Open VINS

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.
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 FeatureRepresentation Class has useful feature representation types.
class Grider_DOG Does Difference of Gaussian (DoG) in a grid pattern.
class Grider_FAST Extracts FAST features in a grid pattern.
class IMU Derived Type class that implements an IMU state.
class InertialInitializer Initializer for visual-inertial system.
- struct IMUDATA Struct for a single imu measurement (time, wm, am)
class JPLQuat Derived Type class that implements JPL quaternion.
class Landmark Type that implements a persistant SLAM feature.
class PoseJPL Derived Type class that implements a 6 d.o.f pose.
class Simulator Master simulator class that will create artificial measurements for our visual-inertial algorithms.
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 Type Base class for estimated variables.
class Vec Derived Type class that implements vector variables.

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 Stat object for a given set scalar time series values. Ensure that you call the calculate() function to update the values before using them.

namespace ov_msckf

class Propagator Performs the state covariance and mean propagation using imu measurements.
- struct IMUDATA Struct for a single imu measurement (time, wm, am)
- struct NoiseManager Struct of our imu noise parameters.
class RosVisualizer Helper class that will publish results onto the ROS framework.
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 VioManager Core class that manages the entire system.

Classes