ov_msckf::UpdaterMSCKF Class Reference

Will compute the system for our sparse features and update the filter. More...

#include <UpdaterMSCKF.h>

Public Member Functions
void	update (std::shared_ptr< State > state, std::vector< std::shared_ptr< ov_core::Feature >> &feature_vec)
	Given tracked features, this will try to use them to update the state. More...
	UpdaterMSCKF (UpdaterOptions &options, ov_core::FeatureInitializerOptions &feat_init_options)
	Default constructor for our MSCKF updater. More...

Protected Attributes
UpdaterOptions	_options
	Options used during update. More...
std::map< int, double >	chi_squared_table
	Chi squared 95th percentile table (lookup would be size of residual) More...
std::shared_ptr< ov_core::FeatureInitializer >	initializer_feat
	Feature initializer class object. More...

Detailed Description

Will compute the system for our sparse features and update the filter.

This class is responsible for computing the entire linear system for all features that are going to be used in an update. This follows the original MSCKF, where we first triangulate features, we then nullspace project the feature Jacobian. After this we compress all the measurements to have an efficient update and update the state.

Definition at line 48 of file UpdaterMSCKF.h.

Constructor & Destructor Documentation

UpdaterMSCKF()

UpdaterMSCKF::UpdaterMSCKF	(	UpdaterOptions &	options,
		ov_core::FeatureInitializerOptions &	feat_init_options
	)

Default constructor for our MSCKF updater.

Our updater has a feature initializer which we use to initialize features as needed. Also the options allow for one to tune the different parameters for update.

Parameters

options	Updater options (include measurement noise value)
feat_init_options	Feature initializer options

Definition at line 42 of file UpdaterMSCKF.cpp.

Member Function Documentation

update()

void UpdaterMSCKF::update	(	std::shared_ptr< State >	state,
		std::vector< std::shared_ptr< ov_core::Feature >> &	feature_vec
	)

Given tracked features, this will try to use them to update the state.

Parameters

state	State of the filter
feature_vec	Features that can be used for update

Chi2 distance check

Definition at line 58 of file UpdaterMSCKF.cpp.

Member Data Documentation

_options

UpdaterOptions ov_msckf::UpdaterMSCKF::_options

protected

Options used during update.

Definition at line 72 of file UpdaterMSCKF.h.

chi_squared_table

std::map<int, double> ov_msckf::UpdaterMSCKF::chi_squared_table

protected

Chi squared 95th percentile table (lookup would be size of residual)

Definition at line 78 of file UpdaterMSCKF.h.

initializer_feat

std::shared_ptr<ov_core::FeatureInitializer> ov_msckf::UpdaterMSCKF::initializer_feat

protected

Feature initializer class object.

Definition at line 75 of file UpdaterMSCKF.h.

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

• UpdaterMSCKF.h
• UpdaterMSCKF.cpp