localization_analysis Namespace Reference

Classes
class	ArTagPoseAdder
class	BagImuFilterer
class	DepthOdometryAdder
class	GraphLocalizerSimulator
struct	GraphLocalizerSimulatorParams
class	GraphVIOSimulator
struct	GraphVIOSimulatorParams
class	ImuBiasExtrapolator
class	LiveMeasurementSimulator
struct	LiveMeasurementSimulatorParams
class	MapMatcher
class	MessageBuffer
struct	MessageBufferParams
class	OfflineReplay
struct	OfflineReplayParams
class	SparseMappingPoseAdder

Functions
void	FeatureTrackImage (const vision_common::SpacedFeatureTracker &feature_tracker, const camera::CameraParameters &camera_params, cv::Mat &feature_track_image)
void	MarkSmartFactorPoints (const std::vector< boost::shared_ptr< const factor_adders::RobustSmartFactor >> smart_factors, const camera::CameraParameters &camera_params, const gtsam::Values &values, cv::Mat &feature_track_image)
boost::optional< sensor_msgs::ImagePtr >	CreateFeatureTrackImage (const sensor_msgs::ImageConstPtr &image_msg, const vision_common::SpacedFeatureTracker &feature_tracker, const camera::CameraParameters &camera_params, const std::vector< boost::shared_ptr< const factor_adders::RobustSmartFactor >> &smart_factors, const gtsam::Values &values)
cv::Point2f	Distort (const Eigen::Vector2d &undistorted_point, const camera::CameraParameters &params)
void	LoadMessageBufferParams (config_reader::ConfigReader &config, MessageBufferParams &params, const std::string &prefix="")
void	LoadLiveMeasurementSimulatorParams (config_reader::ConfigReader &config, const std::string &bag_name, const std::string &map_file, const std::string &image_topic, LiveMeasurementSimulatorParams &params)
void	LoadGraphLocalizerSimulatorParams (config_reader::ConfigReader &config, GraphLocalizerSimulatorParams &params)
void	LoadGraphVIOSimulatorParams (config_reader::ConfigReader &config, GraphVIOSimulatorParams &params)
void	LoadOfflineReplayParams (config_reader::ConfigReader &config, OfflineReplayParams &params)
bool	string_ends_with (const std::string &str, const std::string &ending)
template<typename MsgType >
void	SaveMsg (const MsgType &msg, const std::string &topic, rosbag::Bag &bag)
geometry_msgs::PoseStamped	PoseMsg (const Eigen::Isometry3d &global_T_body, const std_msgs::Header &header)
geometry_msgs::PoseStamped	PoseMsg (const Eigen::Isometry3d &global_T_body, const localization_common::Time time)
geometry_msgs::PoseStamped	PoseMsg (const gtsam::Pose3 &global_T_body, const localization_common::Time time)
geometry_msgs::PoseStamped	PoseMsg (const localization_measurements::TimestampedPose &timestamped_pose)
void	SaveExtrapolatedStates (const std::vector< lc::CombinedNavState > &extrapolated_states, rosbag::Bag &bag)
void	LoadMessageBufferParams (const std::string &message_type, config_reader::ConfigReader &config, MessageBufferParams &params, const std::string &prefix)

Function Documentation

CreateFeatureTrackImage()

boost::optional< sensor_msgs::ImagePtr > localization_analysis::CreateFeatureTrackImage	(	const sensor_msgs::ImageConstPtr &	image_msg,
		const vision_common::SpacedFeatureTracker &	feature_tracker,
		const camera::CameraParameters &	camera_params,
		const std::vector< boost::shared_ptr< const factor_adders::RobustSmartFactor >> &	smart_factors,
		const gtsam::Values &	values
	)

Distort()

cv::Point2f localization_analysis::Distort	(	const Eigen::Vector2d &	undistorted_point,
		const camera::CameraParameters &	params
	)

FeatureTrackImage()

void localization_analysis::FeatureTrackImage	(	const vision_common::SpacedFeatureTracker &	feature_tracker,
		const camera::CameraParameters &	camera_params,
		cv::Mat &	feature_track_image
	)

LoadGraphLocalizerSimulatorParams()

void localization_analysis::LoadGraphLocalizerSimulatorParams	(	config_reader::ConfigReader &	config,
		GraphLocalizerSimulatorParams &	params
	)

LoadGraphVIOSimulatorParams()

void localization_analysis::LoadGraphVIOSimulatorParams	(	config_reader::ConfigReader &	config,
		GraphVIOSimulatorParams &	params
	)

LoadLiveMeasurementSimulatorParams()

void localization_analysis::LoadLiveMeasurementSimulatorParams	(	config_reader::ConfigReader &	config,
		const std::string &	bag_name,
		const std::string &	map_file,
		const std::string &	image_topic,
		LiveMeasurementSimulatorParams &	params
	)

LoadMessageBufferParams() [1/2]

void localization_analysis::LoadMessageBufferParams	(	config_reader::ConfigReader &	config,
		MessageBufferParams &	params,
		const std::string &	prefix = ""
	)

LoadMessageBufferParams() [2/2]

void localization_analysis::LoadMessageBufferParams	(	const std::string &	message_type,
		config_reader::ConfigReader &	config,
		MessageBufferParams &	params,
		const std::string &	prefix
	)

LoadOfflineReplayParams()

void localization_analysis::LoadOfflineReplayParams	(	config_reader::ConfigReader &	config,
		OfflineReplayParams &	params
	)

MarkSmartFactorPoints()

void localization_analysis::MarkSmartFactorPoints	(	const std::vector< boost::shared_ptr< const factor_adders::RobustSmartFactor >>	smart_factors,
		const camera::CameraParameters &	camera_params,
		const gtsam::Values &	values,
		cv::Mat &	feature_track_image
	)

PoseMsg() [1/4]

geometry_msgs::PoseStamped localization_analysis::PoseMsg	(	const Eigen::Isometry3d &	global_T_body,
		const localization_common::Time	time
	)

PoseMsg() [2/4]

geometry_msgs::PoseStamped localization_analysis::PoseMsg	(	const Eigen::Isometry3d &	global_T_body,
		const std_msgs::Header &	header
	)

PoseMsg() [3/4]

geometry_msgs::PoseStamped localization_analysis::PoseMsg	(	const gtsam::Pose3 &	global_T_body,
		const localization_common::Time	time
	)

PoseMsg() [4/4]

geometry_msgs::PoseStamped localization_analysis::PoseMsg

(

const localization_measurements::TimestampedPose &

timestamped_pose

)

SaveExtrapolatedStates()

void localization_analysis::SaveExtrapolatedStates	(	const std::vector< lc::CombinedNavState > &	extrapolated_states,
		rosbag::Bag &	bag
	)

SaveMsg()

template<typename MsgType >

void localization_analysis::SaveMsg	(	const MsgType &	msg,
		const std::string &	topic,
		rosbag::Bag &	bag
	)

string_ends_with()

bool localization_analysis::string_ends_with	(	const std::string &	str,
		const std::string &	ending
	)