ov_eval::AlignUtils Class Reference

Helper functions for the trajectory alignment class. More...

#include <AlignUtils.h>

Static Public Member Functions
static void	align_umeyama (const std::vector< Eigen::Matrix< double, 3, 1 >> &data, const std::vector< Eigen::Matrix< double, 3, 1 >> &model, Eigen::Matrix< double, 3, 3 > &R, Eigen::Matrix< double, 3, 1 > &t, double &s, bool known_scale, bool yaw_only)
	Given a set of points in a model frame and a set of points in a data frame, finds best transform between frames (subject to constraints). More...
static double	get_best_yaw (const Eigen::Matrix< double, 3, 3 > &C)
	Gets best yaw from Frobenius problem. Equation (17)-(18) in Zhang et al. 2018 IROS paper. More...
static Eigen::Matrix< double, 3, 1 >	get_mean (const std::vector< Eigen::Matrix< double, 3, 1 >> &data)
	Gets mean of the vector of data. More...
static void	perform_association (double offset, double max_difference, std::vector< double > &est_times, std::vector< double > &gt_times, std::vector< Eigen::Matrix< double, 7, 1 >> &est_poses, std::vector< Eigen::Matrix< double, 7, 1 >> &gt_poses)
	Will intersect our loaded data so that we have common timestamps. More...
static void	perform_association (double offset, double max_difference, std::vector< double > &est_times, std::vector< double > &gt_times, std::vector< Eigen::Matrix< double, 7, 1 >> &est_poses, std::vector< Eigen::Matrix< double, 7, 1 >> &gt_poses, std::vector< Eigen::Matrix3d > &est_covori, std::vector< Eigen::Matrix3d > &est_covpos, std::vector< Eigen::Matrix3d > &gt_covori, std::vector< Eigen::Matrix3d > &gt_covpos)
	Will intersect our loaded data so that we have common timestamps. More...

Detailed Description

Helper functions for the trajectory alignment class.

The key function is an implementation of Umeyama's Least-squares estimation of transformation parameters between two point patterns. This is what allows us to find the transform between the two trajectories without worrying about singularities for the absolute trajectory error.

Definition at line 45 of file AlignUtils.h.

Member Function Documentation

align_umeyama()

void AlignUtils::align_umeyama ( const std::vector< Eigen::Matrix< double, 3, 1 >> &  data, const std::vector< Eigen::Matrix< double, 3, 1 >> &  model, Eigen::Matrix< double, 3, 3 > &  R, Eigen::Matrix< double, 3, 1 > &  t, double &  s, bool  known_scale, bool  yaw_only  )

static

Given a set of points in a model frame and a set of points in a data frame, finds best transform between frames (subject to constraints).

Parameters

data	Vector of points in data frame (i.e., estimates)
model	Vector of points in model frame (i.e., gt)
R	Output rotation from data frame to model frame
t	Output translation from data frame to model frame
s	Output scale from data frame to model frame
known_scale	Whether to fix scale
yaw_only	Whether to only use yaw orientation (such as when frames are already gravity aligned)

Definition at line 26 of file AlignUtils.cpp.

get_best_yaw()

static double ov_eval::AlignUtils::get_best_yaw ( const Eigen::Matrix< double, 3, 3 > &  C )

inlinestatic

Gets best yaw from Frobenius problem. Equation (17)-(18) in Zhang et al. 2018 IROS paper.

Parameters

C	Data matrix

Definition at line 53 of file AlignUtils.h.

get_mean()

static Eigen::Matrix<double, 3, 1> ov_eval::AlignUtils::get_mean ( const std::vector< Eigen::Matrix< double, 3, 1 >> &  data )

inlinestatic

Gets mean of the vector of data.

Parameters

data	Vector of data

Returns

Mean value

Definition at line 65 of file AlignUtils.h.

perform_association() [1/2]

void AlignUtils::perform_association ( double  offset, double  max_difference, std::vector< double > &  est_times, std::vector< double > &  gt_times, std::vector< Eigen::Matrix< double, 7, 1 >> &  est_poses, std::vector< Eigen::Matrix< double, 7, 1 >> &  gt_poses  )

static

Will intersect our loaded data so that we have common timestamps.

Parameters

offset	Time offset to append to our estimate
max_difference	Biggest allowed difference between matched timesteps

Definition at line 95 of file AlignUtils.cpp.

perform_association() [2/2]

void AlignUtils::perform_association ( double  offset, double  max_difference, std::vector< double > &  est_times, std::vector< double > &  gt_times, std::vector< Eigen::Matrix< double, 7, 1 >> &  est_poses, std::vector< Eigen::Matrix< double, 7, 1 >> &  gt_poses, std::vector< Eigen::Matrix3d > &  est_covori, std::vector< Eigen::Matrix3d > &  est_covpos, std::vector< Eigen::Matrix3d > &  gt_covori, std::vector< Eigen::Matrix3d > &  gt_covpos  )

static

Will intersect our loaded data so that we have common timestamps.

Parameters

offset	Time offset to append to our estimate
max_difference	Biggest allowed difference between matched timesteps

Definition at line 103 of file AlignUtils.cpp.

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

• AlignUtils.h
• AlignUtils.cpp