ov_eval::ResultSimulation Class Reference

A single simulation run (the full state not just pose). More...

#include <ResultSimulation.h>

Public Member Functions
void	plot_cam_extrinsics (bool doplotting, double max_time=INFINITY)
	Will plot the camera calibration extrinsic transform. More...
void	plot_cam_instrinsics (bool doplotting, double max_time=INFINITY)
	Will plot the camera calibration intrinsics. More...
void	plot_imu_intrinsics (bool doplotting, double max_time=INFINITY)
	Will plot the imu intrinsic errors. More...
void	plot_state (bool doplotting, double max_time=INFINITY)
	Will plot the state error and its three sigma bounds. More...
void	plot_timeoff (bool doplotting, double max_time=INFINITY)
	Will plot the state imu camera offset and its sigma bound. More...
	ResultSimulation (std::string path_est, std::string path_std, std::string path_gt)
	Default constructor that will load our data from file. More...

Protected Attributes
std::vector< Eigen::VectorXd >	est_state
std::vector< Eigen::VectorXd >	gt_state
std::vector< Eigen::VectorXd >	state_cov

Detailed Description

A single simulation run (the full state not just pose).

This should match the recording logic that is in the ov_msckf::RosVisualizer in which we write both estimate, their deviation, and groundtruth to three files. We enforce that these files first contain the current IMU state, then time offset, number of cameras, then the camera calibration states. If we are not performing calibration these should all be written to file, just their deviation should be zero as they are 100% certain.

Definition at line 59 of file ResultSimulation.h.

Constructor & Destructor Documentation

ResultSimulation()

ResultSimulation::ResultSimulation	(	std::string	path_est,
		std::string	path_std,
		std::string	path_gt
	)

Default constructor that will load our data from file.

Parameters

path_est	Path to the estimate text file
path_std	Path to the standard deviation file
path_gt	Path to the groundtruth text file

Assert they are of equal length

Definition at line 26 of file ResultSimulation.cpp.

Member Function Documentation

plot_cam_extrinsics()

void ResultSimulation::plot_cam_extrinsics	(	bool	doplotting,
		double	max_time = INFINITY
	)

Will plot the camera calibration extrinsic transform.

Parameters

doplotting	True if you want to display the plots
max_time	Max number of second we want to plot

Definition at line 390 of file ResultSimulation.cpp.

plot_cam_instrinsics()

void ResultSimulation::plot_cam_instrinsics	(	bool	doplotting,
		double	max_time = INFINITY
	)

Will plot the camera calibration intrinsics.

Parameters

doplotting	True if you want to display the plots
max_time	Max number of second we want to plot

Definition at line 280 of file ResultSimulation.cpp.

plot_imu_intrinsics()

void ResultSimulation::plot_imu_intrinsics	(	bool	doplotting,
		double	max_time = INFINITY
	)

Will plot the imu intrinsic errors.

Parameters

doplotting	True if you want to display the plots
max_time	Max number of second we want to plot

Definition at line 502 of file ResultSimulation.cpp.

plot_state()

void ResultSimulation::plot_state	(	bool	doplotting,
		double	max_time = INFINITY
	)

Will plot the state error and its three sigma bounds.

Parameters

doplotting	True if you want to display the plots
max_time	Max number of second we want to plot

Definition at line 42 of file ResultSimulation.cpp.

plot_timeoff()

void ResultSimulation::plot_timeoff	(	bool	doplotting,
		double	max_time = INFINITY
	)

Will plot the state imu camera offset and its sigma bound.

Parameters

doplotting	True if you want to display the plots
max_time	Max number of second we want to plot

Definition at line 204 of file ResultSimulation.cpp.

Member Data Documentation

est_state

std::vector<Eigen::VectorXd> ov_eval::ResultSimulation::est_state

protected

Definition at line 107 of file ResultSimulation.h.

gt_state

std::vector<Eigen::VectorXd> ov_eval::ResultSimulation::gt_state

protected

Definition at line 107 of file ResultSimulation.h.

state_cov

std::vector<Eigen::VectorXd> ov_eval::ResultSimulation::state_cov

protected

Definition at line 108 of file ResultSimulation.h.

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

• ResultSimulation.h
• ResultSimulation.cpp