ov_core::FeatureInitializer Class Reference

Class that triangulates feature. More...

#include <FeatureInitializer.h>

Classes
struct	ClonePose
	Structure which stores pose estimates for use in triangulation. More...

Public Member Functions
const FeatureInitializerOptions	config ()
	Gets the current configuration of the feature initializer. More...
	FeatureInitializer (FeatureInitializerOptions &options)
	Default constructor. More...
bool	single_gaussnewton (std::shared_ptr< Feature > feat, std::unordered_map< size_t, std::unordered_map< double, ClonePose >> &clonesCAM)
	Uses a nonlinear triangulation to refine initial linear estimate of the feature. More...
bool	single_triangulation (std::shared_ptr< Feature > feat, std::unordered_map< size_t, std::unordered_map< double, ClonePose >> &clonesCAM)
	Uses a linear triangulation to get initial estimate for the feature. More...
bool	single_triangulation_1d (std::shared_ptr< Feature > feat, std::unordered_map< size_t, std::unordered_map< double, ClonePose >> &clonesCAM)
	Uses a linear triangulation to get initial estimate for the feature, treating the anchor observation as a true bearing. More...

Protected Member Functions
double	compute_error (std::unordered_map< size_t, std::unordered_map< double, ClonePose >> &clonesCAM, std::shared_ptr< Feature > feat, double alpha, double beta, double rho)
	Helper function for the gauss newton method that computes error of the given estimate. More...

Protected Attributes
FeatureInitializerOptions	_options
	Contains options for the initializer process. More...

Detailed Description

Class that triangulates feature.

This class has the functions needed to triangulate and then refine a given 3D feature. As in the standard MSCKF, we know the clones of the camera from propagation and past updates. Thus, we just need to triangulate a feature in 3D with the known poses and then refine it. One should first call the single_triangulation() function afterwhich single_gaussnewton() allows for refinement. Please see the Feature Triangulation page for detailed derivations.

Definition at line 42 of file FeatureInitializer.h.

Constructor & Destructor Documentation

FeatureInitializer()

ov_core::FeatureInitializer::FeatureInitializer ( FeatureInitializerOptions &  options )

inline

Default constructor.

Parameters

options

Options for the initializer

Definition at line 88 of file FeatureInitializer.h.

Member Function Documentation

compute_error()

double FeatureInitializer::compute_error ( std::unordered_map< size_t, std::unordered_map< double, ClonePose >> &  clonesCAM, std::shared_ptr< Feature >  feat, double  alpha, double  beta, double  rho  )

protected

Helper function for the gauss newton method that computes error of the given estimate.

Parameters

clonesCAM	Map between camera ID to map of timestamp to camera pose estimate
feat	Pointer to the feature
alpha	x/z in anchor
beta	y/z in anchor
rho	1/z inverse depth

Definition at line 377 of file FeatureInitializer.cpp.

config()

const FeatureInitializerOptions ov_core::FeatureInitializer::config ( )

inline

Gets the current configuration of the feature initializer.

Returns

Const feature initializer config

Definition at line 128 of file FeatureInitializer.h.

single_gaussnewton()

bool FeatureInitializer::single_gaussnewton	(	std::shared_ptr< Feature >	feat,
		std::unordered_map< size_t, std::unordered_map< double, ClonePose >> &	clonesCAM
	)

Uses a nonlinear triangulation to refine initial linear estimate of the feature.

Parameters

feat	Pointer to feature
clonesCAM	Map between camera ID to map of timestamp to camera pose estimate (rotation from global to camera, position of camera in global frame)

Returns

Returns false if it fails to be optimize (based on the thresholds)

Definition at line 197 of file FeatureInitializer.cpp.

single_triangulation()

bool FeatureInitializer::single_triangulation	(	std::shared_ptr< Feature >	feat,
		std::unordered_map< size_t, std::unordered_map< double, ClonePose >> &	clonesCAM
	)

Uses a linear triangulation to get initial estimate for the feature.

The derivations for this method can be found in the 3D Cartesian Triangulation documentation page.

Parameters

feat	Pointer to feature
clonesCAM	Map between camera ID to map of timestamp to camera pose estimate (rotation from global to camera, position of camera in global frame)

Returns

Returns false if it fails to triangulate (based on the thresholds)

Definition at line 30 of file FeatureInitializer.cpp.

single_triangulation_1d()

bool FeatureInitializer::single_triangulation_1d	(	std::shared_ptr< Feature >	feat,
		std::unordered_map< size_t, std::unordered_map< double, ClonePose >> &	clonesCAM
	)

Uses a linear triangulation to get initial estimate for the feature, treating the anchor observation as a true bearing.

The derivations for this method can be found in the 1D Depth Triangulation documentation page. This function should be used if you want speed, or know your anchor bearing is reasonably accurate.

Parameters

feat	Pointer to feature
clonesCAM	Map between camera ID to map of timestamp to camera pose estimate (rotation from global to camera, position of camera in global frame)

Returns

Returns false if it fails to triangulate (based on the thresholds)

Definition at line 114 of file FeatureInitializer.cpp.

Member Data Documentation

_options

FeatureInitializerOptions ov_core::FeatureInitializer::_options

protected

Contains options for the initializer process.

Definition at line 132 of file FeatureInitializer.h.

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

• FeatureInitializer.h
• FeatureInitializer.cpp