hpp_source.html @@ -0,0 +1,182 @@ + + + + + + + +MSCEqF: include/msceqf/filter/updater/updater.hpp Source File + + + + + + + + + + + + + + + +
        +
        + + + + + + + +
        +
        MSCEqF 1.0 +
        +
        Multi State Constraint Equivariant Filter for visual inertial navigation
        +
        +
        + + + + + + + + +
        +
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        updater.hpp
        +
        +
        +
        1// Copyright (C) 2023 Alessandro Fornasier.
        +
        2// Control of Networked Systems, University of Klagenfurt, Austria.
        +
        3//
        +
        4// All rights reserved.
        +
        5//
        +
        6// This software is licensed under the terms of the BSD-2-Clause-License with
        +
        7// no commercial use allowed, the full terms of which are made available
        +
        8// in the LICENSE file. No license in patents is granted.
        +
        9//
        +
        10// You can contact the authors at <alessandro.fornasier@ieee.org>
        +
        11
        +
        12#ifndef UPDATER_HPP
        +
        13#define UPDATER_HPP
        +
        14
        +
        15#include <unordered_set>
        +
        16
        +
        17#include "types/fptypes.hpp"
        +
        18#include "msceqf/options/msceqf_options.hpp"
        +
        19#include "msceqf/filter/updater/updater_helper.hpp"
        +
        20#include "msceqf/system/system.hpp"
        +
        21#include "vision/track.hpp"
        +
        22
        +
        23namespace msceqf
        +
        24{
        +
        +
        29class Updater
        +
        30{
        +
        31 public:
        +
        32 Updater(const UpdaterOptions& opts, const SystemState& xi0);
        +
        33
        +
        45 void mscUpdate(MSCEqFState& X, const Tracks& tracks, std::unordered_set<uint>& ids);
        +
        46
        +
        47 private:
        +
        58 [[nodiscard]] bool linearTriangulation(const MSCEqFState& X, const Track& track, const SE3& A_E, Vector3& A_f) const;
        +
        59
        +
        73 void nonlinearTriangulation(const MSCEqFState& X, const Track& track, const SE3& A_E, Vector3& A_f) const;
        +
        74
        +
        85 void nonlinearTriangulationResidualJacobian(
        +
        86 const MSCEqFState& X, const Track& track, const SE3& A_E, const Vector3& A_f, VectorX& res, MatrixX& J) const;
        +
        87
        +
        96 void UpdateMSCEqF(MSCEqFState& X, const MatrixX& C, const VectorX& delta, const MatrixX& R) const;
        +
        97
        +
        98 private:
        +
        99 UpdaterOptions opts_;
        +
        100
        +
        101 const SystemState& xi0_;
        +
        102
        +
        103 ProjectionHelperUniquePtr ph_;
        +
        104
        +
        105 std::map<uint, fp> chi2_table_;
        +
        106
        +
        107 ColsMap cols_map_;
        +
        108
        +
        109 std::vector<uint> update_ids_;
        +
        110 size_t total_size_;
        +
        111};
        +
        +
        112
        +
        113} // namespace msceqf
        +
        114
        +
        115#endif // UPDATER_HPP
        +
        msceqf::MSCEqFState
        this class represent the state of the MSCEqF. This includes the state of the lifted system (element o...
        Definition state.hpp:30
        +
        msceqf::SystemState
        The SystemState class represent the state of the system posed on the Homogenous space.
        Definition system.hpp:29
        +
        msceqf::Updater
        Updater class. This class implements the Multi State Constraint update step of the MSCEqF filter.
        Definition updater.hpp:30
        +
        msceqf::Updater::mscUpdate
        void mscUpdate(MSCEqFState &X, const Tracks &tracks, std::unordered_set< uint > &ids)
        Perform a Multi State Constraint update.
        + +
        msceqf::Track
        (Cache friendly) Track struct. Define a feature (labeled via a feature id) detected/tracked at differ...
        Definition track.hpp:30
        +
        msceqf::UpdaterOptions
        Definition msceqf_options.hpp:122
        +
        +
        + + + + diff --git a/updater__helper_8hpp_source.html b/updater__helper_8hpp_source.html new file mode 100644 index 0000000..6ccfe7d --- /dev/null +++ b/updater__helper_8hpp_source.html @@ -0,0 +1,312 @@ + + + + + + + +MSCEqF: include/msceqf/filter/updater/updater_helper.hpp Source File + + + + + + + + + + + + + + + +
        +
        + + + + + + + +
        +
        MSCEqF 1.0 +
        +
        Multi State Constraint Equivariant Filter for visual inertial navigation
        +
        +
        + + + + + + + + +
        +
        + +
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        +
        updater_helper.hpp
        +
        +
        +
        1// Copyright (C) 2023 Alessandro Fornasier.
        +
        2// Control of Networked Systems, University of Klagenfurt, Austria.
        +
        3//
        +
        4// All rights reserved.
        +
        5//
        +
        6// This software is licensed under the terms of the BSD-2-Clause-License with
        +
        7// no commercial use allowed, the full terms of which are made available
        +
        8// in the LICENSE file. No license in patents is granted.
        +
        9//
        +
        10// You can contact the authors at <alessandro.fornasier@ieee.org>
        +
        11
        +
        12#ifndef UPDATER_HELPER_HPP
        +
        13#define UPDATER_HELPER_HPP
        +
        14
        +
        15#include <opencv2/opencv.hpp>
        +
        16#include <functional>
        +
        17#include <boost/math/distributions/chi_squared.hpp>
        +
        18
        +
        19#include "types/fptypes.hpp"
        +
        20#include "msceqf/state/state.hpp"
        +
        21#include "utils/tools.hpp"
        +
        22
        +
        23namespace msceqf
        +
        24{
        +
        25using MatrixXBlockRowRef = Ref<MatrixX::RowsBlockXpr>;
        +
        26using VectorXBlockRowRef = Ref<VectorX::RowsBlockXpr>;
        +
        27
        +
        28using ColsMap = utils::InsertionOrderedMap<MSCEqFState::MSCEqFKey, size_t>;
        +
        29
        +
        +
        35struct FeatHelper
        +
        36{
        +
        37 FeatHelper(
        +
        38 const Vector3& A_f, const Vector2& uv, const Vector2& uvn, const fp& anchor_timestamp, const fp& clone_timestamp)
        +
        39 : A_f_(A_f), uv_(uv), uvn_(uvn), anchor_timestamp_(anchor_timestamp), clone_timestamp_(clone_timestamp){};
        +
        40
        +
        41 const Vector3& A_f_;
        +
        42 const Vector2& uv_;
        +
        43 const Vector2& uvn_;
        +
        44 const fp& anchor_timestamp_;
        +
        45 const fp& clone_timestamp_;
        +
        46};
        +
        +
        47
        +
        +
        53class ProjectionHelper
        +
        54{
        +
        55 public:
        +
        56 virtual ~ProjectionHelper() = default;
        +
        57
        +
        64 [[nodiscard]] virtual Vector3 pi(const Vector3& f) = 0;
        +
        65
        +
        72 [[nodiscard]] virtual MatrixX dpi(const Vector3& f) = 0;
        +
        73
        +
        85 virtual void residualJacobianBlock(const MSCEqFState& X,
        +
        86 const SystemState& xi0,
        +
        87 const FeatHelper& feat,
        +
        88 MatrixXBlockRowRef C_block_row,
        +
        89 VectorXBlockRowRef delta_block_row,
        +
        90 MatrixXBlockRowRef Cf_block_row,
        +
        91 const ColsMap& cols_map) = 0;
        +
        92
        +
        98 [[nodiscard]] const size_t& block_rows() const { return block_rows_; }
        +
        99
        +
        105 [[nodiscard]] const size_t& dim_loss() const { return dim_loss_; }
        +
        106
        +
        107 protected:
        +
        109 ProjectionHelper(const FeatureRepresentation& feature_representation);
        +
        110 ProjectionHelper(const ProjectionHelper&) = default;
        +
        111 ProjectionHelper(ProjectionHelper&&) = default;
        +
        112 ProjectionHelper& operator=(const ProjectionHelper&) = default;
        +
        113 ProjectionHelper& operator=(ProjectionHelper&&) = default;
        +
        114
        +
        115 FeatureRepresentation feature_representation_;
        +
        116
        +
        117 size_t block_rows_;
        +
        118 size_t dim_loss_;
        +
        119};
        +
        +
        120
        +
        +
        126class ProjectionHelperS2 : public ProjectionHelper
        +
        127{
        +
        128 public:
        +
        129 ProjectionHelperS2(const FeatureRepresentation& feature_representation) : ProjectionHelper(feature_representation)
        +
        130 {
        +
        131 block_rows_ = 3;
        +
        132 }
        +
        133
        +
        140 [[nodiscard]] Vector3 pi(const Vector3& f) override;
        +
        141
        +
        148 [[nodiscard]] MatrixX dpi(const Vector3& f) override;
        +
        149
        +
        161 void residualJacobianBlock(const MSCEqFState& X,
        +
        162 const SystemState& xi0,
        +
        163 const FeatHelper& feat,
        +
        164 MatrixXBlockRowRef C_block_row,
        +
        165 VectorXBlockRowRef delta_block_row,
        +
        166 MatrixXBlockRowRef Cf_block_row,
        +
        167 const ColsMap& cols_map) override;
        +
        168};
        +
        +
        169
        +
        +
        175class ProjectionHelperZ1 : public ProjectionHelper
        +
        176{
        +
        177 public:
        +
        178 ProjectionHelperZ1(const FeatureRepresentation& feature_representation) : ProjectionHelper(feature_representation)
        +
        179 {
        +
        180 block_rows_ = 2;
        +
        181 }
        +
        182
        +
        189 [[nodiscard]] Vector3 pi(const Vector3& f) override;
        +
        190
        +
        197 [[nodiscard]] MatrixX dpi(const Vector3& f) override;
        +
        198
        +
        210 void residualJacobianBlock(const MSCEqFState& X,
        +
        211 const SystemState& xi0,
        +
        212 const FeatHelper& feat,
        +
        213 MatrixXBlockRowRef C_block_row,
        +
        214 VectorXBlockRowRef delta_block_row,
        +
        215 MatrixXBlockRowRef Cf_block_row,
        +
        216 const ColsMap& cols_map) override;
        +
        217};
        +
        +
        218
        +
        219using ProjectionHelperSharedPtr = std::shared_ptr<ProjectionHelper>;
        +
        220using ProjectionHelperUniquePtr = std::unique_ptr<ProjectionHelper>;
        +
        221using ProjectionHelperZ1SharedPtr = std::shared_ptr<ProjectionHelperZ1>;
        +
        222using ProjectionHelperZ1UniquePtr = std::unique_ptr<ProjectionHelperZ1>;
        +
        223using ProjectionHelperS2SharedPtr = std::shared_ptr<ProjectionHelperS2>;
        +
        224using ProjectionHelperS2UniquePtr = std::unique_ptr<ProjectionHelperS2>;
        +
        225
        +
        232template <typename T>
        +
        233[[nodiscard]] static ProjectionHelperUniquePtr createProjectionHelper(
        +
        234 const FeatureRepresentation& feature_representation)
        +
        235{
        +
        236 if constexpr (std::is_base_of_v<ProjectionHelper, T>)
        +
        237 {
        +
        238 return std::make_unique<T>(feature_representation);
        +
        239 }
        +
        240 else
        +
        241 {
        +
        242 return nullptr;
        +
        243 }
        +
        244}
        +
        245
        +
        +
        251struct UpdaterHelper
        +
        252{
        +
        259 [[nodiscard]] static Matrix<2, 4> Xi(const Vector3& f);
        +
        260
        +
        267 [[nodiscard]] static Matrix3 inverseDepthJacobian(const Vector3& A_f);
        +
        268
        +
        277 static void nullspaceProjection(Ref<MatrixX> Cf, MatrixXBlockRowRef Ct, VectorXBlockRowRef delta);
        +
        278
        +
        285 static void updateQRCompression(MatrixX& C, VectorX& delta);
        +
        286
        +
        295 [[nodiscard]] static bool chi2Test(const fp& chi2, const size_t& dof, const std::map<uint, fp>& chi2_table);
        +
        296};
        +
        +
        297
        +
        298} // namespace msceqf
        +
        299
        +
        300#endif // UPDATER_HELPER_HPP
        +
        msceqf::MSCEqFState
        this class represent the state of the MSCEqF. This includes the state of the lifted system (element o...
        Definition state.hpp:30
        +
        msceqf::ProjectionHelper
        ProjectionHelper interface. This class provides an interface to the implementation of the projection ...
        Definition updater_helper.hpp:54
        +
        msceqf::ProjectionHelper::block_rows_
        size_t block_rows_
        Number of rows of a C matrix block and a residual block.
        Definition updater_helper.hpp:117
        +
        msceqf::ProjectionHelper::dim_loss_
        size_t dim_loss_
        Dimension lost due to nullspace projection.
        Definition updater_helper.hpp:118
        +
        msceqf::ProjectionHelper::dim_loss
        const size_t & dim_loss() const
        Get the dimension lost due to nullspace projection.
        Definition updater_helper.hpp:105
        +
        msceqf::ProjectionHelper::ProjectionHelper
        ProjectionHelper(const FeatureRepresentation &feature_representation)
        Rule of 5.
        +
        msceqf::ProjectionHelper::dpi
        virtual MatrixX dpi(const Vector3 &f)=0
        Projection differential function. This function computes the differential of the projection function.
        +
        msceqf::ProjectionHelper::residualJacobianBlock
        virtual void residualJacobianBlock(const MSCEqFState &X, const SystemState &xi0, const FeatHelper &feat, MatrixXBlockRowRef C_block_row, VectorXBlockRowRef delta_block_row, MatrixXBlockRowRef Cf_block_row, const ColsMap &cols_map)=0
        Computes a block row of the C matrix and a block of the residual, corresponding to the given feature ...
        +
        msceqf::ProjectionHelper::block_rows
        const size_t & block_rows() const
        Get the number of rows of a C matrix block and a residual block.
        Definition updater_helper.hpp:98
        +
        msceqf::ProjectionHelper::feature_representation_
        FeatureRepresentation feature_representation_
        Feature representation.
        Definition updater_helper.hpp:115
        +
        msceqf::ProjectionHelper::pi
        virtual Vector3 pi(const Vector3 &f)=0
        Projection function. This function projects a 3D point.
        +
        msceqf::ProjectionHelperS2
        ProjectionHelperS2 class. This class provides an implementation of the projection on the unit sphere ...
        Definition updater_helper.hpp:127
        +
        msceqf::ProjectionHelperS2::dpi
        MatrixX dpi(const Vector3 &f) override
        Projection differential function. This function computes the differential of the projection function.
        +
        msceqf::ProjectionHelperS2::pi
        Vector3 pi(const Vector3 &f) override
        Projection function. This function projects a 3D point on the unit sphere.
        +
        msceqf::ProjectionHelperS2::residualJacobianBlock
        void residualJacobianBlock(const MSCEqFState &X, const SystemState &xi0, const FeatHelper &feat, MatrixXBlockRowRef C_block_row, VectorXBlockRowRef delta_block_row, MatrixXBlockRowRef Cf_block_row, const ColsMap &cols_map) override
        Computes a block row of the C matrix and a block of the residual, corresponding to the given feature ...
        +
        msceqf::ProjectionHelperZ1
        ProjectionHelperZ1 class. This class provides an implementation of the projection on the unit plane a...
        Definition updater_helper.hpp:176
        +
        msceqf::ProjectionHelperZ1::dpi
        MatrixX dpi(const Vector3 &f) override
        Projection differential function. This function computes the differential of the projection function.
        +
        msceqf::ProjectionHelperZ1::residualJacobianBlock
        void residualJacobianBlock(const MSCEqFState &X, const SystemState &xi0, const FeatHelper &feat, MatrixXBlockRowRef C_block_row, VectorXBlockRowRef delta_block_row, MatrixXBlockRowRef Cf_block_row, const ColsMap &cols_map) override
        Computes a block row of the C matrix and a block of the residual, corresponding to the given feature ...
        +
        msceqf::ProjectionHelperZ1::pi
        Vector3 pi(const Vector3 &f) override
        Projection function. This function projects a 3D point on the unit plane.
        +
        msceqf::SystemState
        The SystemState class represent the state of the system posed on the Homogenous space.
        Definition system.hpp:29
        +
        utils::InsertionOrderedMap
        This calss define a map that keeps the insertion order.
        Definition tools.hpp:34
        +
        msceqf::FeatHelper
        FeatHelper struct. This struct implements a helper structure holding all the information related to a...
        Definition updater_helper.hpp:36
        +
        msceqf::FeatHelper::A_f_
        const Vector3 & A_f_
        Triangulated feature in anchor frame.
        Definition updater_helper.hpp:41
        +
        msceqf::FeatHelper::uv_
        const Vector2 & uv_
        (measured) feature coordinates
        Definition updater_helper.hpp:42
        +
        msceqf::FeatHelper::anchor_timestamp_
        const fp & anchor_timestamp_
        Timestamp of the anchor.
        Definition updater_helper.hpp:44
        +
        msceqf::FeatHelper::clone_timestamp_
        const fp & clone_timestamp_
        Timestamp of the feature measurement.
        Definition updater_helper.hpp:45
        +
        msceqf::FeatHelper::uvn_
        const Vector2 & uvn_
        Normalized (measured) feature coordinates.
        Definition updater_helper.hpp:43
        +
        msceqf::UpdaterHelper
        Updater helper struct. This structs implements common helper methods for MSCEqF update.
        Definition updater_helper.hpp:252
        +
        msceqf::UpdaterHelper::Xi
        static Matrix< 2, 4 > Xi(const Vector3 &f)
        Xi operator R^3 -> R^2x4.
        +
        msceqf::UpdaterHelper::inverseDepthJacobian
        static Matrix3 inverseDepthJacobian(const Vector3 &A_f)
        Compute the Jacobian for inverse depth parametrization, used in the Cf matrix.
        +
        msceqf::UpdaterHelper::chi2Test
        static bool chi2Test(const fp &chi2, const size_t &dof, const std::map< uint, fp > &chi2_table)
        Perform chi2 test (based on precomputed table) on the given block of the residual.
        +
        msceqf::UpdaterHelper::nullspaceProjection
        static void nullspaceProjection(Ref< MatrixX > Cf, MatrixXBlockRowRef Ct, VectorXBlockRowRef delta)
        Perform in-place nullspace projection of the Cf matrix on the Ct matrix and the residual using QR dec...
        +
        msceqf::UpdaterHelper::updateQRCompression
        static void updateQRCompression(MatrixX &C, VectorX &delta)
        Perform in-place compression of the C matrix and the residual using QR decomposition.
        +
        +
        + + + + diff --git a/visualizer_8hpp_source.html b/visualizer_8hpp_source.html new file mode 100644 index 0000000..802fe21 --- /dev/null +++ b/visualizer_8hpp_source.html @@ -0,0 +1,234 @@ + + + + + + + +MSCEqF: include/utils/visualizer.hpp Source File + + + + + + + + + + + + + + + +
        +
        + + + + + + + +
        +
        MSCEqF 1.0 +
        +
        Multi State Constraint Equivariant Filter for visual inertial navigation
        +
        +
        + + + + + + + + +
        +
        + +
        +
        +
        + +
        + +
        +
        + + +
        +
        +
        +
        +
        +
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        +
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        +
        +
        +
        +
        + +
        +
        visualizer.hpp
        +
        +
        +
        1// Copyright (C) 2023 Alessandro Fornasier.
        +
        2// Control of Networked Systems, University of Klagenfurt, Austria.
        +
        3//
        +
        4// All rights reserved.
        +
        5//
        +
        6// This software is licensed under the terms of the BSD-2-Clause-License with
        +
        7// no commercial use allowed, the full terms of which are made available
        +
        8// in the LICENSE file. No license in patents is granted.
        +
        9//
        +
        10// You can contact the authors at <alessandro.fornasier@ieee.org>
        +
        11
        +
        12#ifndef VISUALIZER_HPP
        +
        13#define VISUALIZER_HPP
        +
        14
        +
        15#include <opencv2/opencv.hpp>
        +
        16
        +
        17#include "sensors/sensor_data.hpp"
        +
        18#include "vision/track_manager.hpp"
        +
        19
        +
        20namespace msceqf
        +
        21{
        +
        +
        22class Visualizer
        +
        23{
        +
        24 public:
        +
        +
        30 Visualizer(const TrackManager& track_manager) : track_manager_(track_manager), colors_(), delay_(1)
        +
        31 {
        +
        32 colors_.emplace(0, cv::Scalar(38, 0, 165)); // red
        +
        33 colors_.emplace(1, cv::Scalar(39, 48, 215)); // dark red
        +
        34 colors_.emplace(2, cv::Scalar(67, 109, 244)); // orange
        +
        35 colors_.emplace(3, cv::Scalar(97, 174, 253)); // light orange
        +
        36 colors_.emplace(4, cv::Scalar(139, 224, 254)); // yellow
        +
        37 colors_.emplace(5, cv::Scalar(191, 255, 255)); // light yellow
        +
        38 colors_.emplace(6, cv::Scalar(139, 239, 217)); // light green
        +
        39 colors_.emplace(7, cv::Scalar(106, 217, 166)); // green
        +
        40 colors_.emplace(8, cv::Scalar(99, 189, 102)); // slightly darker green
        +
        41 colors_.emplace(9, cv::Scalar(80, 152, 26)); // dark green
        +
        42 colors_.emplace(10, cv::Scalar(55, 104, 0)); // very dark green
        +
        43 }
        +
        +
        44
        +
        +
        50 cv::Mat3b imageWithTracks(const Camera& cam, const std::string& text = "") const
        +
        51 {
        +
        52 cv::Mat undistorted_image;
        +
        53 track_manager_.cam()->undistortImage(cam.image_, undistorted_image);
        +
        54
        +
        55 cv::Mat3b color_image = undistorted_image;
        +
        56 if (undistorted_image.channels() == 1)
        +
        57 {
        +
        58 cv::cvtColor(undistorted_image, color_image, cv::COLOR_GRAY2BGR, 3);
        +
        59 }
        +
        60
        +
        61 cv::Mat mask;
        +
        62 track_manager_.cam()->undistortImage(cam.mask_, mask);
        +
        63 mask = cv::Scalar(255) - mask;
        +
        64
        +
        65 std::vector<cv::Mat> channels;
        +
        66 cv::split(color_image, channels);
        +
        67 channels[2] = channels[2] + mask;
        +
        68 cv::merge(channels, color_image);
        +
        69
        +
        70 if (text.compare("") != 0)
        +
        71 {
        +
        72 cv::putText(color_image, text, cv::Point(50, 50), cv::FONT_HERSHEY_TRIPLEX, 1, cv::Scalar(255, 0, 0), 2);
        +
        73 }
        +
        74
        +
        75 Tracker::Keypoints active_kpts;
        +
        76 std::unordered_set<uint> active_ids;
        +
        77
        +
        78 track_manager_.activeTracksIds(cam.timestamp_, active_ids);
        +
        79 if (!active_ids.empty())
        +
        80 {
        +
        81 const auto& tracks = track_manager_.tracks();
        +
        82 for (auto& id : active_ids)
        +
        83 {
        +
        84 const auto& color = colors_.at(id % colors_.size());
        +
        85 for (size_t i = 0; i < tracks.at(id).size() - 1; ++i)
        +
        86 {
        +
        87 cv::line(color_image, tracks.at(id).uvs_.at(i), tracks.at(id).uvs_.at(i + 1), color, 1);
        +
        88 }
        +
        89 cv::circle(color_image, tracks.at(id).uvs_.back(), 3, color, -1);
        +
        90 }
        +
        91 }
        +
        92
        +
        93 return color_image;
        +
        94 }
        +
        +
        95
        +
        +
        101 void visualizeImageWithTracks(const Camera& cam, const std::string& text = "") const
        +
        102 {
        +
        103 cv::imshow("Undistorted image with tracks", imageWithTracks(cam, text));
        +
        104 cv::waitKey(delay_);
        +
        105 }
        +
        +
        106
        +
        107 private:
        +
        108 const TrackManager& track_manager_;
        +
        109 std::unordered_map<uint, cv::Scalar> colors_;
        +
        110 int delay_;
        +
        111};
        +
        +
        112} // namespace msceqf
        +
        113
        +
        114#endif // VISUALIZER_HPP
        +
        msceqf::TrackManager
        This class manages the multiple tracks of feature traked in time.
        Definition track_manager.hpp:28
        +
        msceqf::TrackManager::activeTracksIds
        void activeTracksIds(const fp &timestamp, std::unordered_set< uint > &active_ids) const
        Get all the ids corresponding to active tracks at a given timestamp. Active tracks are defined as tra...
        +
        msceqf::TrackManager::tracks
        const Tracks & tracks() const
        Get all the tracks.
        +
        msceqf::TrackManager::cam
        const PinholeCameraUniquePtr & cam() const
        Get the camera pointer.
        +
        msceqf::Tracker::Keypoints
        std::vector< cv::KeyPoint > Keypoints
        A vector of features keypoints.
        Definition tracker.hpp:33
        +
        msceqf::Visualizer
        Definition visualizer.hpp:23
        +
        msceqf::Visualizer::Visualizer
        Visualizer(const TrackManager &track_manager)
        Construct a new Visualizer object.
        Definition visualizer.hpp:30
        +
        msceqf::Visualizer::visualizeImageWithTracks
        void visualizeImageWithTracks(const Camera &cam, const std::string &text="") const
        Visualize imge with history of tracks.
        Definition visualizer.hpp:101
        +
        msceqf::Visualizer::imageWithTracks
        cv::Mat3b imageWithTracks(const Camera &cam, const std::string &text="") const
        Camera image with overlayed tracks.
        Definition visualizer.hpp:50
        +
        msceqf::Camera
        Definition sensor_data.hpp:78
        +
        msceqf::Camera::mask_
        cv::Mat mask_
        The mask for the given image, 255 in valid reagions, 0 in regions to be masked out.
        Definition sensor_data.hpp:93
        +
        msceqf::Camera::timestamp_
        fp timestamp_
        Timestamp of the Camera reading.
        Definition sensor_data.hpp:94
        +
        msceqf::Camera::image_
        cv::Mat image_
        The image taken from the camera.
        Definition sensor_data.hpp:92
        +
        +
        + + + + diff --git a/zero__velocity__updater_8hpp_source.html b/zero__velocity__updater_8hpp_source.html new file mode 100644 index 0000000..2d3e49d --- /dev/null +++ b/zero__velocity__updater_8hpp_source.html @@ -0,0 +1,171 @@ + + + + + + + +MSCEqF: include/msceqf/filter/updater/zero_velocity_updater.hpp Source File + + + + + + + + + + + + + + + +
        +
        + + + + + + + +
        +
        MSCEqF 1.0 +
        +
        Multi State Constraint Equivariant Filter for visual inertial navigation
        +
        +
        + + + + + + + + +
        +
        + +
        +
        +
        + +
        + +
        +
        + + +
        +
        +
        +
        +
        +
        Loading...
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        +
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        +
        + +
        +
        zero_velocity_updater.hpp
        +
        +
        +
        1// Copyright (C) 2023 Alessandro Fornasier.
        +
        2// Control of Networked Systems, University of Klagenfurt, Austria.
        +
        3//
        +
        4// All rights reserved.
        +
        5//
        +
        6// This software is licensed under the terms of the BSD-2-Clause-License with
        +
        7// no commercial use allowed, the full terms of which are made available
        +
        8// in the LICENSE file. No license in patents is granted.
        +
        9//
        +
        10// You can contact the authors at <alessandro.fornasier@ieee.org>
        +
        11
        +
        12#ifndef ZERO_VELOCITY_UPDATER_HPP
        +
        13#define ZERO_VELOCITY_UPDATER_HPP
        +
        14
        +
        15#include "msceqf/filter/checker/checker.hpp"
        +
        16#include "msceqf/state/state.hpp"
        +
        17
        +
        18namespace msceqf
        +
        19{
        +
        +
        25class ZeroVelocityUpdater
        +
        26{
        +
        27 public:
        +
        34 ZeroVelocityUpdater(const ZeroVelocityUpdaterOptions& opts, const Checker& checker);
        +
        35
        +
        40 void setMotion();
        +
        41
        +
        47 void setMeasurement(const SE23& y);
        +
        48
        +
        57 [[nodiscard]] bool isActive(const Tracks& tracks);
        +
        58
        +
        67 [[nodiscard]] bool zvUpdate(MSCEqFState& X, const SystemState& xi0) const;
        +
        68
        +
        69 private:
        +
        70 ZeroVelocityUpdaterOptions opts_;
        +
        71
        +
        72 const Checker& checker_; // The MSCEqF checker
        +
        73
        +
        74 SE23 y_;
        +
        75
        +
        76 bool motion_;
        +
        77};
        +
        +
        78
        +
        79} // namespace msceqf
        +
        80
        +
        81#endif // ZERO_VELOCITY_UPDATER_HPP
        +
        msceqf::Checker
        Simple class to perform various checks.
        Definition checker.hpp:27
        +
        msceqf::MSCEqFState
        this class represent the state of the MSCEqF. This includes the state of the lifted system (element o...
        Definition state.hpp:30
        +
        msceqf::SystemState
        The SystemState class represent the state of the system posed on the Homogenous space.
        Definition system.hpp:29
        +
        msceqf::ZeroVelocityUpdater
        Zero velocity updater class. This class implements the Equivariant Zero Velocity Update (ZVU) of the ...
        Definition zero_velocity_updater.hpp:26
        +
        msceqf::ZeroVelocityUpdater::setMeasurement
        void setMeasurement(const SE23 &y)
        Set the static extended pose measurement.
        +
        msceqf::ZeroVelocityUpdater::zvUpdate
        bool zvUpdate(MSCEqFState &X, const SystemState &xi0) const
        Perform a zero velocity update.
        +
        msceqf::ZeroVelocityUpdater::ZeroVelocityUpdater
        ZeroVelocityUpdater(const ZeroVelocityUpdaterOptions &opts, const Checker &checker)
        Zero velocity updater constructor.
        +
        msceqf::ZeroVelocityUpdater::setMotion
        void setMotion()
        Set motion flag indicating that we are not in the static phase at the beginning but we have moved.
        +
        msceqf::ZeroVelocityUpdater::isActive
        bool isActive(const Tracks &tracks)
        Check whether the zero velocity updater is active.
        +
        msceqf::ZeroVelocityUpdaterOptions
        Definition msceqf_options.hpp:137
        +
        +
        + + + +