ESKFEstimator class for estimating the transformation between two frames using an EKF. More...
#include <ESKFEstimator.h>
Inheritance diagram for isae::ESKFEstimator:
Collaboration diagram for isae::ESKFEstimator:
Public Member Functions | |
| bool | estimateTransformBetween (const std::shared_ptr< Frame > &frame1, const std::shared_ptr< Frame > &frame2, vec_match &matches, Eigen::Affine3d &dT, Eigen::MatrixXd &covdT) override |
| bool | estimateTransformBetween (const std::shared_ptr< Frame > &frame1, const std::shared_ptr< Frame > &frame2, typed_vec_match &typed_matches, Eigen::Affine3d &dT, Eigen::MatrixXd &covdT) override |
| bool | refineTriangulation (std::shared_ptr< Frame > &frame) |
| Refine the triangulation of the landmarks with an ESKF BEWARE: currently being tested. More... | |
Detailed Description
ESKFEstimator class for estimating the transformation between two frames using an EKF.
The estimation is done by perfoming an ESKF update on each landmark (the matches must be associated with landmarks). This allows closed form computation of the covariance of the estimated transformation.
Member Function Documentation
◆ estimateTransformBetween() [1/2]
|
overridevirtual |
Implements isae::APoseEstimator.
◆ estimateTransformBetween() [2/2]
|
overridevirtual |
Implements isae::APoseEstimator.
◆ refineTriangulation()
| bool isae::ESKFEstimator::refineTriangulation | ( | std::shared_ptr< Frame > & | frame | ) |
Refine the triangulation of the landmarks with an ESKF BEWARE: currently being tested.
The documentation for this class was generated from the following files:
- /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/estimator/ESKFEstimator.h
- /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/src/estimator/ESKFEstimator.cpp
