ov_core::TrackSIM class

Simulated tracker for when we already have uv measurements!

Contents

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(std::unordered_map<size_t, std::shared_ptr<CamBase>> cameras, int numaruco)
Public constructor with configuration variables.

Public functions

void feed_new_camera(const CameraData& message) override
Process a new image.
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.

Function documentation

ov_core::TrackSIM::TrackSIM(std::unordered_map<size_t, std::shared_ptr<CamBase>> cameras, int numaruco)

Public constructor with configuration variables.

Parameters
cameras camera calibration object which has all camera intrinsics in it
numaruco the max id of the arucotags, so we ensure that we start our non-auroc features above this value

void ov_core::TrackSIM::feed_new_camera(const CameraData& message) override

Process a new image.

Parameters
message Contains our timestamp, images, and camera ids

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