MsckfUpdater Class Reference

EKF Updater Class for MSCKF Camera Measurements. More...

#include <msckf_updater.hpp>

Inheritance diagram for MsckfUpdater:

Collaboration diagram for MsckfUpdater:

Public Member Functions
	MsckfUpdater (unsigned int cam_id, bool is_extrinsic, const std::string &log_file_directory, double data_log_rate, double min_feat_dist, std::shared_ptr< DebugLogger > logger)
	MSCKF EKF Updater constructor. More...
bool	TriangulateFeature (const double local_time, EKF &ekf, const FeatureTrack &feature_track, Eigen::Vector3d &pos_f_in_l)
	Triangulate feature seen from multiple camera frames. More...
void	UpdateEKF (EKF &ekf, const double time, const FeatureTracks &feature_tracks, double px_error)
	EKF updater function. More...
Public Member Functions inherited from Updater
	Updater (unsigned int sensor_id, std::shared_ptr< DebugLogger > logger)
	EKF Updater constructor. More...

Static Public Member Functions
static void	DistortionJacobian (const Eigen::Vector2d &xy_norm, const Intrinsics &intrinsics, Eigen::MatrixXd &H_d)
	Computes the derivative of raw distorted to normalized coordinate. More...
static void	ProjectionJacobian (const Eigen::Vector3d &position, Eigen::MatrixXd &jacobian)
	Function to calculate jacobian for camera projection function. More...
static Eigen::Vector2d	Project (const Eigen::Vector3d pos_f_in_c)
	Project a 3D position in the camera frame to a 2D bearing. More...
static Eigen::Vector2d	Distort (const Eigen::Vector2d &xy_norm, const Intrinsics &intrinsics)
	Distort a normalized camera coordinate using intrinsics. More...
Static Public Member Functions inherited from Updater
static void	KalmanUpdate (EKF &ekf, const Eigen::MatrixXd &jacobian, const Eigen::VectorXd &residual, const Eigen::MatrixXd &measurement_noise_input)

Additional Inherited Members
Protected Attributes inherited from Updater
unsigned int	m_id
	Associated sensor ID.
std::shared_ptr< DebugLogger >	m_logger
	Debug logger.

Detailed Description

EKF Updater Class for MSCKF Camera Measurements.

Constructor & Destructor Documentation

MsckfUpdater()

MsckfUpdater::MsckfUpdater ( unsigned int  cam_id, bool  is_extrinsic, const std::string &  log_file_directory, double  data_log_rate, double  min_feat_dist, std::shared_ptr< DebugLogger >  logger  )

explicit

MSCKF EKF Updater constructor.

Parameters

cam_id	Camera sensor ID
is_extrinsic	Camera extrinsic calibration flag
log_file_directory	Directory to save log files
data_log_rate	Maximum average rate to log data
min_feat_dist	Closest feature distance to consider
logger	Debug logger pointer

Member Function Documentation

Distort()

Eigen::Vector2d MsckfUpdater::Distort ( const Eigen::Vector2d &  xy_norm, const Intrinsics &  intrinsics  )

static

Distort a normalized camera coordinate using intrinsics.

Parameters

xy_norm	Normalized camera coordinate
intrinsics	camera intrinsics

Returns

Distorted XY coordinate

DistortionJacobian()

void MsckfUpdater::DistortionJacobian ( const Eigen::Vector2d &  xy_norm, const Intrinsics &  intrinsics, Eigen::MatrixXd &  H_d  )

static

Computes the derivative of raw distorted to normalized coordinate.

Parameters

xy_norm	Normalized coordinates we wish to distort
intrinsics	Camera intrinsics
H_d	Derivative of measurement z in respect to normalized

Project()

Eigen::Vector2d MsckfUpdater::Project ( const Eigen::Vector3d  pos_f_in_c )

static

Project a 3D position in the camera frame to a 2D bearing.

Parameters

pos_f_in_c

Feature position in the camera frame

Returns

Projected 2D position

ProjectionJacobian()

void MsckfUpdater::ProjectionJacobian ( const Eigen::Vector3d &  position, Eigen::MatrixXd &  jacobian  )

static

Function to calculate jacobian for camera projection function.

Parameters

position	Position in camera coordinates
jacobian	Resulting camera projection jacobian

TriangulateFeature()

bool MsckfUpdater::TriangulateFeature	(	const double	local_time,
		EKF &	ekf,
		const FeatureTrack &	feature_track,
		Eigen::Vector3d &	pos_f_in_l
	)

Triangulate feature seen from multiple camera frames.

Parameters

ekf	EKF address
local_time	Measurement in EKF time
feature_track	Single feature track
pos_f_in_l	Output estimate of feature position in camera frame given observations

Returns

If triangulation was successful

Todo:

: Need to continue debugging the triangulated features

Todo:

: Add input flag

UpdateEKF()

void MsckfUpdater::UpdateEKF	(	EKF &	ekf,
		const double	time,
		const FeatureTracks &	feature_tracks,
		double	px_error
	)

EKF updater function.

Parameters

ekf	EKF address
time	Time of update
feature_tracks	Feature tracks to be used for state update
px_error	Standard deviation of pixel error

Todo:

: Add threshold for total distance/angle before triangulating

Todo:

Chi^2 distance check

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The documentation for this class was generated from the following files:

• src/ekf/update/msckf_updater.hpp
• src/ekf/update/msckf_updater.cpp