jafar::rtslam Namespace Reference

Namespace rtslam for real-time slam module. More...

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Detailed Description

Namespace rtslam for real-time slam module.

Namespaces
namespace	lmkAHP
	Namespace for operations on Anchored Homogeneous Points.
namespace	lmkAHPL
	Namespace for operations on Anchored Homogeneous Points Lines.
namespace	pinhole
	Namespace for operations related to the pin-hole model of a camera.
namespace	quaternion
	Namespace for quaternion algebra functions.
Classes
class	ActiveSearchGrid
	Active search tesselation grid. More...
class	ActiveSegmentSearchGrid
	Active search tesselation grid for segments. More...
class	AppearanceAbstract
class	AppearanceImagePoint
	Appearence for matching rtslam. More...
class	DataManagerAbstract
class	LoggableMatchings
struct	RansacSet
class	DataManagerOnePointRansac
	This class implements the one-point-Ransac ActiveSearch strategy. More...
class	DescriptorAbstract
class	DescriptorFactoryAbstract
class	FeatureView
	A feature view, storing the feature appearance and the conditions that correspond to this appearance. More...
class	DescriptorImagePointFirstView
	This descriptor for image points only keeps the appearance of the feature the first time it was viewed. More...
class	DescriptorImagePointFirstViewFactory
class	DescriptorImagePointMultiView
	This descriptor for image points stores appearances of the feature from different points of view. More...
class	DescriptorImagePointMultiViewFactory
class	SegFeatureView
	A feature view, storing the feature appearance and the conditions that correspond to this appearance. More...
class	DescriptorSegFirstView
	This descriptor for image points only keeps the appearance of the feature the first time it was viewed. More...
class	DescriptorSegFirstViewFactory
class	Expectation
	Base class for all Gaussian expectations defined in the module rtslam. More...
class	ExporterAbstract
class	ExporterPoster
class	ExporterSocket
class	FeatureAbstract
	Base class for all landmark appearances defined in the module rtslam. More...
class	FeatureImagePoint
	Base class for all landmark appearances defined in the module rtslam. More...
class	Gaussian
	Class for Gaussians having LOCAL or REMOTE storage. More...
struct	RawInfo
struct	RawInfos
struct	RawVec
class	LoggableClose
class	HistoryManagerAbstract
class	HistoryManagerSparse
	This class will manage a sparse history. More...
class	Innovation
	Base class for all Gaussian innovations defined in the module rtslam. More...
class	ExtendedKalmanFilterIndirect
	Base class for Kalman filters. More...
class	LandmarkAbstract
	Base class for all landmarks defined in the module rtslam. More...
class	LandmarkAnchoredHomogeneousPoint
	Class for anchored homogeneous 3D points. More...
class	LandmarkAnchoredHomogeneousPointsLine
	Class for Anchored homogeneous points lines. More...
class	LandmarkEuclideanPoint
	Class for Euclidean 3D points. More...
class	LandmarkFactoryAbstract
class	LandmarkFactory
class	MapAbstract
	Base class for all map types defined in the module rtslam. More...
class	MapManagerAbstract
	This class is the abstract class for map managers, that manages the life of landmarks at the map level (creation, reparametrization, deletion, etc). More...
class	MapManager
	This class is a default implementation of MapManagerAbstract, that only reparametrize and kill landmarks with a too large search area. More...
class	MapManagerGrid
	Map manager with visible landmarks grid management. More...
class	MapManagerOdometry
	Map manager with a very short memory policy. More...
class	MapManagerGlobal
	Map manager made for doing slam as long as possible while optimizing the use of the map. More...
class	MapManagerLocal
	Map manager made for managing a spatially local map in a hierarchical multimap framework. More...
class	MapObject
	Class for generic mappable objects. More...
class	Measurement
	Base class for all Gaussian measurements defined in the module rtslam. More...
class	ObjectAbstract
	Class for generic objects in rtslam. More...
class	ObservationModelAbstract
	An observation model only contains pseudo-static functions A reference to the sensor is kepts because it has a lot of parameters that cannot easily be abstracted, and to avoid to cast an abstract sensor object every time. More...
class	ObservationAbstract
	Base class for all observations defined in the module rtslam. More...
class	ObservationMakerAbstract
class	ObservationFactory
class	ImagePointObservationMaker
class	ObservationModelPinHoleAnchoredHomogeneousPoint
class	ObservationPinHoleAnchoredHomogeneousPoint
	Class for Pin-Hole observations of Anchored Homogeneous 3D points. More...
class	ObservationModelPinHoleAnchoredHomogeneousPointsLine
class	ObservationPinHoleAnchoredHomogeneousPointsLine
	Class for Pin-Hole observations of Lines based on Anchored Homogeneous 3D points. More...
class	ObservationModelPinHoleEuclideanPoint
class	ObservationPinHoleEuclideanPoint
	Class for Pin-Hole observations of Euclidean 3D points. More...
class	ParentOf
class	ChildOf
class	SpecificChildOf
class	WeakParentOf
class	Perturbation
	Base class for all Gaussian perturbation vectors defined in the module rtslam. More...
class	QuickHarrisDetector
	Quick Harris detector class. More...
class	RawAbstract
class	RawImage
	Class for image. More...
class	ImagePointZnccMatcher
class	ImagePointHarrisDetector
class	RobotQuantity
class	RobotAbstract
	Base class for all robots defined in the module rtslam. More...
class	RobotCenteredConstantVelocity
	RobotCentric Constant velocity model robot class. More...
class	RobotConstantMotionModel
	Constant velocity model robot class. More...
class	RobotConstantVelocity
	Constant velocity model robot class. More...
class	RobotInertial
	Inertial measurements unit - robot motion model. More...
class	RobotOdometry
	Odometry motion model robot class. More...
class	RtslamException
	Base class for all exceptions defined in the module rtslam. More...
class	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	SensorAbstract
	Base class for all types of sensors. More...
class	SensorProprioAbstract
	Base class for proprioceptive sensors (that directly observe the state of the robot) (IMU, odometry, GPS, movement models ...) More...
class	SensorProprioPredictorAbstract
	Base class for proprioceptive sensors that can be used for filter prediction step. More...
class	SensorExteroAbstract
	Base class for exteroceptive sensors (that need to map the environment) (cameras, lasers, ...) More...
struct	SensorImageParameters
	Structure containing all non-extrinsic parameters of a camera. More...
class	SensorManagerAbstract
	Base class for sensors managers, that decide which data of which sensor should be integrated in the filter next. More...
class	SensorManagerOffline
	This sensors manager is made for offline processing. More...
class	SensorManagerOnline
	This sensor managers tries to integrate several sensors according to their policy (all or latest) More...
class	SensorPinhole
	Class for pin-hole cameras. More...
class	SphericalGrid
	A grid in spherical coordinates theta,phi,r with dynamic slicing of theta according to phi so that all (theta,phi) cells have approximately the same area (typically only one at the poles). More...
class	VisibilityMap
	This class is a map that keeps records of places frome where a landmark was or was not visible, in order to avoid to repeatedly search a landmark from a place it cannot be seen. More...
class	WorldAbstract
	Base class for all world types defined in the module rtslam. More...
Typedefs
typedef boost::shared_ptr < AppearanceImagePoint >	app_img_pnt_ptr_t
typedef std::vector < observation_ptr_t >	ObsList
typedef boost::shared_ptr < RansacSet >	ransac_set_ptr_t
typedef std::list < ransac_set_ptr_t >	RansacSetList
typedef boost::shared_ptr < DescriptorImagePointFirstView >	desc_img_pnt_fv_ptr_t
typedef boost::shared_ptr < DescriptorImagePointMultiView >	desc_img_pnt_mv_ptr_t
typedef boost::shared_ptr < DescriptorSegFirstView >	desc_seg_fv_ptr_t
typedef boost::shared_ptr < DescriptorSegMultiView >	desc_seg_mv_ptr_t
typedef boost::shared_ptr < tcp::socket >	socket_ptr
typedef boost::shared_ptr < FeatureImagePoint >	feat_img_pnt_ptr_t
typedef boost::shared_ptr < LandmarkAnchoredHomogeneousPoint >	ahp_ptr_t
typedef boost::shared_ptr < LandmarkAnchoredHomogeneousPointsLine >	ahpl_ptr_t
typedef boost::shared_ptr < LandmarkEuclideanPoint >	eucp_ptr_t
typedef boost::shared_ptr < ObservationMakerAbstract >	observation_maker_ptr_t
typedef boost::shared_ptr < ObservationPinHoleAnchoredHomogeneousPoint >	obs_ph_ahp_ptr_t
typedef boost::shared_ptr < ObservationPinHoleAnchoredHomogeneousPointsLine >	obs_ph_ahpl_ptr_t
typedef boost::shared_ptr < ObservationPinHoleEuclideanPoint >	obs_ph_euc_ptr_t
typedef boost::shared_ptr < RawImage >	rawimage_ptr_t
typedef boost::shared_ptr < image::Image >	jafarImage_ptr_t
typedef boost::shared_ptr < RobotCenteredConstantVelocity >	robcenteredconstvel_ptr_t
typedef boost::shared_ptr < RobotConstantVelocity >	robconstvel_ptr_t
typedef boost::shared_ptr < RobotInertial >	robinertial_ptr_t
typedef boost::shared_ptr < RobotOdometry >	robodo_ptr_t
typedef boost::shared_ptr < WorldAbstract >	world_ptr_t
typedef boost::shared_ptr < MapAbstract >	map_ptr_t
typedef boost::shared_ptr < RobotAbstract >	robot_ptr_t
typedef boost::shared_ptr < SensorAbstract >	sensor_ptr_t
typedef boost::shared_ptr < SensorExteroAbstract >	sensorext_ptr_t
typedef boost::shared_ptr < SensorProprioAbstract >	sensorprop_ptr_t
typedef boost::shared_ptr < DataManagerAbstract >	data_manager_ptr_t
typedef boost::shared_ptr < LandmarkAbstract >	landmark_ptr_t
typedef boost::shared_ptr < LandmarkFactoryAbstract >	landmark_factory_ptr_t
typedef boost::shared_ptr < ObservationModelAbstract >	observation_model_ptr_t
typedef boost::shared_ptr < ObservationAbstract >	observation_ptr_t
typedef boost::shared_ptr < MapManagerAbstract >	map_manager_ptr_t
typedef boost::shared_ptr < RawAbstract >	raw_ptr_t
typedef boost::shared_ptr < AppearanceAbstract >	appearance_ptr_t
typedef boost::shared_ptr < FeatureAbstract >	feature_ptr_t
typedef boost::shared_ptr < DescriptorAbstract >	descriptor_ptr_t
typedef boost::shared_ptr < Gaussian >	gaussian_ptr_t
typedef boost::shared_ptr < ExtendedKalmanFilterIndirect >	ekfInd_ptr_t
typedef boost::shared_ptr < SensorManagerAbstract >	sensor_manager_ptr_t
typedef boost::shared_ptr < HistoryManagerAbstract >	history_manager_ptr_t
typedef kernel::IdFactory < unsigned int, kernel::IdCollectorNone >	IdFactory
typedef boost::shared_ptr < SensorAbsloc >	absloc_ptr_t
typedef boost::shared_ptr < SensorPinhole >	pinhole_ptr_t
Enumerations
enum	ErrorType {   eNoError = 0, eParam, eConfig, eDependency,   eNotSupported, eNoSensorData, eLargeUncertainty, eCrashed }
Functions
bool	compare_lmk_uncertainty (landmark_ptr_t const &lmkPtr1, landmark_ptr_t const &lmkPtr2)
bool	compare_obs_uncertainty (observation_ptr_t const &obsPtr1, observation_ptr_t const &obsPtr2)
std::ostream &	operator<< (std::ostream &s, DescriptorAbstract const &desc)
image::oimstream &	operator<< (image::oimstream &s, DescriptorAbstract const &desc)
std::ostream &	operator<< (std::ostream &s, FeatureView const &fv)
image::oimstream &	operator<< (image::oimstream &s, FeatureView const &fv)
std::ostream &	operator<< (std::ostream &s, SegFeatureView const &fv)
image::oimstream &	operator<< (image::oimstream &s, SegFeatureView const &fv)
void	srand (unsigned int seed)
int	rand ()
Variables
unsigned int	rand_state