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

#include <UpdaterSLAM.h>

Public Member Functions
void	change_anchors (std::shared_ptr< State > state)
	Will change SLAM feature anchors if it will be marginalized. More...

void	delayed_init (std::shared_ptr< State > state, std::vector< std::shared_ptr< ov_core::Feature >> &feature_vec)
	Given max track features, this will try to use them to initialize them in the state. More...

void	update (std::shared_ptr< State > state, std::vector< std::shared_ptr< ov_core::Feature >> &feature_vec)
	Given tracked SLAM features, this will try to use them to update the state. More...

	UpdaterSLAM (UpdaterOptions &options_slam, UpdaterOptions &options_aruco, ov_core::FeatureInitializerOptions &feat_init_options)
	Default constructor for our SLAM updater. More...

Protected Member Functions
void	perform_anchor_change (std::shared_ptr< State > state, std::shared_ptr< ov_type::Landmark > landmark, double new_anchor_timestamp, size_t new_cam_id)
	Shifts landmark anchor to new clone. More...

Protected Attributes
UpdaterOptions	_options_aruco
	Options used during update for aruco features. More...

UpdaterOptions	_options_slam
	Options used during update for slam features. 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 SLAM features and update the filter.

This class is responsible for performing delayed feature initialization, SLAM update, and SLAM anchor change for anchored feature representations.

Definition at line 50 of file UpdaterSLAM.h.

Constructor & Destructor Documentation

◆ UpdaterSLAM()

UpdaterSLAM::UpdaterSLAM	(	UpdaterOptions &	options_slam,
		UpdaterOptions &	options_aruco,
		ov_core::FeatureInitializerOptions &	feat_init_options
	)

Default constructor for our SLAM 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_slam	Updater options (include measurement noise value) for SLAM features
options_aruco	Updater options (include measurement noise value) for ARUCO features
feat_init_options	Feature initializer options

Definition at line 43 of file UpdaterSLAM.cpp.

Member Function Documentation

◆ change_anchors()

void UpdaterSLAM::change_anchors ( std::shared_ptr< State > state )

Will change SLAM feature anchors if it will be marginalized.

Makes sure that if any clone is about to be marginalized, it changes anchor representation. By default, this will shift the anchor into the newest IMU clone and keep the camera calibration anchor the same.

Parameters

state State of the filter

Definition at line 481 of file UpdaterSLAM.cpp.

◆ delayed_init()

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

Given max track features, this will try to use them to initialize them in the state.

Parameters

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

Definition at line 61 of file UpdaterSLAM.cpp.

◆ perform_anchor_change()

void UpdaterSLAM::perform_anchor_change	(	std::shared_ptr< State >	state,
		std::shared_ptr< ov_type::Landmark >	landmark,
		double	new_anchor_timestamp,
		size_t	new_cam_id
	)

protected

Shifts landmark anchor to new clone.

Parameters

state	State of filter
landmark	landmark whose anchor is being shifter
new_anchor_timestamp	Clone timestamp we want to move to
new_cam_id	Which camera frame we want to move to

Definition at line 505 of file UpdaterSLAM.cpp.

◆ update()

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

Given tracked SLAM 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

Definition at line 253 of file UpdaterSLAM.cpp.

Member Data Documentation

◆ _options_aruco

UpdaterOptions ov_msckf::UpdaterSLAM::_options_aruco

protected

Options used during update for aruco features.

Definition at line 104 of file UpdaterSLAM.h.

◆ _options_slam

UpdaterOptions ov_msckf::UpdaterSLAM::_options_slam

protected

Options used during update for slam features.

Definition at line 101 of file UpdaterSLAM.h.

◆ chi_squared_table

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

protected

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

Definition at line 110 of file UpdaterSLAM.h.

◆ initializer_feat

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

protected

Feature initializer class object.

Definition at line 107 of file UpdaterSLAM.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ UpdaterSLAM()

Member Function Documentation

◆ change_anchors()

◆ delayed_init()

◆ perform_anchor_change()

◆ update()

Member Data Documentation

◆ _options_aruco

◆ _options_slam

◆ chi_squared_table

◆ initializer_feat