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Jafar
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This module implements real-time single-map EKF-SLAM based on an active-search architecture.
It supports the coexistence of multiple robots, multiple sensors, and multiple landmark types.
It is initially conceived for vision sensors (cameras), although this is not a constraint.
Jafar modules: kernel image jmath correl (qdisplay gdhe)
Libs: boost opencv (qt4 viam MTI)
The interface of the module is generated by swig from the following files:
try { } catch block for this module.Classes | |
| class | jafar::rtslam::ActiveSearchGrid |
| Active search tesselation grid. More... | |
| class | jafar::rtslam::ActiveSegmentSearchGrid |
| Active search tesselation grid for segments. More... | |
| class | jafar::rtslam::AppearanceImagePoint |
| Appearence for matching rtslam. More... | |
| class | jafar::rtslam::DataManagerAbstract |
| class | jafar::rtslam::DataManagerOnePointRansac< RawSpec, SensorSpec, FeatureSpec, RoiSpec, FeatureManagerSpec, DetectorSpec, MatcherSpec > |
| This class implements the one-point-Ransac ActiveSearch strategy. More... | |
| class | jafar::rtslam::display::DisplayDataAbstract |
| ************************************************************************** This is the base class for objects that will store display data for a viewer More... | |
| class | jafar::rtslam::display::WorldDisplay |
| ************************************************************************** More... | |
| class | jafar::rtslam::display::MapDisplay |
| ************************************************************************** More... | |
| class | jafar::rtslam::display::RobotDisplay |
| ************************************************************************** This is the base class for robot objects that will store display data for a viewer. More... | |
| class | jafar::rtslam::display::SensorDisplay |
| ************************************************************************** This is the base class for sensor objects that will store display data for a viewer. More... | |
| class | jafar::rtslam::display::LandmarkDisplay |
| ************************************************************************** This is the base class for landmark objects that will store display data for a viewer. More... | |
| class | jafar::rtslam::display::ObservationDisplay |
| ************************************************************************** This is the base class for observation objects that will store display data for a viewer. More... | |
| class | jafar::rtslam::Expectation |
| Base class for all Gaussian expectations defined in the module rtslam. More... | |
| class | jafar::rtslam::FeatureAbstract |
| Base class for all landmark appearances defined in the module rtslam. More... | |
| class | jafar::rtslam::FeatureImagePoint |
| Base class for all landmark appearances defined in the module rtslam. More... | |
| class | jafar::rtslam::Gaussian |
| Class for Gaussians having LOCAL or REMOTE storage. More... | |
| class | jafar::rtslam::hardware::HardwareSensorAbstract< T > |
| Generic implementation of hardware sensor based on ring buffer. More... | |
| class | jafar::rtslam::Innovation |
| Base class for all Gaussian innovations defined in the module rtslam. More... | |
| class | jafar::rtslam::ExtendedKalmanFilterIndirect |
| Base class for Kalman filters. More... | |
| class | jafar::rtslam::LandmarkAbstract |
| Base class for all landmarks defined in the module rtslam. More... | |
| class | jafar::rtslam::LandmarkAnchoredHomogeneousPoint |
| Class for anchored homogeneous 3D points. More... | |
| class | jafar::rtslam::LandmarkAnchoredHomogeneousPointsLine |
| Class for Anchored homogeneous points lines. More... | |
| class | jafar::rtslam::LandmarkEuclideanPoint |
| Class for Euclidean 3D points. More... | |
| class | jafar::rtslam::MapAbstract |
| Base class for all map types defined in the module rtslam. More... | |
| class | jafar::rtslam::MapObject |
| Class for generic mappable objects. More... | |
| class | jafar::rtslam::Measurement |
| Base class for all Gaussian measurements defined in the module rtslam. More... | |
| class | jafar::rtslam::ObjectAbstract |
| Class for generic objects in rtslam. More... | |
| class | jafar::rtslam::ObservationAbstract |
| Base class for all observations defined in the module rtslam. More... | |
| class | jafar::rtslam::ObservationPinHoleAnchoredHomogeneousPoint |
| Class for Pin-Hole observations of Anchored Homogeneous 3D points. More... | |
| class | jafar::rtslam::ObservationPinHoleAnchoredHomogeneousPointsLine |
| Class for Pin-Hole observations of Lines based on Anchored Homogeneous 3D points. More... | |
| class | jafar::rtslam::ObservationPinHoleEuclideanPoint |
| Class for Pin-Hole observations of Euclidean 3D points. More... | |
| class | jafar::rtslam::Perturbation |
| Base class for all Gaussian perturbation vectors defined in the module rtslam. More... | |
| class | jafar::rtslam::QuickHarrisDetector |
| Quick Harris detector class. More... | |
| class | jafar::rtslam::RawImage |
| Class for image. More... | |
| class | jafar::rtslam::RobotAbstract |
| Base class for all robots defined in the module rtslam. More... | |
| class | jafar::rtslam::RobotCenteredConstantVelocity |
| RobotCentric Constant velocity model robot class. More... | |
| class | jafar::rtslam::RobotConstantMotionModel< LIN_ORDER, ANG_ORDER > |
| Constant velocity model robot class. More... | |
| class | jafar::rtslam::RobotConstantVelocity |
| Constant velocity model robot class. More... | |
| class | jafar::rtslam::RobotOdometry |
| Odometry motion model robot class. More... | |
| class | jafar::rtslam::RtslamException |
| Base class for all exceptions defined in the module rtslam. More... | |
| class | jafar::rtslam::SensorAbsloc |
| Class for absolute localization sensors (gps, motion capture...) For now we assume that we have at least one reading before images and that is is very precise. More... | |
| class | jafar::rtslam::SensorAbstract |
| Base class for all types of sensors. More... | |
| class | jafar::rtslam::SensorProprioAbstract |
| Base class for proprioceptive sensors (that directly observe the state of the robot) (IMU, odometry, GPS, movement models ...) More... | |
| class | jafar::rtslam::SensorProprioPredictorAbstract |
| Base class for proprioceptive sensors that can be used for filter prediction step. More... | |
| class | jafar::rtslam::SensorExteroAbstract |
| Base class for exteroceptive sensors (that need to map the environment) (cameras, lasers, ...) More... | |
| struct | jafar::rtslam::SensorImageParameters |
| Structure containing all non-extrinsic parameters of a camera. More... | |
| class | jafar::rtslam::SensorManagerAbstract |
| Base class for sensors managers, that decide which data of which sensor should be integrated in the filter next. More... | |
| class | jafar::rtslam::SensorManagerOffline |
| This sensors manager is made for offline processing. More... | |
| class | jafar::rtslam::SensorManagerOnline |
| This sensor managers tries to integrate several sensors according to their policy (all or latest) More... | |
| class | jafar::rtslam::SensorPinhole |
| Class for pin-hole cameras. More... | |
| class | jafar::rtslam::WorldAbstract |
| Base class for all world types defined in the module rtslam. More... | |
Namespaces | |
| namespace | jafar::rtslam::lmkAHPL |
Namespace for operations on Anchored Homogeneous Points Lines. | |
| namespace | jafar::rtslam::lmkAHP |
Namespace for operations on Anchored Homogeneous Points. | |
| namespace | jafar::rtslam |
Namespace rtslam for real-time slam module. | |
| namespace | jafar::rtslam::pinhole |
Namespace for operations related to the pin-hole model of a camera. | |
| namespace | jafar::rtslam::quaternion |
Namespace for quaternion algebra functions. | |
Files | |
| file | activeSearch.hpp |
Active search detection and matching for points. | |
| file | activeSegmentSearch.hpp |
Active search detection and matching for segments. | |
| file | ahplTools.hpp |
| file | ahpTools.hpp |
| file | appearanceAbstract.hpp |
| file | appearanceImage.hpp |
| file | dataManagerAbstract.hpp |
| file | dataManagerActiveSearch.hpp |
| file | dataManagerActiveSearch.impl.hpp |
| file | dataManagerOnePointRansac.hpp |
| file | dataManagerOnePointRansac.impl.hpp |
| file | descriptorAbstract.hpp |
| file | descriptorImagePoint.hpp |
| file | display_example.hpp |
| file | display_gdhe.hpp |
| file | display_qt.hpp |
| file | expectation.hpp |
| file | exporterAbstract.hpp |
Header file for exporting state. | |
| file | exporterAbstract.hpp |
Header file for exporting state. | |
| file | featureAbstract.hpp |
File defining the abstract feature. | |
| file | featurePoint.hpp |
| file | featureSegment.hpp |
File defining the segment feature. | |
| file | gaussian.hpp |
| file | hardwareEstimatorAbstract.hpp |
Header file for hardware robots. | |
| file | hardwareEstimatorOdo.hpp |
Header file for hardware odometry robots. | |
| file | hardwareSensorAbstract.hpp |
Header file for hardware sensors. | |
| file | hardwareSensorAdhocSimulator.hpp |
Interface between the slam and the ad-hoc simulator. | |
| file | hardwareSensorCameraFirewire.hpp |
Header file for getting data from a firewire camera. | |
| file | hardwareSensorCameraFirewire.hpp |
Header file for getting data from a firewire camera. | |
| file | hardwareSensorExternalLoc.hpp |
Header file for getting external localization from another agent. | |
| file | hardwareSensorGpsGenom.hpp |
Header file for getting data from the genom gps module. | |
| file | hardwareSensorInertialAdhocSimulator.hpp |
Header file inertial simulation : WIP. | |
| file | hardwareSensorGpsGenom.hpp |
Header file for getting data from the genom gps module. | |
| file | hardwareSensorMti.hpp |
Header file for hardware robots. | |
| file | hardwareSensorOdomRmp400Genom.hpp |
Header file for getting odometry data from the rmp400 module. | |
| file | historyManager.hpp |
| file | imageTools.hpp |
| file | innovation.hpp |
| file | kalmanTools.hpp |
| file | landmarkAbstract.hpp |
| file | landmarkAnchoredHomogeneousPoint.hpp |
| file | landmarkEuclideanPoint.hpp |
| file | landmarkFactory.hpp |
| file | mapAbstract.hpp |
| file | mapObject.hpp |
| file | measurement.hpp |
| file | objectAbstract.hpp |
Header file for abstract objects. | |
| file | observationAbstract.hpp |
File defining the abstract observation class. | |
| file | observationFactory.hpp |
Header file for observation factories. | |
| file | observationMakers.hpp |
Header file for observation makers (atoms of the obs factory). | |
| file | observationPinHoleAnchoredHomogeneous.hpp |
Header file for observations of Anchored Homogeneous Points (AHP) from pin-hole cameras. | |
| file | observationPinHoleAnchoredHomogeneousPointsLine.hpp |
Header file for observations of Anchored Homogeneous Points Lines (AHPL) from pin-hole cameras. | |
| file | observationPinHoleEuclideanPoint.hpp |
| file | parents.hpp |
| file | perturbation.hpp |
## Add brief description here ## | |
| file | pinholeTools.hpp |
| file | quatTools.hpp |
File defining geometric operations with quaternions. | |
| file | quickHarrisDetector.hpp |
| file | rawAbstract.hpp |
File defining the abstract raw-data class. | |
| file | rawImage.hpp |
| file | rawProcessors.hpp |
Some wrappers to raw processors to be used generically. | |
| file | rawProcessors.hpp |
Some wrappers to raw processors to be used generically. | |
| file | robotAbstract.hpp |
| file | robotCenteredConstantVelocity.hpp |
Header file for the robot with robot centered constant velocity motion model. | |
| file | robotConstantVelocity.hpp |
Header file for the robot with constant velocity motion model. | |
| file | robotInertial.hpp |
| file | robotOdometry.hpp |
Header file for robot with odometry motion model. | |
| file | rtSlam.hpp |
This file defines general typedefs and material for the whole rtslam project. | |
| file | sensorAbsloc.hpp |
Header file for absolute localisation sensors (gps, motion capture...) | |
| file | sensorAbstract.hpp |
Header file for the abstract sensor. | |
| file | sensorImageParameters.hpp |
| file | sensorManager.hpp |
Header file for the sensor managers, that decide which data of which sensor should be integrated in the filter in which order. | |
| file | sensorPinhole.hpp |
Header file for pin-hole sensor. | |
| file | simuData.hpp |
All the data objects that will be used by real slam when doing simulation. | |
| file | simulator.hpp |
Simulator This is part of the ad-hoc simulator. | |
| file | simulatorObjects.hpp |
All the objects to simulate a real physical object (robot, sensor...) They contain the true state. | |
| file | simuRawProcessors.hpp |
Raw processors for simulation. | |
| file | spaceGrid.hpp |
Header file. | |
| file | visibilityMap.hpp |
| file | worldAbstract.hpp |
| Generated on Wed Oct 15 2014 00:37:30 for Jafar by doxygen 1.7.6.1 |
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