ov_init::DynamicInitializer Class Reference

Initializer for a dynamic visual-inertial system. More...

#include <DynamicInitializer.h>

Public Member Functions
	DynamicInitializer (const InertialInitializerOptions &params_, std::shared_ptr< ov_core::FeatureDatabase > db, std::shared_ptr< std::vector< ov_core::ImuData >> imu_data_)
	Default constructor. More...
bool	initialize (double &timestamp, Eigen::MatrixXd &covariance, std::vector< std::shared_ptr< ov_type::Type >> &order, std::shared_ptr< ov_type::IMU > &_imu, std::map< double, std::shared_ptr< ov_type::PoseJPL >> &_clones_IMU, std::unordered_map< size_t, std::shared_ptr< ov_type::Landmark >> &_features_SLAM)
	Try to get the initialized system. More...

Private Attributes
std::shared_ptr< ov_core::FeatureDatabase >	_db
	Feature tracker database with all features in it. More...
std::shared_ptr< std::vector< ov_core::ImuData > >	imu_data
	Our history of IMU messages (time, angular, linear) More...
InertialInitializerOptions	params
	Initialization parameters. More...

Detailed Description

Initializer for a dynamic visual-inertial system.

This implementation that will try to recover the initial conditions of the system. Additionally, we will try to recover the covariance of the system. To initialize with arbitrary motion:

1. Preintegrate our system to get the relative rotation change (biases assumed known)
2. Construct linear system with features to recover velocity (solve with |g| constraint)
3. Perform a large MLE with all calibration and recover the covariance.

Method is based on this work (see this tech report for a high level walk through):

Dong-Si, Tue-Cuong, and Anastasios I. Mourikis. "Estimator initialization in vision-aided inertial navigation with unknown camera-IMU calibration." 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2012.

• https://ieeexplore.ieee.org/abstract/document/6386235
• https://tdongsi.github.io/download/pubs/2011_VIO_Init_TR.pdf
• https://pgeneva.com/downloads/reports/tr_init.pdf

Definition at line 62 of file DynamicInitializer.h.

Constructor & Destructor Documentation

DynamicInitializer()

ov_init::DynamicInitializer::DynamicInitializer ( const InertialInitializerOptions &  params_, std::shared_ptr< ov_core::FeatureDatabase >  db, std::shared_ptr< std::vector< ov_core::ImuData >>  imu_data_  )

inlineexplicit

Default constructor.

Parameters

params_	Parameters loaded from either ROS or CMDLINE
db	Feature tracker database with all features in it
imu_data_	Shared pointer to our IMU vector of historical information

Definition at line 70 of file DynamicInitializer.h.

Member Function Documentation

initialize()

bool DynamicInitializer::initialize	(	double &	timestamp,
		Eigen::MatrixXd &	covariance,
		std::vector< std::shared_ptr< ov_type::Type >> &	order,
		std::shared_ptr< ov_type::IMU > &	_imu,
		std::map< double, std::shared_ptr< ov_type::PoseJPL >> &	_clones_IMU,
		std::unordered_map< size_t, std::shared_ptr< ov_type::Landmark >> &	_features_SLAM
	)

Try to get the initialized system.

Parameters

[out]	timestamp	Timestamp we have initialized the state at (last imu state)
[out]	covariance	Calculated covariance of the returned state
[out]	order	Order of the covariance matrix
	_imu	Pointer to the "active" IMU state (q_GtoI, p_IinG, v_IinG, bg, ba)
	_clones_IMU	Map between imaging times and clone poses (q_GtoIi, p_IiinG)
	_features_SLAM	Our current set of SLAM features (3d positions)

Returns

True if we have successfully initialized our system

Definition at line 44 of file DynamicInitializer.cpp.

Member Data Documentation

_db

std::shared_ptr<ov_core::FeatureDatabase> ov_init::DynamicInitializer::_db

private

Feature tracker database with all features in it.

Definition at line 94 of file DynamicInitializer.h.

imu_data

std::shared_ptr<std::vector<ov_core::ImuData> > ov_init::DynamicInitializer::imu_data

private

Our history of IMU messages (time, angular, linear)

Definition at line 97 of file DynamicInitializer.h.

params

InertialInitializerOptions ov_init::DynamicInitializer::params

private

Initialization parameters.

Definition at line 91 of file DynamicInitializer.h.

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

• DynamicInitializer.h
• DynamicInitializer.cpp