msceqf::UpdaterHelper Struct Reference

Updater helper struct. This structs implements common helper methods for MSCEqF update. More...

#include <updater_helper.hpp>

Static Public Member Functions
static Matrix< 2, 4 >	Xi (const Vector3 &f)
	Xi operator R^3 -> R^2x4.
static Matrix3	inverseDepthJacobian (const Vector3 &A_f)
	Compute the Jacobian for inverse depth parametrization, used in the Cf matrix.
static void	nullspaceProjection (Ref< MatrixX > Cf, MatrixXBlockRowRef Ct, VectorXBlockRowRef delta)
	Perform in-place nullspace projection of the Cf matrix on the Ct matrix and the residual using QR decomposition.
static void	updateQRCompression (MatrixX &C, VectorX &delta)
	Perform in-place compression of the C matrix and the residual using QR decomposition.
static bool	chi2Test (const fp &chi2, const size_t &dof, const std::map< uint, fp > &chi2_table)
	Perform chi2 test (based on precomputed table) on the given block of the residual.

Detailed Description

Updater helper struct. This structs implements common helper methods for MSCEqF update.

Member Function Documentation

chi2Test()

static bool msceqf::UpdaterHelper::chi2Test ( const fp & chi2, const size_t & dof, const std::map< uint, fp > & chi2_table )

staticnodiscard

Perform chi2 test (based on precomputed table) on the given block of the residual.

Parameters

chi2	Chi2 value
dof	Degrees of freedom
chi2_table	Precomputed chi2 table

Returns

true if test passed, false otherwise

inverseDepthJacobian()

static Matrix3 msceqf::UpdaterHelper::inverseDepthJacobian ( const Vector3 & A_f )

staticnodiscard

Compute the Jacobian for inverse depth parametrization, used in the Cf matrix.

Parameters

A_f	Given feature in the anchor frame

Returns

Jacobian matrix for inverse depth parametrization

nullspaceProjection()

static void msceqf::UpdaterHelper::nullspaceProjection ( Ref< MatrixX > Cf, MatrixXBlockRowRef Ct, VectorXBlockRowRef delta )

static

Perform in-place nullspace projection of the Cf matrix on the Ct matrix and the residual using QR decomposition.

Parameters

Ct	C matrix
delta	Residual
Cf	Cf matrix

updateQRCompression()

static void msceqf::UpdaterHelper::updateQRCompression ( MatrixX & C, VectorX & delta )

static

Perform in-place compression of the C matrix and the residual using QR decomposition.

Parameters

C	C matrix
delta	Residual

Xi()

static Matrix< 2, 4 > msceqf::UpdaterHelper::Xi ( const Vector3 & f )

staticnodiscard

Xi operator R^3 -> R^2x4.

Parameters

f

Returns

Matrix representing the Xi operator

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The documentation for this struct was generated from the following file:

• include/msceqf/filter/updater/updater_helper.hpp