Classes

• namespace ov_core Core algorithms for OpenVINS.
  • class BsplineSE3 B-Spline which performs interpolation over SE(3) manifold.
  • class CamBase Base pinhole camera model class.
  • class CamEqui Fisheye / equadistant model pinhole camera model class.
  • struct CameraData Struct for a collection of camera measurements.
  • class CamRadtan Radial-tangential / Brown–Conrady model pinhole camera model class.
  • 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.
  • class FeatureHelper Contains some nice helper functions for features.
  • class FeatureInitializer Class that triangulates feature.
    • struct ClonePose Structure which stores pose estimates for use in triangulation.
  • struct FeatureInitializerOptions Struct which stores all our feature initializer options.
  • class Grider_FAST Extracts FAST features in a grid pattern.
  • class Grider_GRID Extracts FAST features in a grid pattern.
  • struct ImuData Struct for a single imu measurement (time, wm, am)
  • class Printer Printer for open_vins that allows for various levels of printing to be done.
  • 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!
  • class YamlParser Helper class to do OpenCV yaml parsing from both file and ROS.
• namespace ov_eval Evaluation and recording utilities.
  • 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 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_init State initialization code.
  • class DynamicInitializer Initializer for a dynamic visual-inertial system.
  • class Factor_GenericPrior Factor for generic state priors for specific types.
  • class Factor_ImageReprojCalib Factor of feature bearing observation (raw) with calibration.
  • class Factor_ImuCPIv1 Factor for IMU continuous preintegration version 1.
  • class InertialInitializer Initializer for visual-inertial system.
  • struct InertialInitializerOptions Struct which stores all options needed for state estimation.
  • class InitializerHelper Has a bunch of helper functions for dynamic initialization (should all be static)
  • class SimulatorInit Master simulator class that generated visual-inertial measurements.
  • class State_JPLQuatLocal JPL quaternion CERES state parameterization.
  • class StaticInitializer Initializer for a static visual-inertial system.
• namespace ov_msckf Extended Kalman Filter estimator.
  • struct NoiseManager Struct of our imu noise parameters.
  • class Propagator Performs the state covariance and mean propagation using imu measurements.
  • class ROS1Visualizer Helper class that will publish results onto the ROS framework.
  • class ROS2Visualizer Helper class that will publish results onto the ROS framework.
  • class ROSVisualizerHelper Helper class that handles some common versions into and out of ROS formats.
  • 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 UpdaterHelper Class that has helper functions for our updaters.
    • struct UpdaterHelperFeature Feature object that our UpdaterHelper leverages, has all measurements and means.
  • 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 Dynamic type system types.
  • 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 persistent 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.