Has a bunch of helper functions for dynamic initialization (should all be static)
More...
#include <helper.h>
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| static Eigen::Matrix< double, 7, 1 > | compute_dongsi_coeff (Eigen::MatrixXd &D, const Eigen::MatrixXd &d, double gravity_mag) |
| | Compute coefficients for the constrained optimization quadratic problem. More...
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| static void | gram_schmidt (const Eigen::Vector3d &gravity_inI, Eigen::Matrix3d &R_GtoI) |
| | Given a gravity vector, compute the rotation from the inertial reference frame to this vector. More...
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| static ov_core::ImuData | interpolate_data (const ov_core::ImuData &imu_1, const ov_core::ImuData &imu_2, double timestamp) |
| | Nice helper function that will linearly interpolate between two imu messages. More...
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| static std::vector< ov_core::ImuData > | select_imu_readings (const std::vector< ov_core::ImuData > &imu_data_tmp, double time0, double time1) |
| | Helper function that given current imu data, will select imu readings between the two times. More...
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Has a bunch of helper functions for dynamic initialization (should all be static)
Definition at line 33 of file helper.h.
◆ compute_dongsi_coeff()
| static Eigen::Matrix<double, 7, 1> ov_init::InitializerHelper::compute_dongsi_coeff |
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Eigen::MatrixXd & |
D, |
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const Eigen::MatrixXd & |
d, |
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double |
gravity_mag |
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inlinestatic |
Compute coefficients for the constrained optimization quadratic problem.
https://gist.github.com/goldbattle/3791cbb11bbf4f5feb3f049dad72bfdd
- Parameters
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| D | Gravity in our sensor frame |
| d | Rotation from the arbitrary inertial reference frame to this gravity vector |
| gravity_mag | Scalar size of gravity (normally is 9.81) |
- Returns
- Coefficents from highest to the constant
Definition at line 183 of file helper.h.
◆ gram_schmidt()
| static void ov_init::InitializerHelper::gram_schmidt |
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const Eigen::Vector3d & |
gravity_inI, |
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Eigen::Matrix3d & |
R_GtoI |
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) |
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inlinestatic |
Given a gravity vector, compute the rotation from the inertial reference frame to this vector.
The key assumption here is that our gravity is along the vertical direction in the inertial frame. We can take this vector (z_in_G=0,0,1) and find two arbitrary tangent directions to it. https://en.wikipedia.org/wiki/Gram%E2%80%93Schmidt_process
- Parameters
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| gravity_inI | Gravity in our sensor frame |
| R_GtoI | Rotation from the arbitrary inertial reference frame to this gravity vector |
Definition at line 138 of file helper.h.
◆ interpolate_data()
Nice helper function that will linearly interpolate between two imu messages.
This should be used instead of just "cutting" imu messages that bound the camera times Give better time offset if we use this function, could try other orders/splines if the imu is slow.
- Parameters
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| imu_1 | imu at begining of interpolation interval |
| imu_2 | imu at end of interpolation interval |
| timestamp | Timestamp being interpolated to |
Definition at line 45 of file helper.h.
◆ select_imu_readings()
| static std::vector<ov_core::ImuData> ov_init::InitializerHelper::select_imu_readings |
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const std::vector< ov_core::ImuData > & |
imu_data_tmp, |
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double |
time0, |
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double |
time1 |
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) |
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inlinestatic |
Helper function that given current imu data, will select imu readings between the two times.
This will create measurements that we will integrate with, and an extra measurement at the end. We use the interpolate_data() function to "cut" the imu readings at the beginning and end of the integration. The timestamps passed should already take into account the time offset values.
- Parameters
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| imu_data_tmp | IMU data we will select measurements from |
| time0 | Start timestamp |
| time1 | End timestamp |
- Returns
- Vector of measurements (if we could compute them)
Definition at line 66 of file helper.h.
The documentation for this class was generated from the following file: