ov_core::TrackSIM class

Simulated tracker for when we already have uv measurements!

This class should be used when we are using the ov_msckf::Simulator class to generate measurements. It simply takes the resulting simulation data and appends it to the internal feature database.

Base classes

class TrackBase
Visual feature tracking base class.

Constructors, destructors, conversion operators

TrackSIM(int numaruco)
Public constructor with configuration variables.

Public functions

void set_width_height(std::map<size_t, std::pair<int, int>> _camera_wh)
Set the width and height for the cameras.
void feed_monocular(double timestamp, cv::Mat& img, size_t cam_id) override
void feed_stereo(double timestamp, cv::Mat& img_left, cv::Mat& img_right, size_t cam_id_left, size_t cam_id_right) override
void feed_measurement_simulation(double timestamp, const std::vector<int>& camids, const std::vector<std::vector<std::pair<size_t, Eigen::VectorXf>>>& feats)
Feed function for a synchronized simulated cameras.

Protected variables

std::map<size_t, std::pair<int, int>> camera_wh
Width and height of our cameras.

Function documentation

ov_core::TrackSIM::TrackSIM(int numaruco)

Public constructor with configuration variables.

Parameters
numaruco the max id of the arucotags, so we ensure that we start our non-auroc features above this value

void ov_core::TrackSIM::set_width_height(std::map<size_t, std::pair<int, int>> _camera_wh)

Set the width and height for the cameras.

Parameters
_camera_wh Width and height for each camera

void ov_core::TrackSIM::feed_monocular(double timestamp, cv::Mat& img, size_t cam_id) override

void ov_core::TrackSIM::feed_stereo(double timestamp, cv::Mat& img_left, cv::Mat& img_right, size_t cam_id_left, size_t cam_id_right) override

void ov_core::TrackSIM::feed_measurement_simulation(double timestamp, const std::vector<int>& camids, const std::vector<std::vector<std::pair<size_t, Eigen::VectorXf>>>& feats)

Feed function for a synchronized simulated cameras.

Parameters
timestamp Time that this image was collected
camids Camera ids that we have simulated measurements for
feats Raw uv simulated measurements