Classes

  • namespace ov_core Core algorithms for Open VINS.
    • class BsplineSE3 B-Spline which performs interpolation over SE(3) manifold.
    • class CpiBase Base class for continuous preintegration integrators.
    • class CpiV1 Model 1 of continuous preintegration.
    • class CpiV2 Model 2 of continuous preintegration.
    • class DatasetReader Helper functions to read in dataset files.
    • class Feature Sparse feature class used to collect measurements.
    • class FeatureDatabase Database containing features we are currently tracking.
    • struct FeatureInitializerOptions Struct which stores all our feature initializer options.
    • class Grider_DOG Does Difference of Gaussian (DoG) in a grid pattern.
    • class Grider_FAST Extracts FAST features in a grid pattern.
    • class TrackAruco Tracking of OpenCV Aruoc tags.
    • class TrackBase Visual feature tracking base class.
    • class TrackDescriptor Descriptor-based visual tracking.
    • class TrackKLT KLT tracking of features.
    • class TrackSIM Simulated tracker for when we already have uv measurements!
  • namespace ov_eval
    • class AlignTrajectory Class that given two trajectories, will align the two.
    • class AlignUtils Helper functions for the trajectory alignment class.
    • class Loader Has helper functions to load text files from disk and process them.
    • class Math JPL quaternion math utilities.
    • class Recorder This class takes in published poses and writes them to file.
    • class ResultSimulation A single simulation run (the full state not just pose).
    • class ResultTrajectory A single run for a given dataset.
    • struct Statistics Statistics object for a given set scalar time series values.
  • namespace ov_msckf
    • class RosVisualizer Helper class that will publish results onto the ROS framework.
    • class Simulator Master simulator class that generated visual-inertial measurements.
    • class State State of our filter.
    • class StateHelper Helper which manipulates the State and its covariance.
    • struct StateOptions Struct which stores all our filter options.
    • class UpdaterMSCKF Will compute the system for our sparse features and update the filter.
    • struct UpdaterOptions Struct which stores general updater options.
    • class UpdaterSLAM Will compute the system for our sparse SLAM features and update the filter.
    • class UpdaterZeroVelocity Will try to detect and then update using zero velocity assumption.
    • class VioManager Core class that manages the entire system.
    • struct VioManagerOptions Struct which stores all options needed for state estimation.
  • namespace ov_type
    • class IMU Derived Type class that implements an IMU state.
    • class JPLQuat Derived Type class that implements JPL quaternion.
    • class Landmark Type that implements a persistant SLAM feature.
    • class LandmarkRepresentation Class has useful feature representation types.
    • class PoseJPL Derived Type class that implements a 6 d.o.f pose.
    • class Type Base class for estimated variables.
    • class Vec Derived Type class that implements vector variables.