+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ RAW-ROAM
+
+ Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Class List
+
+Here are the classes, structs, unions and interfaces with brief descriptions:
+
+
+
+[detail level 12]
| ▼NCoord | |
| CCartCoord | |
| CPolarCoord | |
| ▼NMapping | |
| CKeyframe | |
| CMap | |
| ▼NmotionDistortion | |
| CMotionDistortionSolver | |
| ▼NPoseGraphLib | |
| CBundleAdjustment | |
| CPoseGraphOptimization | |
| ▼NRawROAMSystem | |
| CRawROAMSystem | |
| ▼NTracker | |
| CTracker | |
| ▼NtrajectoryPlotting | |
| CTrajectory |
+
+
+
diff --git a/doc/html/annotated_dup.js b/doc/html/annotated_dup.js
new file mode 100644
index 0000000..b231a5b
--- /dev/null
+++ b/doc/html/annotated_dup.js
@@ -0,0 +1,27 @@
+var annotated_dup =
+[
+ [ "Coord", "namespace_coord.html", [
+ [ "CartCoord", "class_coord_1_1_cart_coord.html", "class_coord_1_1_cart_coord" ],
+ [ "PolarCoord", "class_coord_1_1_polar_coord.html", "class_coord_1_1_polar_coord" ]
+ ] ],
+ [ "Mapping", "namespace_mapping.html", [
+ [ "Keyframe", "class_mapping_1_1_keyframe.html", "class_mapping_1_1_keyframe" ],
+ [ "Map", "class_mapping_1_1_map.html", "class_mapping_1_1_map" ]
+ ] ],
+ [ "motionDistortion", "namespacemotion_distortion.html", [
+ [ "MotionDistortionSolver", "classmotion_distortion_1_1_motion_distortion_solver.html", "classmotion_distortion_1_1_motion_distortion_solver" ]
+ ] ],
+ [ "PoseGraphLib", "namespace_pose_graph_lib.html", [
+ [ "BundleAdjustment", "class_pose_graph_lib_1_1_bundle_adjustment.html", "class_pose_graph_lib_1_1_bundle_adjustment" ],
+ [ "PoseGraphOptimization", "class_pose_graph_lib_1_1_pose_graph_optimization.html", "class_pose_graph_lib_1_1_pose_graph_optimization" ]
+ ] ],
+ [ "RawROAMSystem", "namespace_raw_r_o_a_m_system.html", [
+ [ "RawROAMSystem", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system" ]
+ ] ],
+ [ "Tracker", "namespace_tracker.html", [
+ [ "Tracker", "class_tracker_1_1_tracker.html", "class_tracker_1_1_tracker" ]
+ ] ],
+ [ "trajectoryPlotting", "namespacetrajectory_plotting.html", [
+ [ "Trajectory", "classtrajectory_plotting_1_1_trajectory.html", "classtrajectory_plotting_1_1_trajectory" ]
+ ] ]
+];
\ No newline at end of file
diff --git a/doc/html/class_coord_1_1_cart_coord-members.html b/doc/html/class_coord_1_1_cart_coord-members.html
new file mode 100644
index 0000000..2dea5e1
--- /dev/null
+++ b/doc/html/class_coord_1_1_cart_coord-members.html
@@ -0,0 +1,116 @@
+
+
+
+
+
+
+
+-
+
- Generated on Thu May 5 2022 00:51:39 for RAW-ROAM by
1.9.3
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ RAW-ROAM
+
+ Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+CartCoord Member List
+
+
+
+This is the complete list of members for CartCoord, including all inherited members.
+| __init__(self, float x, float y) | CartCoord | |
| __str__(self) | CartCoord | |
| add(self, float dx, float dy) | CartCoord | |
| addCoord(self, other) | CartCoord | |
| asTuple(self) | CartCoord | |
| getAngle(self, other) | CartCoord | |
| getDistance(self, other) | CartCoord | |
| getX(self) | CartCoord | |
| getY(self) | CartCoord | |
| scale(self, float scaleFactor) | CartCoord | |
| scaleX(self, float scaleFactor) | CartCoord | |
| scaleY(self, float scaleFactor) | CartCoord | |
| sub(self, float dx, float dy) | CartCoord | |
| x | CartCoord | |
| y | CartCoord |
+
+
+
diff --git a/doc/html/class_coord_1_1_cart_coord.html b/doc/html/class_coord_1_1_cart_coord.html
new file mode 100644
index 0000000..1377758
--- /dev/null
+++ b/doc/html/class_coord_1_1_cart_coord.html
@@ -0,0 +1,514 @@
+
+
+
+
+
+
+
+-
+
- Generated on Thu May 5 2022 00:51:38 for RAW-ROAM by 1.9.3
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ RAW-ROAM
+
+ Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+CartCoord Class Reference
+
+
+
+
++Public Member Functions | |
| def | __init__ (self, float x, float y) |
| def | __str__ (self) |
| None | addCoord (self, other) |
| None | add (self, float dx, float dy) |
| None | sub (self, float dx, float dy) |
| None | scale (self, float scaleFactor) |
| None | scaleX (self, float scaleFactor) |
| None | scaleY (self, float scaleFactor) |
| float | getX (self) |
| float | getY (self) |
| float | getDistance (self, other) |
| def | getAngle (self, other) |
| tuple | asTuple (self) |
+Public Attributes | |
| x | |
| y | |
Detailed Description
+Creates a point on a Cartesian coordinate plane with values x and y.
Constructor & Destructor Documentation
+ +◆ __init__()
+ +
+
+
+
+
+
| def __init__ | +( | ++ | self, | +
| + | + | float | +x, | +
| + | + | float | +y | +
| + | ) | ++ |
+
+Defines x and y variables+
Member Function Documentation
+ +◆ __str__()
+ +
+
+
+
+
+
+
| def __str__ | +( | ++ | self | ) | ++ |
+
+
+◆ add()
+ +
+
+
+
+
+
+
| None add | +( | ++ | self, | +
| + | + | float | +dx, | +
| + | + | float | +dy | +
| + | ) | ++ |
+
+
+◆ addCoord()
+ +
+
+
+
+
+
+
| None addCoord | +( | ++ | self, | +
| + | + | + | other | +
| + | ) | ++ |
+
+
+◆ asTuple()
+ +
+
+
+
+
+
+
| tuple asTuple | +( | ++ | self | ) | ++ |
+
+
+◆ getAngle()
+ +
+
+
+
+
+
+
| def getAngle | +( | ++ | self, | +
| + | + | + | other | +
| + | ) | ++ |
+
+
+◆ getDistance()
+ +
+
+
+
+
+
+
| float getDistance | +( | ++ | self, | +
| + | + | + | other | +
| + | ) | ++ |
+
+
+◆ getX()
+ +
+
+
+
+
+
+
| float getX | +( | ++ | self | ) | ++ |
+
+
+◆ getY()
+ +
+
+
+
+
+
+
| float getY | +( | ++ | self | ) | ++ |
+
+
+◆ scale()
+ +
+
+
+
+
+
+
| None scale | +( | ++ | self, | +
| + | + | float | +scaleFactor | +
| + | ) | ++ |
+
+
+◆ scaleX()
+ +
+
+
+
+
+
+
| None scaleX | +( | ++ | self, | +
| + | + | float | +scaleFactor | +
| + | ) | ++ |
+
+
+◆ scaleY()
+ +
+
+
+
+
+
+
| None scaleY | +( | ++ | self, | +
| + | + | float | +scaleFactor | +
| + | ) | ++ |
+
+
+◆ sub()
+ +
+
+
+
+
+
| None sub | +( | ++ | self, | +
| + | + | float | +dx, | +
| + | + | float | +dy | +
| + | ) | ++ |
+
+
+Member Data Documentation
+ +◆ x
+ +
+
+
+
+
+
+
| x | +
+
+
+◆ y
+ +
+
+
+
+
+
| y | +
+
+
+
+
+
+
diff --git a/doc/html/class_coord_1_1_cart_coord.js b/doc/html/class_coord_1_1_cart_coord.js
new file mode 100644
index 0000000..acd1bdd
--- /dev/null
+++ b/doc/html/class_coord_1_1_cart_coord.js
@@ -0,0 +1,18 @@
+var class_coord_1_1_cart_coord =
+[
+ [ "__init__", "class_coord_1_1_cart_coord.html#abccb4447212ff86e5d232682050b743c", null ],
+ [ "__str__", "class_coord_1_1_cart_coord.html#a23e8041ce1015febe4fdace3225714f9", null ],
+ [ "add", "class_coord_1_1_cart_coord.html#ac158a01135b092bd40f1f52f7ba606a0", null ],
+ [ "addCoord", "class_coord_1_1_cart_coord.html#abf0cffdf5d7c9541d7835543474cfb33", null ],
+ [ "asTuple", "class_coord_1_1_cart_coord.html#a089eb0274b6e3569800bc4df2c1856a5", null ],
+ [ "getAngle", "class_coord_1_1_cart_coord.html#a5116776fb71b488b73a26117a590e4f1", null ],
+ [ "getDistance", "class_coord_1_1_cart_coord.html#a52b0dfb6137418e667a29a3d6f38381f", null ],
+ [ "getX", "class_coord_1_1_cart_coord.html#ad53ca4fe02199dd659e4263dabedcbc2", null ],
+ [ "getY", "class_coord_1_1_cart_coord.html#aab0c980e953aa02722d5d985aeba649f", null ],
+ [ "scale", "class_coord_1_1_cart_coord.html#ab59c8af84ef521a147c726904703c8b0", null ],
+ [ "scaleX", "class_coord_1_1_cart_coord.html#af98adc2273ee467719863568b65d1294", null ],
+ [ "scaleY", "class_coord_1_1_cart_coord.html#a3eb779a8ba87a0bfcff18d97a54abed4", null ],
+ [ "sub", "class_coord_1_1_cart_coord.html#acc3259cd47f8262a8a3e65f59ee36acf", null ],
+ [ "x", "class_coord_1_1_cart_coord.html#a9336ebf25087d91c818ee6e9ec29f8c1", null ],
+ [ "y", "class_coord_1_1_cart_coord.html#a2fb1c5cf58867b5bbc9a1b145a86f3a0", null ]
+];
\ No newline at end of file
diff --git a/doc/html/class_coord_1_1_polar_coord-members.html b/doc/html/class_coord_1_1_polar_coord-members.html
new file mode 100644
index 0000000..d95f1fd
--- /dev/null
+++ b/doc/html/class_coord_1_1_polar_coord-members.html
@@ -0,0 +1,110 @@
+
+
+
+
+
+
+
+-
+
+
- Generated on Thu May 5 2022 00:51:38 for RAW-ROAM by 1.9.3
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ RAW-ROAM
+
+ Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+PolarCoord Member List
+
+
+
+This is the complete list of members for PolarCoord, including all inherited members.
+| __init__(self, float r, float theta) | PolarCoord | |
| __str__(self) | PolarCoord | |
| asTuple(self) | PolarCoord | |
| getR(self) | PolarCoord | |
| getTheta(self) | PolarCoord | |
| r | PolarCoord | |
| scaleR(self, scaleFactor) | PolarCoord | |
| theta | PolarCoord | |
| toCart(self) | PolarCoord |
+
+
+
diff --git a/doc/html/class_coord_1_1_polar_coord.html b/doc/html/class_coord_1_1_polar_coord.html
new file mode 100644
index 0000000..5b3e77d
--- /dev/null
+++ b/doc/html/class_coord_1_1_polar_coord.html
@@ -0,0 +1,312 @@
+
+
+
+
+
+
+
+-
+
- Generated on Thu May 5 2022 00:51:39 for RAW-ROAM by 1.9.3
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ RAW-ROAM
+
+ Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+PolarCoord Class Reference
+
+
+
+
++Public Member Functions | |
| def | __init__ (self, float r, float theta) |
| def | __str__ (self) |
| float | getR (self) |
| float | getTheta (self) |
| None | scaleR (self, scaleFactor) |
| CartCoord | toCart (self) |
| tuple | asTuple (self) |
+Public Attributes | |
| r | |
| theta | |
Detailed Description
+Creates a point on a Cartesian coordinate plane with values x and y.
Constructor & Destructor Documentation
+ +◆ __init__()
+ +
+
+
+
+
+
| def __init__ | +( | ++ | self, | +
| + | + | float | +r, | +
| + | + | float | +theta | +
| + | ) | ++ |
+
+Defines x and y variables+
Member Function Documentation
+ +◆ __str__()
+ +
+
+
+
+
+
+
| def __str__ | +( | ++ | self | ) | ++ |
+
+
+◆ asTuple()
+ +
+
+
+
+
+
+
| tuple asTuple | +( | ++ | self | ) | ++ |
+
+
+◆ getR()
+ +
+
+
+
+
+
+
| float getR | +( | ++ | self | ) | ++ |
+
+
+◆ getTheta()
+ +
+
+
+
+
+
+
| float getTheta | +( | ++ | self | ) | ++ |
+
+
+◆ scaleR()
+ +
+
+
+
+
+
+
| None scaleR | +( | ++ | self, | +
| + | + | + | scaleFactor | +
| + | ) | ++ |
+
+
+◆ toCart()
+ +
+
+
+
+
+
| CartCoord toCart | +( | ++ | self | ) | ++ |
+
+
+Member Data Documentation
+ +◆ r
+ +
+
+
+
+
+
+
| r | +
+
+
+◆ theta
+ +
+
+
+
+
+
| theta | +
+
+
+
+
+
+
diff --git a/doc/html/class_coord_1_1_polar_coord.js b/doc/html/class_coord_1_1_polar_coord.js
new file mode 100644
index 0000000..7d82098
--- /dev/null
+++ b/doc/html/class_coord_1_1_polar_coord.js
@@ -0,0 +1,12 @@
+var class_coord_1_1_polar_coord =
+[
+ [ "__init__", "class_coord_1_1_polar_coord.html#a0304e8d786206153c1e8280834562d07", null ],
+ [ "__str__", "class_coord_1_1_polar_coord.html#a23e8041ce1015febe4fdace3225714f9", null ],
+ [ "asTuple", "class_coord_1_1_polar_coord.html#a089eb0274b6e3569800bc4df2c1856a5", null ],
+ [ "getR", "class_coord_1_1_polar_coord.html#a825c5e22cef04b24de421e2aa38e783f", null ],
+ [ "getTheta", "class_coord_1_1_polar_coord.html#ad54274926ee132aa66a6a883d9bc15cf", null ],
+ [ "scaleR", "class_coord_1_1_polar_coord.html#a6c67b38af655d81a01450f9aa2575153", null ],
+ [ "toCart", "class_coord_1_1_polar_coord.html#a174b43f651e4e95e432fddb5b4183829", null ],
+ [ "r", "class_coord_1_1_polar_coord.html#a514f1b439f404f86f77090fa9edc96ce", null ],
+ [ "theta", "class_coord_1_1_polar_coord.html#aebf487f5d315cb61f0bd86455edff1fd", null ]
+];
\ No newline at end of file
diff --git a/doc/html/class_mapping_1_1_keyframe-members.html b/doc/html/class_mapping_1_1_keyframe-members.html
new file mode 100644
index 0000000..f1830e8
--- /dev/null
+++ b/doc/html/class_mapping_1_1_keyframe-members.html
@@ -0,0 +1,115 @@
+
+
+
+
+
+
+
+-
+
+
- Generated on Thu May 5 2022 00:51:38 for RAW-ROAM by 1.9.3
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ RAW-ROAM
+
+ Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Keyframe Member List
+
+
+
+This is the complete list of members for Keyframe, including all inherited members.
+| __init__(self, np.ndarray globalPose, np.ndarray featurePointsLocal, np.ndarray radarPolarImg, np.ndarray velocity) | Keyframe | |
| convertFeaturesLocalToGlobal(self, np.ndarray featurePointsLocal) | Keyframe | |
| copyFromOtherKeyframe(self, keyframe) | Keyframe | |
| featurePointsLocal | Keyframe | |
| featurePointsLocalUndistorted | Keyframe | |
| getPrunedFeaturesGlobalPosition(self) | Keyframe | |
| pointCloud | Keyframe | |
| pose | Keyframe | |
| prunedFeaturePoints | Keyframe | |
| prunedUndistortedLocals | Keyframe | |
| pruneFeaturePoints(self, np.ndarray corrStatus) | Keyframe | |
| radarPolarImg | Keyframe | |
| updateInfo(self, np.ndarray globalPose, np.ndarray featurePointsLocal, np.ndarray radarPolarImg, np.ndarray velocity) | Keyframe | |
| velocity | Keyframe |
+
+
+
diff --git a/doc/html/class_mapping_1_1_keyframe.html b/doc/html/class_mapping_1_1_keyframe.html
new file mode 100644
index 0000000..b101ae8
--- /dev/null
+++ b/doc/html/class_mapping_1_1_keyframe.html
@@ -0,0 +1,470 @@
+
+
+
+
+
+
+
+-
+
- Generated on Thu May 5 2022 00:51:39 for RAW-ROAM by 1.9.3
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ RAW-ROAM
+
+ Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Keyframe Class Reference
+
+
+
+
++Public Member Functions | |
| None | __init__ (self, np.ndarray globalPose, np.ndarray featurePointsLocal, np.ndarray radarPolarImg, np.ndarray velocity) |
| None | updateInfo (self, np.ndarray globalPose, np.ndarray featurePointsLocal, np.ndarray radarPolarImg, np.ndarray velocity) |
| None | copyFromOtherKeyframe (self, keyframe) |
| np.ndarray | convertFeaturesLocalToGlobal (self, np.ndarray featurePointsLocal) |
| np.ndarray | getPrunedFeaturesGlobalPosition (self) |
| None | pruneFeaturePoints (self, np.ndarray corrStatus) |
+Public Attributes | |
| pose | |
| radarPolarImg | |
| featurePointsLocal | |
| prunedFeaturePoints | |
| pointCloud | |
| velocity | |
| featurePointsLocalUndistorted | |
| prunedUndistortedLocals | |
Constructor & Destructor Documentation
+ +◆ __init__()
+ +
+
+
+
+
+
| None __init__ | +( | ++ | self, | +
| + | + | np.ndarray | +globalPose, | +
| + | + | np.ndarray | +featurePointsLocal, | +
| + | + | np.ndarray | +radarPolarImg, | +
| + | + | np.ndarray | +velocity | +
| + | ) | ++ |
+
+@brief Keyframe class. Contains pose, feature points and point cloud information +@param[in] globalPose (3 x 1) Pose information [x, y, th] in global coordinates, + units of [m, m, rad] # TODO: Confirm these units +@param[in] featurePointsLocal (K x 2) Tracked feature points from previous keyframe, + in local coordinates (pixels) +@param[in] radarPolarImg (M x N) Radar polar (range-azimuth) image + +@see updateInfo() ++
Member Function Documentation
+ +◆ convertFeaturesLocalToGlobal()
+ +
+
+
+
+
+
+
| np.ndarray convertFeaturesLocalToGlobal | +( | ++ | self, | +
| + | + | np.ndarray | +featurePointsLocal | +
| + | ) | ++ |
+
+@brief Local feature points to convert into global coordinates, given internal pose +@param[in] featurePointsLocal (K x 2) Tracked feature points from previous keyframe, + in local coordinates (pixels) +@return featurePointsGlobal (K x 2) Feature points in global coordinates, meters ++
◆ copyFromOtherKeyframe()
+ +
+
+
+
+
+
+
| None copyFromOtherKeyframe | +( | ++ | self, | +
| + | + | + | keyframe | +
| + | ) | ++ |
+
+
+◆ getPrunedFeaturesGlobalPosition()
+ +
+
+
+
+
+
+
| np.ndarray getPrunedFeaturesGlobalPosition | +( | ++ | self | ) | ++ |
+
+@brief Get global position of pruned features (stored internally) +@return Global position of pruned features (K x 2) ++
◆ pruneFeaturePoints()
+ +
+
+
+
+
+
+
| None pruneFeaturePoints | +( | ++ | self, | +
| + | + | np.ndarray | +corrStatus | +
| + | ) | ++ |
+
+@brief Prune feature points based on correspondence status +@param[in] corrStatus +@note In place changing of `self.prunedFeaturePoints` function, which aims to track and prune away the feature points that are part of this keyframe ++
◆ updateInfo()
+ +
+
+
+
+
+
| None updateInfo | +( | ++ | self, | +
| + | + | np.ndarray | +globalPose, | +
| + | + | np.ndarray | +featurePointsLocal, | +
| + | + | np.ndarray | +radarPolarImg, | +
| + | + | np.ndarray | +velocity | +
| + | ) | ++ |
+
+@brief Update internal information: pose, feature points and point cloud information +@param[in] globalPose (3 x 1) Pose information [x, y, th] in global coordinates, + units of [m, m, rad] # TODO: Confirm these units +@param[in] featurePointsLocal (K x 2) Tracked feature points from previous keyframe, + in local coordinates (pixels) +@param[in] radarPolarImg (M x N) Radar polar (range-azimuth) image ++
Member Data Documentation
+ +◆ featurePointsLocal
+ +
+
+
+
+
+
+
| featurePointsLocal | +
+
+
+◆ featurePointsLocalUndistorted
+ +
+
+
+
+
+
+
| featurePointsLocalUndistorted | +
+
+
+◆ pointCloud
+ +
+
+
+
+
+
+
| pointCloud | +
+
+
+◆ pose
+ +
+
+
+
+
+
+
| pose | +
+
+
+◆ prunedFeaturePoints
+ +
+
+
+
+
+
+
| prunedFeaturePoints | +
+
+
+◆ prunedUndistortedLocals
+ +
+
+
+
+
+
+
| prunedUndistortedLocals | +
+
+
+◆ radarPolarImg
+ +
+
+
+
+
+
+
| radarPolarImg | +
+
+
+◆ velocity
+ +
+
+
+
+
+
| velocity | +
+
+
+
+
+
+
diff --git a/doc/html/class_mapping_1_1_keyframe.js b/doc/html/class_mapping_1_1_keyframe.js
new file mode 100644
index 0000000..d1b0678
--- /dev/null
+++ b/doc/html/class_mapping_1_1_keyframe.js
@@ -0,0 +1,17 @@
+var class_mapping_1_1_keyframe =
+[
+ [ "__init__", "class_mapping_1_1_keyframe.html#ab50c2d12f6ba6f7013e2e09dc7104cea", null ],
+ [ "convertFeaturesLocalToGlobal", "class_mapping_1_1_keyframe.html#a415d52be7be81fd08afe59b1f5d5f9d0", null ],
+ [ "copyFromOtherKeyframe", "class_mapping_1_1_keyframe.html#a90e0f7f754575a4561f5485033860a1d", null ],
+ [ "getPrunedFeaturesGlobalPosition", "class_mapping_1_1_keyframe.html#a303cd2587f0d363c0cb55441f9e300bd", null ],
+ [ "pruneFeaturePoints", "class_mapping_1_1_keyframe.html#a796d47daedb509f711f32670dcc56204", null ],
+ [ "updateInfo", "class_mapping_1_1_keyframe.html#ae98897aae59622e52c1e12f602c6893f", null ],
+ [ "featurePointsLocal", "class_mapping_1_1_keyframe.html#ae336e904e1abb473dc7527fd2e48d8bb", null ],
+ [ "featurePointsLocalUndistorted", "class_mapping_1_1_keyframe.html#a05e8255630d01c3245aee8388687031e", null ],
+ [ "pointCloud", "class_mapping_1_1_keyframe.html#aa8c7a28ed457095b58a6fc21c3beb218", null ],
+ [ "pose", "class_mapping_1_1_keyframe.html#a78b2a3e80010e80c618c3033d6d11547", null ],
+ [ "prunedFeaturePoints", "class_mapping_1_1_keyframe.html#a7555a7153bea157ba766d90f8a357ac7", null ],
+ [ "prunedUndistortedLocals", "class_mapping_1_1_keyframe.html#a2b11eb8819c3458601190586c033134c", null ],
+ [ "radarPolarImg", "class_mapping_1_1_keyframe.html#a4b406a56724e048b3fa039dd55390f9b", null ],
+ [ "velocity", "class_mapping_1_1_keyframe.html#aecfeca1289d00fbe5fc76a8dd5295913", null ]
+];
\ No newline at end of file
diff --git a/doc/html/class_mapping_1_1_map-members.html b/doc/html/class_mapping_1_1_map-members.html
new file mode 100644
index 0000000..e6ff8fd
--- /dev/null
+++ b/doc/html/class_mapping_1_1_map-members.html
@@ -0,0 +1,113 @@
+
+
+
+
+
+
+
+-
+
+
- Generated on Thu May 5 2022 00:51:39 for RAW-ROAM by 1.9.3
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ RAW-ROAM
+
+ Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Map Member List
+
+
+
+This is the complete list of members for Map, including all inherited members.
+| __init__(self, str sequenceName, Trajectory estTraj, list[str] imgPathArr, dict[str] filePaths) | Map | |
| addKeyframe(self, Keyframe keyframe) | Map | |
| estTraj | Map | |
| filePaths | Map | |
| imgPathArr | Map | |
| isGoodKeyframe(self, Keyframe keyframe) | Map | |
| keyframes | Map | |
| mapPoints | Map | |
| plot(self, plt.figure fig, int subsampleFactor=5, bool show=False) | Map | |
| sequenceName | Map | |
| sequenceSize | Map | |
| updateInternalTraj(self, Trajectory traj) | Map |
+
+
+
diff --git a/doc/html/class_mapping_1_1_map.html b/doc/html/class_mapping_1_1_map.html
new file mode 100644
index 0000000..7f5bf82
--- /dev/null
+++ b/doc/html/class_mapping_1_1_map.html
@@ -0,0 +1,414 @@
+
+
+
+
+
+
+
+-
+
- Generated on Thu May 5 2022 00:51:39 for RAW-ROAM by 1.9.3
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ RAW-ROAM
+
+ Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Map Class Reference
+
+
+
+
++Public Member Functions | |
| None | __init__ (self, str sequenceName, Trajectory estTraj, list[str] imgPathArr, dict[str] filePaths) |
| def | updateInternalTraj (self, Trajectory traj) |
| bool | isGoodKeyframe (self, Keyframe keyframe) |
| None | addKeyframe (self, Keyframe keyframe) |
| None | plot (self, plt.figure fig, int subsampleFactor=5, bool show=False) |
+Public Attributes | |
| sequenceName | |
| imgPathArr | |
| sequenceSize | |
| filePaths | |
| estTraj | |
| mapPoints | |
| keyframes | |
Constructor & Destructor Documentation
+ +◆ __init__()
+ +
+
+
+
+
+
| None __init__ | +( | ++ | self, | +
| + | + | str | +sequenceName, | +
| + | + | Trajectory | +estTraj, | +
| + | + | list[str] | +imgPathArr, | +
| + | + | dict[str] | +filePaths | +
| + | ) | ++ |
+
+
+Member Function Documentation
+ +◆ addKeyframe()
+ +
+
+
+
+
+
+
| None addKeyframe | +( | ++ | self, | +
| + | + | Keyframe | +keyframe | +
| + | ) | ++ |
+
+@brief Add a keyframe to the running pose graph +@param[in] keyframe Keyframe to add ++
◆ isGoodKeyframe()
+ +
+
+
+
+
+
+
| bool isGoodKeyframe | +( | ++ | self, | +
| + | + | Keyframe | +keyframe | +
| + | ) | ++ |
+
+@brief Check if a keyframe is good for adding using information about relative rotation and translation +@return If keyframe passes checks ++
◆ plot()
+ +
+
+
+
+
+
+
| None plot | +( | ++ | self, | +
| + | + | plt.figure | +fig, | +
| + | + | int | +subsampleFactor = 5, |
+
| + | + | bool | +show = False |
+
| + | ) | ++ |
+
+@brief Plot map points on plt figure +@param[in] fig plt figure to plot on @todo Currently unused +@param[in] subsampleFactor Subsampling amount to do for feature points plotting + Controls density of plotted points. Higher = less dense +@param[in] show Whether to plt.show() ++
◆ updateInternalTraj()
+ +
+
+
+
+
+
| def updateInternalTraj | +( | ++ | self, | +
| + | + | Trajectory | +traj | +
| + | ) | ++ |
+
+
+Member Data Documentation
+ +◆ estTraj
+ +
+
+
+
+
+
+
| estTraj | +
+
+
+◆ filePaths
+ +
+
+
+
+
+
+
| filePaths | +
+
+
+◆ imgPathArr
+ +
+
+
+
+
+
+
| imgPathArr | +
+
+
+◆ keyframes
+ +
+
+
+
+
+
+
| keyframes | +
+
+
+◆ mapPoints
+ +
+
+
+
+
+
+
| mapPoints | +
+
+
+◆ sequenceName
+ +
+
+
+
+
+
+
| sequenceName | +
+
+
+◆ sequenceSize
+ +
+
+
+
+
+
| sequenceSize | +
+
+
+
+
+
+
diff --git a/doc/html/class_mapping_1_1_map.js b/doc/html/class_mapping_1_1_map.js
new file mode 100644
index 0000000..2ae65cb
--- /dev/null
+++ b/doc/html/class_mapping_1_1_map.js
@@ -0,0 +1,15 @@
+var class_mapping_1_1_map =
+[
+ [ "__init__", "class_mapping_1_1_map.html#a4badc56bb5b8b58a6014c37755298e21", null ],
+ [ "addKeyframe", "class_mapping_1_1_map.html#aab2cc502236200b5db10f3f1279c5f1f", null ],
+ [ "isGoodKeyframe", "class_mapping_1_1_map.html#a10ef9dd0d4ce2784093b0738c27081e4", null ],
+ [ "plot", "class_mapping_1_1_map.html#a2f4804050397d59933e98f778bbbfef6", null ],
+ [ "updateInternalTraj", "class_mapping_1_1_map.html#a71b2362e9de31ea699a730abaa8f3cd6", null ],
+ [ "estTraj", "class_mapping_1_1_map.html#a8d5e95f4d6054db64fd36facd315f2e6", null ],
+ [ "filePaths", "class_mapping_1_1_map.html#ac133126788d5db734ec6f70884178ea8", null ],
+ [ "imgPathArr", "class_mapping_1_1_map.html#a8d579ebe0582eed800eb106350236c4a", null ],
+ [ "keyframes", "class_mapping_1_1_map.html#a8ce2f0b893bb0be63c6e98aa3f2a0233", null ],
+ [ "mapPoints", "class_mapping_1_1_map.html#a2b1c4b0bf8907122b4696c04f05a72ce", null ],
+ [ "sequenceName", "class_mapping_1_1_map.html#ada038ff63190b4fbc01af8dace29ec1f", null ],
+ [ "sequenceSize", "class_mapping_1_1_map.html#a8ef2335bbb2c7c07c8e2b35959b03c52", null ]
+];
\ No newline at end of file
diff --git a/doc/html/class_pose_graph_lib_1_1_bundle_adjustment-members.html b/doc/html/class_pose_graph_lib_1_1_bundle_adjustment-members.html
new file mode 100644
index 0000000..0502dee
--- /dev/null
+++ b/doc/html/class_pose_graph_lib_1_1_bundle_adjustment-members.html
@@ -0,0 +1,108 @@
+
+
+
+
+
+
+
+-
+
+
- Generated on Thu May 5 2022 00:51:39 for RAW-ROAM by 1.9.3
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ RAW-ROAM
+
+ Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+BundleAdjustment Member List
+
+
+
+This is the complete list of members for BundleAdjustment, including all inherited members.
+| __init__(self) | BundleAdjustment | |
| add_edge(self, point_id, pose_id, measurement, information=np.eye(2), robust_kernel=g2o.RobustKernelHuber(np.sqrt(5.991))) | BundleAdjustment | |
| add_point(self, point_id, point, fixed=False, marginalized=True) | BundleAdjustment | |
| add_pose(self, pose_id, pose, cam, fixed=False) | BundleAdjustment | |
| get_point(self, point_id) | BundleAdjustment | |
| get_pose(self, pose_id) | BundleAdjustment | |
| optimize(self, max_iterations=10) | BundleAdjustment |
+
+
+
diff --git a/doc/html/class_pose_graph_lib_1_1_bundle_adjustment.html b/doc/html/class_pose_graph_lib_1_1_bundle_adjustment.html
new file mode 100644
index 0000000..d55596f
--- /dev/null
+++ b/doc/html/class_pose_graph_lib_1_1_bundle_adjustment.html
@@ -0,0 +1,369 @@
+
+
+
+
+
+
+
+-
+
- Generated on Thu May 5 2022 00:51:39 for RAW-ROAM by 1.9.3
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ RAW-ROAM
+
+ Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+BundleAdjustment Class Reference
+
+
+
++Public Member Functions | |
| def | __init__ (self) |
| def | optimize (self, max_iterations=10) |
| def | add_pose (self, pose_id, pose, cam, fixed=False) |
| def | add_point (self, point_id, point, fixed=False, marginalized=True) |
| def | add_edge (self, point_id, pose_id, measurement, information=np.eye(2), robust_kernel=g2o.RobustKernelHuber(np.sqrt(5.991))) |
| def | get_pose (self, pose_id) |
| def | get_point (self, point_id) |
Constructor & Destructor Documentation
+ +◆ __init__()
+ +
+
+
+
+
+
| def __init__ | +( | ++ | self | ) | ++ |
+
+
+Member Function Documentation
+ +◆ add_edge()
+ +
+
+
+
+
+
+
| def add_edge | +( | ++ | self, | +
| + | + | + | point_id, | +
| + | + | + | pose_id, | +
| + | + | + | measurement, | +
| + | + | + | information = np.eye(2), |
+
| + | + | + | robust_kernel = g2o.RobustKernelHuber(
+ np.sqrt(5.991)) |
+
| + | ) | ++ |
+
+
+◆ add_point()
+ +
+
+
+
+
+
+
| def add_point | +( | ++ | self, | +
| + | + | + | point_id, | +
| + | + | + | point, | +
| + | + | + | fixed = False, |
+
| + | + | + | marginalized = True |
+
| + | ) | ++ |
+
+
+◆ add_pose()
+ +
+
+
+
+
+
+
| def add_pose | +( | ++ | self, | +
| + | + | + | pose_id, | +
| + | + | + | pose, | +
| + | + | + | cam, | +
| + | + | + | fixed = False |
+
| + | ) | ++ |
+
+
+◆ get_point()
+ +
+
+
+
+
+
+
| def get_point | +( | ++ | self, | +
| + | + | + | point_id | +
| + | ) | ++ |
+
+
+◆ get_pose()
+ +
+
+
+
+
+
+
| def get_pose | +( | ++ | self, | +
| + | + | + | pose_id | +
| + | ) | ++ |
+
+
+◆ optimize()
+ +
+
+
+
+
+
| def optimize | +( | ++ | self, | +
| + | + | + | max_iterations = 10 |
+
| + | ) | ++ |
+
+
+
+
+
+
diff --git a/doc/html/class_pose_graph_lib_1_1_bundle_adjustment.js b/doc/html/class_pose_graph_lib_1_1_bundle_adjustment.js
new file mode 100644
index 0000000..8a90bf7
--- /dev/null
+++ b/doc/html/class_pose_graph_lib_1_1_bundle_adjustment.js
@@ -0,0 +1,10 @@
+var class_pose_graph_lib_1_1_bundle_adjustment =
+[
+ [ "__init__", "class_pose_graph_lib_1_1_bundle_adjustment.html#ae64f0875afe3067b97ba370b354b9213", null ],
+ [ "add_edge", "class_pose_graph_lib_1_1_bundle_adjustment.html#afd2f2f2c53ede9e8de84f631d89d0a4d", null ],
+ [ "add_point", "class_pose_graph_lib_1_1_bundle_adjustment.html#a6fd42378608542f13e1c2492cfb7dd74", null ],
+ [ "add_pose", "class_pose_graph_lib_1_1_bundle_adjustment.html#a9a15c780e8d512f3252c1a8f9764bfc2", null ],
+ [ "get_point", "class_pose_graph_lib_1_1_bundle_adjustment.html#adbdf5c885f53f5d357c6ef664aa0b1a7", null ],
+ [ "get_pose", "class_pose_graph_lib_1_1_bundle_adjustment.html#a9f3d0b5aea3681f1c07d7f88111f537e", null ],
+ [ "optimize", "class_pose_graph_lib_1_1_bundle_adjustment.html#acb41507945373592650a226a5c330e4e", null ]
+];
\ No newline at end of file
diff --git a/doc/html/class_pose_graph_lib_1_1_pose_graph_optimization-members.html b/doc/html/class_pose_graph_lib_1_1_pose_graph_optimization-members.html
new file mode 100644
index 0000000..d445079
--- /dev/null
+++ b/doc/html/class_pose_graph_lib_1_1_pose_graph_optimization-members.html
@@ -0,0 +1,106 @@
+
+
+
+
+
+
+
+-
+
+
- Generated on Thu May 5 2022 00:51:39 for RAW-ROAM by 1.9.3
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ RAW-ROAM
+
+ Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+PoseGraphOptimization Member List
+
+
+
+This is the complete list of members for PoseGraphOptimization, including all inherited members.
+| __init__(self) | PoseGraphOptimization | |
| add_edge(self, vertices, measurement, information=np.eye(6), robust_kernel=None) | PoseGraphOptimization | |
| add_vertex(self, id, pose, fixed=False) | PoseGraphOptimization | |
| get_pose(self, id) | PoseGraphOptimization | |
| optimize(self, max_iterations=20) | PoseGraphOptimization |
+
+
+
diff --git a/doc/html/class_pose_graph_lib_1_1_pose_graph_optimization.html b/doc/html/class_pose_graph_lib_1_1_pose_graph_optimization.html
new file mode 100644
index 0000000..dd9d8ae
--- /dev/null
+++ b/doc/html/class_pose_graph_lib_1_1_pose_graph_optimization.html
@@ -0,0 +1,278 @@
+
+
+
+
+
+
+
+-
+
- Generated on Thu May 5 2022 00:51:39 for RAW-ROAM by 1.9.3
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ RAW-ROAM
+
+ Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+PoseGraphOptimization Class Reference
+
+
+
++Public Member Functions | |
| def | __init__ (self) |
| def | optimize (self, max_iterations=20) |
| def | add_vertex (self, id, pose, fixed=False) |
| def | add_edge (self, vertices, measurement, information=np.eye(6), robust_kernel=None) |
| def | get_pose (self, id) |
Constructor & Destructor Documentation
+ +◆ __init__()
+ +
+
+
+
+
+
| def __init__ | +( | ++ | self | ) | ++ |
+
+
+Member Function Documentation
+ +◆ add_edge()
+ +
+
+
+
+
+
+
| def add_edge | +( | ++ | self, | +
| + | + | + | vertices, | +
| + | + | + | measurement, | +
| + | + | + | information = np.eye(6), |
+
| + | + | + | robust_kernel = None |
+
| + | ) | ++ |
+
+
+◆ add_vertex()
+ +
+
+
+
+
+
+
| def add_vertex | +( | ++ | self, | +
| + | + | + | id, | +
| + | + | + | pose, | +
| + | + | + | fixed = False |
+
| + | ) | ++ |
+
+
+◆ get_pose()
+ +
+
+
+
+
+
+
| def get_pose | +( | ++ | self, | +
| + | + | + | id | +
| + | ) | ++ |
+
+
+◆ optimize()
+ +
+
+
+
+
+
| def optimize | +( | ++ | self, | +
| + | + | + | max_iterations = 20 |
+
| + | ) | ++ |
+
+
+
+
+
+
diff --git a/doc/html/class_pose_graph_lib_1_1_pose_graph_optimization.js b/doc/html/class_pose_graph_lib_1_1_pose_graph_optimization.js
new file mode 100644
index 0000000..e2c4b1a
--- /dev/null
+++ b/doc/html/class_pose_graph_lib_1_1_pose_graph_optimization.js
@@ -0,0 +1,8 @@
+var class_pose_graph_lib_1_1_pose_graph_optimization =
+[
+ [ "__init__", "class_pose_graph_lib_1_1_pose_graph_optimization.html#ae64f0875afe3067b97ba370b354b9213", null ],
+ [ "add_edge", "class_pose_graph_lib_1_1_pose_graph_optimization.html#a6a199750c0620c6a47c7b455c27f3625", null ],
+ [ "add_vertex", "class_pose_graph_lib_1_1_pose_graph_optimization.html#a822c2871ea7b5f9131d36e4b7ebd239b", null ],
+ [ "get_pose", "class_pose_graph_lib_1_1_pose_graph_optimization.html#a8b1e208660dd8873de527e140998d048", null ],
+ [ "optimize", "class_pose_graph_lib_1_1_pose_graph_optimization.html#af7e7eb351601c9a4569e9bf1566035a5", null ]
+];
\ No newline at end of file
diff --git a/doc/html/class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system-members.html b/doc/html/class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system-members.html
new file mode 100644
index 0000000..8930f7d
--- /dev/null
+++ b/doc/html/class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system-members.html
@@ -0,0 +1,119 @@
+
+
+
+
+
+
+
+-
+
+
- Generated on Thu May 5 2022 00:51:39 for RAW-ROAM by 1.9.3
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ RAW-ROAM
+
+ Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+RawROAMSystem Member List
+
+
+
+This is the complete list of members for RawROAMSystem, including all inherited members.
+| __init__(self, str sequenceName, bool paramFlags=dict(), bool hasGroundTruth=True) | RawROAMSystem | |
| estTraj | RawROAMSystem | |
| fig | RawROAMSystem | |
| filePaths | RawROAMSystem | |
| gtTraj | RawROAMSystem | |
| hasGroundTruth | RawROAMSystem | |
| imgPathArr | RawROAMSystem | |
| map | RawROAMSystem | |
| paramFlags | RawROAMSystem | |
| plot(self, np.ndarray prevImg, np.ndarray currImg, np.ndarray good_old, np.ndarray good_new, np.ndarray R, np.ndarray h, np.ndarray seqInd, bool plotMapPoints=True, bool useArrow=False, bool save=True, bool show=False) | RawROAMSystem | |
| plotTraj(self, int seqInd, np.ndarray R, np.ndarray h, bool useArrow=False, bool save=False, bool show=False) | RawROAMSystem | |
| run(self, int startSeqInd=0, int endSeqInd=-1) | RawROAMSystem | |
| sequenceName | RawROAMSystem | |
| sequenceSize | RawROAMSystem | |
| tracker | RawROAMSystem | |
| updateTrajectory(self, np.ndarray R, np.ndarray h, np.ndarray seqInd) | RawROAMSystem | |
| updateTrajectoryAbsolute(self, np.ndarray pose_vector, int seqInd) | RawROAMSystem | |
| updateTrajFromTracker(self) | RawROAMSystem |
+
+
+
diff --git a/doc/html/class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html b/doc/html/class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html
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+
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+
- Generated on Thu May 5 2022 00:51:39 for RAW-ROAM by 1.9.3
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+
+
+
+
+
+
+
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+
+
+
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+
+|
+ RAW-ROAM
+
+ Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+RawROAMSystem Class Reference
+
+
+
+
++Public Member Functions | |
| None | __init__ (self, str sequenceName, bool paramFlags=dict(), bool hasGroundTruth=True) |
| def | updateTrajFromTracker (self) |
| None | run (self, int startSeqInd=0, int endSeqInd=-1) |
| None | updateTrajectory (self, np.ndarray R, np.ndarray h, np.ndarray seqInd) |
| None | updateTrajectoryAbsolute (self, np.ndarray pose_vector, int seqInd) |
| None | plot (self, np.ndarray prevImg, np.ndarray currImg, np.ndarray good_old, np.ndarray good_new, np.ndarray R, np.ndarray h, np.ndarray seqInd, bool plotMapPoints=True, bool useArrow=False, bool save=True, bool show=False) |
| None | plotTraj (self, int seqInd, np.ndarray R, np.ndarray h, bool useArrow=False, bool save=False, bool show=False) |
+Public Attributes | |
| sequenceName | |
| paramFlags | |
| hasGroundTruth | |
| imgPathArr | |
| sequenceSize | |
| filePaths | |
| fig | |
| gtTraj | |
| estTraj | |
| tracker | |
| map | |
Constructor & Destructor Documentation
+ +◆ __init__()
+ +
+
+
+
+
+
| None __init__ | +( | ++ | self, | +
| + | + | str | +sequenceName, | +
| + | + | bool | +paramFlags = dict(), |
+
| + | + | bool | +hasGroundTruth = True |
+
| + | ) | ++ |
+
+@brief Initializer for ROAM system +@param[in] sequenceName Name of sequence. Should be in ./data folder +@param[in] pararmFlags Set of flags indicating turning on and off of certain algorithm features + - rejectOutliers: Whether to use graph-based outlier rejection + - useANMS: Whether to use ANMS + - useFMT: Whether to use FMT to correct things + - correctMotionDistortion: Whether to correct for motion distortion +@param[in] hasGroundTruth Whether sequence has ground truth to be used for plotting @deprecated ++
Member Function Documentation
+ +◆ plot()
+ +
+
+
+
+
+
+
| None plot | +( | ++ | self, | +
| + | + | np.ndarray | +prevImg, | +
| + | + | np.ndarray | +currImg, | +
| + | + | np.ndarray | +good_old, | +
| + | + | np.ndarray | +good_new, | +
| + | + | np.ndarray | +R, | +
| + | + | np.ndarray | +h, | +
| + | + | np.ndarray | +seqInd, | +
| + | + | bool | +plotMapPoints = True, |
+
| + | + | bool | +useArrow = False, |
+
| + | + | bool | +save = True, |
+
| + | + | bool | +show = False |
+
| + | ) | ++ |
+
+@brief Perform global plotting of everything, including trajectory and map points + +@param[in] prevImg (M x N) Previous Cartesian radar image to plot +@param[in] currImg (M x N) Current Cartesian radar image to plot + +@param[in] good_old (K x 2) Good correspondence points from previous image in scan frame +@param[in] good_new (K x 2) Good correspondence points from current image in scan frame + +@param[in] R (2 x 2) rotation matrix +@param[in] h (2 x 1) translation vector +@param[in] seqInd Sequence index + +@param[in] useArrow Whether to plot with arrows/triangles to indicate pose direction. + Otherwise uses plain lines. +@param[in] save Whether to save image as png/jpg +@param[in] show Whether to plt.show image ++
◆ plotTraj()
+ +
+
+
+
+
+
+
| None plotTraj | +( | ++ | self, | +
| + | + | int | +seqInd, | +
| + | + | np.ndarray | +R, | +
| + | + | np.ndarray | +h, | +
| + | + | bool | +useArrow = False, |
+
| + | + | bool | +save = False, |
+
| + | + | bool | +show = False |
+
| + | ) | ++ |
+
+@brief Plot trajectory +@param[in] seqInd Sequence index +@param[in] R (2 x 2) rotation matrix +@param[in] h (2 x 1) translation vector +@param[in] useArrow Whether to plot with arrows/triangles to indicate pose direction. + Otherwise uses plain lines. +@param[in] save Whether to save image as png/jpg +@param[in] show Whether to plt.show image ++
◆ run()
+ +
+
+
+
+
+
+
| None run | +( | ++ | self, | +
| + | + | int | +startSeqInd = 0, |
+
| + | + | int | +endSeqInd = -1 |
+
| + | ) | ++ |
+
+@brief Do a full run the ROAMing algorithm on sequence, + starting from and ending at specified indices, + incrementally calling the @see Tracker.track() function + +@param[in] startImgInd Starting index of sequence. Default 0. +@param[in] startImgInd Ending index of sequence. Default -1. + Negative numbers to indicate end. ++
◆ updateTrajectory()
+ +
+
+
+
+
+
+
| None updateTrajectory | +( | ++ | self, | +
| + | + | np.ndarray | +R, | +
| + | + | np.ndarray | +h, | +
| + | + | np.ndarray | +seqInd | +
| + | ) | ++ |
+
+@brief Update trajectory using R,h matrices + +@param[in] R (2 x 2) rotation matrix +@param[in] h (2 x 1) translation vector +@param[in] seqInd Sequence index, used for visualization/plotting + +@note Updates internal trajectory ++
◆ updateTrajectoryAbsolute()
+ +
+
+
+
+
+
+
| None updateTrajectoryAbsolute | +( | ++ | self, | +
| + | + | np.ndarray | +pose_vector, | +
| + | + | int | +seqInd | +
| + | ) | ++ |
+
+@brief Update trajectory using pose vector + +@param[in] pose_vector (3, ) pose vector +@param[in] seqInd Sequence index, used for visualization/plotting + +@note Updates internal trajectory ++
◆ updateTrajFromTracker()
+ +
+
+
+
+
+
| def updateTrajFromTracker | +( | ++ | self | ) | ++ |
+
+
+Member Data Documentation
+ +◆ estTraj
+ +
+
+
+
+
+
+
| estTraj | +
+
+
+◆ fig
+ +
+
+
+
+
+
+
| fig | +
+
+
+◆ filePaths
+ +
+
+
+
+
+
+
| filePaths | +
+
+
+◆ gtTraj
+ +
+
+
+
+
+
+
| gtTraj | +
+
+
+◆ hasGroundTruth
+ +
+
+
+
+
+
+
| hasGroundTruth | +
+
+
+◆ imgPathArr
+ +
+
+
+
+
+
+
| imgPathArr | +
+
+
+◆ map
+ +
+
+
+
+
+
+
| map | +
+
+
+◆ paramFlags
+ +
+
+
+
+
+
+
| paramFlags | +
+
+
+◆ sequenceName
+ +
+
+
+
+
+
+
| sequenceName | +
+
+
+◆ sequenceSize
+ +
+
+
+
+
+
+
| sequenceSize | +
+
+
+◆ tracker
+ +
+
+
+
+
+
| tracker | +
+
+
+
+
+
+
diff --git a/doc/html/class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.js b/doc/html/class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.js
new file mode 100644
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--- /dev/null
+++ b/doc/html/class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.js
@@ -0,0 +1,21 @@
+var class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system =
+[
+ [ "__init__", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#aaa625e533c1d594cffd5d8032dd3eb17", null ],
+ [ "plot", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#a50adb4e1f5eaab2b5d1fa4f4b9b45652", null ],
+ [ "plotTraj", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#ab609ee8f1ec2225e40bb4c519b7d8c76", null ],
+ [ "run", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#aeb372a8b83527187620cda92e01fcdbd", null ],
+ [ "updateTrajectory", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#a4bfd1fc8e3e6eb9a09ead0e93bc79cdb", null ],
+ [ "updateTrajectoryAbsolute", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#aa3a95039e4a0987c355da8d8ac48eb26", null ],
+ [ "updateTrajFromTracker", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#a01a780439bdd4eed44ec3dc476fcc7c8", null ],
+ [ "estTraj", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#a8d5e95f4d6054db64fd36facd315f2e6", null ],
+ [ "fig", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#a64aa603bc3c6c1587e7c6542452481ac", null ],
+ [ "filePaths", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#ac133126788d5db734ec6f70884178ea8", null ],
+ [ "gtTraj", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#a08c3a4c31d5817521dbdf24631e562c7", null ],
+ [ "hasGroundTruth", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#a9b935ac3b117f5b7bb52024481ca6bde", null ],
+ [ "imgPathArr", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#a8d579ebe0582eed800eb106350236c4a", null ],
+ [ "map", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#a9ec9dda576db2a36c42c1c3af155d07c", null ],
+ [ "paramFlags", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#a4eb076d8bfa712c536ede28c13d7ae7e", null ],
+ [ "sequenceName", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#ada038ff63190b4fbc01af8dace29ec1f", null ],
+ [ "sequenceSize", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#a8ef2335bbb2c7c07c8e2b35959b03c52", null ],
+ [ "tracker", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#abec0b9ee4648af3b77db73e8070f1736", null ]
+];
\ No newline at end of file
diff --git a/doc/html/class_tracker_1_1_tracker-members.html b/doc/html/class_tracker_1_1_tracker-members.html
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+
+
+
+
+
+
+
+-
+
+
- Generated on Thu May 5 2022 00:51:39 for RAW-ROAM by 1.9.3
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ RAW-ROAM
+
+ Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Tracker Member List
+
+
+
+This is the complete list of members for Tracker, including all inherited members.
+| __init__(self, str sequenceName, list[str] imgPathArr, dict[str] filePaths, dict[bool] paramFlags) | Tracker | |
| estTraj | Tracker | |
| filePaths | Tracker | |
| getTransform(self, np.ndarray srcCoord, np.ndarray targetCoord, bool pixel) | Tracker | |
| gtTraj | Tracker | |
| imgPathArr | Tracker | |
| initTraj(self, Trajectory estTraj, Trajectory gtTraj=None) | Tracker | |
| paramFlags | Tracker | |
| plot(self, prevImg, currImg, good_old, good_new, seqInd, save=True, show=False) | Tracker | |
| sequenceName | Tracker | |
| sequenceSize | Tracker | |
| track(self, np.ndarray prevImgCart, np.ndarray currImgCart, np.ndarray prevImgPolar, np.ndarray currImgPolar, np.ndarray featureCoord, int seqInd) | Tracker |
+
+
+
diff --git a/doc/html/class_tracker_1_1_tracker.html b/doc/html/class_tracker_1_1_tracker.html
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+
+
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+-
+
- Generated on Thu May 5 2022 00:51:39 for RAW-ROAM by 1.9.3
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ RAW-ROAM
+
+ Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Tracker Class Reference
+
+
+
+
++Public Member Functions | |
| None | __init__ (self, str sequenceName, list[str] imgPathArr, dict[str] filePaths, dict[bool] paramFlags) |
| def | initTraj (self, Trajectory estTraj, Trajectory gtTraj=None) |
| Tuple[np.ndarray, np.ndarray, np.ndarray] | track (self, np.ndarray prevImgCart, np.ndarray currImgCart, np.ndarray prevImgPolar, np.ndarray currImgPolar, np.ndarray featureCoord, int seqInd) |
| Tuple[np.ndarray, np.ndarray] | getTransform (self, np.ndarray srcCoord, np.ndarray targetCoord, bool pixel) |
| def | plot (self, prevImg, currImg, good_old, good_new, seqInd, save=True, show=False) |
+Public Attributes | |
| sequenceName | |
| imgPathArr | |
| sequenceSize | |
| filePaths | |
| paramFlags | |
| estTraj | |
| gtTraj | |
Constructor & Destructor Documentation
+ +◆ __init__()
+ +
+
+
+
+
+
| None __init__ | +( | ++ | self, | +
| + | + | str | +sequenceName, | +
| + | + | list[str] | +imgPathArr, | +
| + | + | dict[str] | +filePaths, | +
| + | + | dict[bool] | +paramFlags | +
| + | ) | ++ |
+
+
+Member Function Documentation
+ +◆ getTransform()
+ +
+
+
+
+
+
+
| Tuple[np.ndarray, np.ndarray] getTransform | +( | ++ | self, | +
| + | + | np.ndarray | +srcCoord, | +
| + | + | np.ndarray | +targetCoord, | +
| + | + | bool | +pixel | +
| + | ) | ++ |
+
+@brief Obtain transform from coordinate correspondnces + +@param[in] srcCoord Coordinates of src feature points (K' x 2) in [x, y] format +@param[in] targetCoord Coordinates of target feature points (K' x 2) in [x, y] format + +@note target = R @ src + h +@return R rotation matrix (2 x 2) +@return h translation matrix (2 x 1), units in meters [m] ++
◆ initTraj()
+ +
+
+
+
+
+
+
| def initTraj | +( | ++ | self, | +
| + | + | Trajectory | +estTraj, | +
| + | + | Trajectory | +gtTraj = None |
+
| + | ) | ++ |
+
+
+◆ plot()
+ +
+
+
+
+
+
+
| def plot | +( | ++ | self, | +
| + | + | + | prevImg, | +
| + | + | + | currImg, | +
| + | + | + | good_old, | +
| + | + | + | good_new, | +
| + | + | + | seqInd, | +
| + | + | + | save = True, |
+
| + | + | + | show = False |
+
| + | ) | ++ |
+
+
+◆ track()
+ +
+
+
+
+
+
| Tuple[np.ndarray, np.ndarray, np.ndarray] track | +( | ++ | self, | +
| + | + | np.ndarray | +prevImgCart, | +
| + | + | np.ndarray | +currImgCart, | +
| + | + | np.ndarray | +prevImgPolar, | +
| + | + | np.ndarray | +currImgPolar, | +
| + | + | np.ndarray | +featureCoord, | +
| + | + | int | +seqInd | +
| + | ) | ++ |
+
+@brief Track based on previous and current image + +@param[in] prevImg Previous Cartesian radar image (N x N) +@param[in] prevImg Current Cartesian radar image (N x N) +@param[in] prevImg Previous polar radar image (? x ?) +@param[in] prevImg Current polar radar image (? x ?) + +@param[in] blobCoord Coordinates of feature points (K x 2) in [x, y] format + +@return good_old Coordinates of old good feature points (K' x 2) in [x, y] format +@return good_new Coordinates of new good feature points (K' x 2) in [x, y] format +@return angleRotRad Angle used to rotate image +@return corrStatus (K x 2) correspondence status @note Needed for mapping to track keyframe points ++
Member Data Documentation
+ +◆ estTraj
+ +
+
+
+
+
+
+
| estTraj | +
+
+
+◆ filePaths
+ +
+
+
+
+
+
+
| filePaths | +
+
+
+◆ gtTraj
+ +
+
+
+
+
+
+
| gtTraj | +
+
+
+◆ imgPathArr
+ +
+
+
+
+
+
+
| imgPathArr | +
+
+
+◆ paramFlags
+ +
+
+
+
+
+
+
| paramFlags | +
+
+
+◆ sequenceName
+ +
+
+
+
+
+
+
| sequenceName | +
+
+
+◆ sequenceSize
+ +
+
+
+
+
+
| sequenceSize | +
+
+
+
+
+
+
diff --git a/doc/html/class_tracker_1_1_tracker.js b/doc/html/class_tracker_1_1_tracker.js
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+++ b/doc/html/class_tracker_1_1_tracker.js
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+var class_tracker_1_1_tracker =
+[
+ [ "__init__", "class_tracker_1_1_tracker.html#a50cd44879d0981e765b880213eb46692", null ],
+ [ "getTransform", "class_tracker_1_1_tracker.html#a8072a77a7c03adb53639fb97c7a04b5b", null ],
+ [ "initTraj", "class_tracker_1_1_tracker.html#a8d30f4090822251a3fea3db1e53ce83c", null ],
+ [ "plot", "class_tracker_1_1_tracker.html#a8038366cd3daf819bf43b24c7c4b3371", null ],
+ [ "track", "class_tracker_1_1_tracker.html#a5502aeee99457c25dc9237a16f102fd9", null ],
+ [ "estTraj", "class_tracker_1_1_tracker.html#a8d5e95f4d6054db64fd36facd315f2e6", null ],
+ [ "filePaths", "class_tracker_1_1_tracker.html#ac133126788d5db734ec6f70884178ea8", null ],
+ [ "gtTraj", "class_tracker_1_1_tracker.html#a08c3a4c31d5817521dbdf24631e562c7", null ],
+ [ "imgPathArr", "class_tracker_1_1_tracker.html#a8d579ebe0582eed800eb106350236c4a", null ],
+ [ "paramFlags", "class_tracker_1_1_tracker.html#a4eb076d8bfa712c536ede28c13d7ae7e", null ],
+ [ "sequenceName", "class_tracker_1_1_tracker.html#ada038ff63190b4fbc01af8dace29ec1f", null ],
+ [ "sequenceSize", "class_tracker_1_1_tracker.html#a8ef2335bbb2c7c07c8e2b35959b03c52", null ]
+];
\ No newline at end of file
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- Generated on Thu May 5 2022 00:51:39 for RAW-ROAM by 1.9.3
+
+
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+|
+ RAW-ROAM
+
+ Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Class Index
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/doc/html/classmotion_distortion_1_1_motion_distortion_solver-members.html b/doc/html/classmotion_distortion_1_1_motion_distortion_solver-members.html
new file mode 100644
index 0000000..09dee01
--- /dev/null
+++ b/doc/html/classmotion_distortion_1_1_motion_distortion_solver-members.html
@@ -0,0 +1,126 @@
+
+
+
+
+
+
+
+-
+
- Generated on Thu May 5 2022 00:51:39 for RAW-ROAM by 1.9.3
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ RAW-ROAM
+
+ Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+MotionDistortionSolver Member List
+
+
+This is the complete list of members for MotionDistortionSolver, including all inherited members.
+
+
+
+
diff --git a/doc/html/classmotion_distortion_1_1_motion_distortion_solver.html b/doc/html/classmotion_distortion_1_1_motion_distortion_solver.html
new file mode 100644
index 0000000..044b31c
--- /dev/null
+++ b/doc/html/classmotion_distortion_1_1_motion_distortion_solver.html
@@ -0,0 +1,824 @@
+
+
+
+
+
+
+
+-
+
- Generated on Thu May 5 2022 00:51:39 for RAW-ROAM by 1.9.3
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ RAW-ROAM
+
+ Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Public Member Functions |
+Static Public Member Functions |
+Public Attributes |
+List of all members
+ MotionDistortionSolver Class Reference
+
+
+
+
+
++Public Member Functions | |
| def | __init__ (self, T_wj0, p_w, p_jt, T_wj, sigma_p, sigma_v, frequency=RADAR_SCAN_FREQUENCY) |
| def | __init__ (self, sigma_p, sigma_v, frequency=RADAR_SCAN_FREQUENCY) |
| def | update_problem (self, T_wj0, p_w, p_jt, T_wj, debug=False) |
| def | infer_velocity (self, transform) |
| def | expected_observed_pts (self, T_wj) |
| def | error_vector (self, params) |
| def | error (self, v_j, T_wj) |
| def | jacobian_vector (self, params) |
| def | jacobian (self, v_j, T_wj) |
| def | optimize (self, max_iters=20) |
| def | optimize_library (self) |
+Static Public Member Functions | |
| def | compute_time_deltas (period, points) |
| def | undistort (v_j, points, period=1/RADAR_SCAN_FREQUENCY, times=None) |
+Public Attributes | |
| T_wj0 | |
| T_wj0_inv | |
| p_w | |
| p_jt | |
| T_wj_initial | |
| total_scan_time | |
| v_j_initial | |
| sigma_p | |
| sigma_v | |
| info_vector | |
| dT | |
| debug | |
Constructor & Destructor Documentation
+ +◆ __init__() [1/2]
+ +
+
+
+
+
+
+
| def __init__ | +( | ++ | self, | +
| + | + | + | T_wj0, | +
| + | + | + | p_w, | +
| + | + | + | p_jt, | +
| + | + | + | T_wj, | +
| + | + | + | sigma_p, | +
| + | + | + | sigma_v, | +
| + | + | + | frequency = RADAR_SCAN_FREQUENCY |
+
| + | ) | ++ |
+
+
+◆ __init__() [2/2]
+ +
+
+
+
+
+
| def __init__ | +( | ++ | self, | +
| + | + | + | sigma_p, | +
| + | + | + | sigma_v, | +
| + | + | + | frequency = RADAR_SCAN_FREQUENCY |
+
| + | ) | ++ |
+
+
+Member Function Documentation
+ +◆ compute_time_deltas()
+ +
+
+
+
+
+
+
+
|
+ +static | +
+
+Get the time deltas for each point. This depends solely on where the +points are in scan angle. The further away from center, the greater the +time displacement, and therefore the higher time delta. We use this time +delta to help us transform the points into an undistorted frame. Note +that this is an estimate computed from distorted images. It is a good +idea to re-run this function once an undistorted frame is obtained for +better estimates. ++
◆ error()
+ +
+
+
+
+
+
+
| def error | +( | ++ | self, | +
| + | + | + | v_j, | +
| + | + | + | T_wj | +
| + | ) | ++ |
+
+Return the Cauchy robust error between the undistorted points and their +estimated observed positions and the velocity error. ++
◆ error_vector()
+ +
+
+
+
+
+
+
| def error_vector | +( | ++ | self, | +
| + | + | + | params | +
| + | ) | ++ |
+
+Because we are optimizing over rotations, we choose to keep the rotation +in a theta form, we have to do matrix exponential in here to convert +into the SO(1) form, then augment to the rotation-translation transform ++
◆ expected_observed_pts()
+ +
+
+
+
+
+
+
| def expected_observed_pts | +( | ++ | self, | +
| + | + | + | T_wj | +
| + | ) | ++ |
+
+Returns the estimated positions of points based on their world location +estimates and the current best fit transform ++
◆ infer_velocity()
+ +
+
+
+
+
+
+
| def infer_velocity | +( | ++ | self, | +
| + | + | + | transform | +
| + | ) | ++ |
+
+
+◆ jacobian()
+ +
+
+
+
+
+
+
| def jacobian | +( | ++ | self, | +
| + | + | + | v_j, | +
| + | + | + | T_wj | +
| + | ) | ++ |
+
+Compute the Jacobian. This has two parts, as defined by the RadarSLAM +paper: +J_p - gradient of point error and velocity error wrt pose terms Tx, + Ty, Ttheta +J_v - gradient of point error and velocity error wrt velocity terms + vx, vy, vtheta ++
◆ jacobian_vector()
+ +
+
+
+
+
+
+
| def jacobian_vector | +( | ++ | self, | +
| + | + | + | params | +
| + | ) | ++ |
+
+
+◆ optimize()
+ +
+
+
+
+
+
+
| def optimize | +( | ++ | self, | +
| + | + | + | max_iters = 20 |
+
| + | ) | ++ |
+
+
+◆ optimize_library()
+ +
+
+
+
+
+
+
| def optimize_library | +( | ++ | self | ) | ++ |
+
+Optimize using the LM implementation in the scipy library. ++
◆ undistort()
+ +
+
+
+
+
+
+
+
|
+ +static | +
+
+Computes a new set of undistorted observed points, based on the current +best estimate of v_T, T_wj, dT ++
◆ update_problem()
+ +
+
+
+
+
+
| def update_problem | +( | ++ | self, | +
| + | + | + | T_wj0, | +
| + | + | + | p_w, | +
| + | + | + | p_jt, | +
| + | + | + | T_wj, | +
| + | + | + | debug = False |
+
| + | ) | ++ |
+
+
+Member Data Documentation
+ +◆ debug
+ +
+
+
+
+
+
+
| debug | +
+
+
+◆ dT
+ +
+
+
+
+
+
+
| dT | +
+
+
+◆ info_vector
+ +
+
+
+
+
+
+
| info_vector | +
+
+
+◆ p_jt
+ +
+
+
+
+
+
+
| p_jt | +
+
+
+◆ p_w
+ +
+
+
+
+
+
+
| p_w | +
+
+
+◆ sigma_p
+ +
+
+
+
+
+
+
| sigma_p | +
+
+
+◆ sigma_v
+ +
+
+
+
+
+
+
| sigma_v | +
+
+
+◆ T_wj0
+ +
+
+
+
+
+
+
| T_wj0 | +
+
+
+◆ T_wj0_inv
+ +
+
+
+
+
+
+
| T_wj0_inv | +
+
+
+◆ T_wj_initial
+ +
+
+
+
+
+
+
| T_wj_initial | +
+
+
+◆ total_scan_time
+ +
+
+
+
+
+
+
| total_scan_time | +
+
+
+◆ v_j_initial
+ +
+
+
+
+
+
| v_j_initial | +
+
+
+
+
+
+
diff --git a/doc/html/classmotion_distortion_1_1_motion_distortion_solver.js b/doc/html/classmotion_distortion_1_1_motion_distortion_solver.js
new file mode 100644
index 0000000..49ca975
--- /dev/null
+++ b/doc/html/classmotion_distortion_1_1_motion_distortion_solver.js
@@ -0,0 +1,26 @@
+var classmotion_distortion_1_1_motion_distortion_solver =
+[
+ [ "__init__", "classmotion_distortion_1_1_motion_distortion_solver.html#a3f22b34fa12c1f655ed25c4286a467ec", null ],
+ [ "__init__", "classmotion_distortion_1_1_motion_distortion_solver.html#a7f16413ad010eda322f733ea904fdbd3", null ],
+ [ "error", "classmotion_distortion_1_1_motion_distortion_solver.html#a0354ae991f4cc0144ce33e1fdb469a20", null ],
+ [ "error_vector", "classmotion_distortion_1_1_motion_distortion_solver.html#ab508478fa9741dac7d287ff768cc0788", null ],
+ [ "expected_observed_pts", "classmotion_distortion_1_1_motion_distortion_solver.html#a71b1396a9f04a79e3115d693419ccf45", null ],
+ [ "infer_velocity", "classmotion_distortion_1_1_motion_distortion_solver.html#a44ec490a2fa6ee1f2b5a971fa270541f", null ],
+ [ "jacobian", "classmotion_distortion_1_1_motion_distortion_solver.html#a2fc868177b0b6b3e920e4619aad77171", null ],
+ [ "jacobian_vector", "classmotion_distortion_1_1_motion_distortion_solver.html#a2d68bc205a33412b11c6dcb28fc17d67", null ],
+ [ "optimize", "classmotion_distortion_1_1_motion_distortion_solver.html#a771350ea3f844ac8fca4338337419242", null ],
+ [ "optimize_library", "classmotion_distortion_1_1_motion_distortion_solver.html#abac4fa4418ddc34ea1b8a6f28ac42c3d", null ],
+ [ "update_problem", "classmotion_distortion_1_1_motion_distortion_solver.html#a716b0a6bdc489d052e4243c840ed336f", null ],
+ [ "debug", "classmotion_distortion_1_1_motion_distortion_solver.html#a0514aabed091ee5e2f35766eb01eced6", null ],
+ [ "dT", "classmotion_distortion_1_1_motion_distortion_solver.html#af3c2f70b3a5027fce7c3161665b6b6af", null ],
+ [ "info_vector", "classmotion_distortion_1_1_motion_distortion_solver.html#a1d4048f86eeeda5fdd5ff70c2667fd8d", null ],
+ [ "p_jt", "classmotion_distortion_1_1_motion_distortion_solver.html#aa9fffd513bf2e2cbfe44da13aa4a69bf", null ],
+ [ "p_w", "classmotion_distortion_1_1_motion_distortion_solver.html#a0e515884ff3ebc059c605589aec689b7", null ],
+ [ "sigma_p", "classmotion_distortion_1_1_motion_distortion_solver.html#a7ae9c91f3c812a21666616d48fbe3ac8", null ],
+ [ "sigma_v", "classmotion_distortion_1_1_motion_distortion_solver.html#a0e071ef606c97ccac78bde51b78f6edf", null ],
+ [ "T_wj0", "classmotion_distortion_1_1_motion_distortion_solver.html#a0a395e89714f60150df6675faaa1f6cb", null ],
+ [ "T_wj0_inv", "classmotion_distortion_1_1_motion_distortion_solver.html#a071a910fd6194ba61a5d9cf24569b393", null ],
+ [ "T_wj_initial", "classmotion_distortion_1_1_motion_distortion_solver.html#a0937342a2f4d12c7784f942bfe386536", null ],
+ [ "total_scan_time", "classmotion_distortion_1_1_motion_distortion_solver.html#ad7beefc4bde186fd252b285986218942", null ],
+ [ "v_j_initial", "classmotion_distortion_1_1_motion_distortion_solver.html#a9f1d2973eab93bf4884920981c129781", null ]
+];
\ No newline at end of file
diff --git a/doc/html/classtrajectory_plotting_1_1_trajectory-members.html b/doc/html/classtrajectory_plotting_1_1_trajectory-members.html
new file mode 100644
index 0000000..ba69f77
--- /dev/null
+++ b/doc/html/classtrajectory_plotting_1_1_trajectory-members.html
@@ -0,0 +1,111 @@
+
+
+
+
+
+
+
+-
+
+
- Generated on Thu May 5 2022 00:51:39 for RAW-ROAM by 1.9.3
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ RAW-ROAM
+
+ Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Trajectory Member List
+
+
+
+This is the complete list of members for Trajectory, including all inherited members.
+| __init__(self, timestamps, poses) | Trajectory | |
| appendAbsoluteTransform(self, time, pose) | Trajectory | |
| appendRelativeDeltas(self, time, d_xyth) | Trajectory | |
| appendRelativeTransform(self, time, R, h) | Trajectory | |
| getGroundTruthDeltasAtTime(self, time) | Trajectory | |
| getPoseAtTimes(self, times) | Trajectory | |
| plot(self, title='My Trajectory', savePath=False) | Trajectory | |
| pose_transform | Trajectory | |
| poses | Trajectory | |
| timestamps | Trajectory |
+
+
+
diff --git a/doc/html/classtrajectory_plotting_1_1_trajectory.html b/doc/html/classtrajectory_plotting_1_1_trajectory.html
new file mode 100644
index 0000000..eca6e17
--- /dev/null
+++ b/doc/html/classtrajectory_plotting_1_1_trajectory.html
@@ -0,0 +1,421 @@
+
+
+
+
+
+
+
+-
+
- Generated on Thu May 5 2022 00:51:39 for RAW-ROAM by 1.9.3
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ RAW-ROAM
+
+ Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Trajectory Class Reference
+
+
+
+
++Public Member Functions | |
| def | __init__ (self, timestamps, poses) |
| def | getGroundTruthDeltasAtTime (self, time) |
| def | appendRelativeDeltas (self, time, d_xyth) |
| def | appendRelativeTransform (self, time, R, h) |
| def | appendAbsoluteTransform (self, time, pose) |
| def | getPoseAtTimes (self, times) |
| def | plot (self, title='My Trajectory', savePath=False) |
+Public Attributes | |
| timestamps | |
| poses | |
| pose_transform | |
Constructor & Destructor Documentation
+ +◆ __init__()
+ +
+
+
+
+
+
| def __init__ | +( | ++ | self, | +
| + | + | + | timestamps, | +
| + | + | + | poses | +
| + | ) | ++ |
+
+@param[in] timestamps np.ndarray of sorted timestamps (N) +@param[in] pose_matrices np.ndarray of poses (N x 3) ++
Member Function Documentation
+ +◆ appendAbsoluteTransform()
+ +
+
+
+
+
+
+
| def appendAbsoluteTransform | +( | ++ | self, | +
| + | + | + | time, | +
| + | + | + | pose | +
| + | ) | ++ |
+
+@brief Append a relative transform to the trajectory + h should already be scaled by radar resolution +@param[in] time timestamp of the transform +@param[in] pose pose vector (3, ) ++
◆ appendRelativeDeltas()
+ +
+
+
+
+
+
+
| def appendRelativeDeltas | +( | ++ | self, | +
| + | + | + | time, | +
| + | + | + | d_xyth | +
| + | ) | ++ |
+
+
+◆ appendRelativeTransform()
+ +
+
+
+
+
+
+
| def appendRelativeTransform | +( | ++ | self, | +
| + | + | + | time, | +
| + | + | + | R, | +
| + | + | + | h | +
| + | ) | ++ |
+
+@brief Append a relative transform to the trajectory + h should already be scaled by radar resolution +@param[in] time timestamp of the transform +@param[in] R rotation matrix (2 x 2) +@param[in] h translation vector (2 x 1) ++
◆ getGroundTruthDeltasAtTime()
+ +
+
+
+
+
+
+
| def getGroundTruthDeltasAtTime | +( | ++ | self, | +
| + | + | + | time | +
| + | ) | ++ |
+
+@brief Given a timestamp, return the ground truth deltas at that time in (dx, dy, dth) list for debugging ++
◆ getPoseAtTimes()
+ +
+
+
+
+
+
+
| def getPoseAtTimes | +( | ++ | self, | +
| + | + | + | times | +
| + | ) | ++ |
+
+@brief Given timestamps, return the pose at that time using cubic interpolation +@param[in] times np.ndarray of sorted timestamps ++
◆ plot()
+ +
+
+
+
+
+
| def plot | +( | ++ | self, | +
| + | + | + | title = 'My Trajectory', |
+
| + | + | + | savePath = False |
+
| + | ) | ++ |
+
+
+Member Data Documentation
+ +◆ pose_transform
+ +
+
+
+
+
+
+
| pose_transform | +
+
+
+◆ poses
+ +
+
+
+
+
+
+
| poses | +
+
+
+◆ timestamps
+ +
+
+
+
+
+
| timestamps | +
+
+
+
+
+
+
diff --git a/doc/html/classtrajectory_plotting_1_1_trajectory.js b/doc/html/classtrajectory_plotting_1_1_trajectory.js
new file mode 100644
index 0000000..d0ce524
--- /dev/null
+++ b/doc/html/classtrajectory_plotting_1_1_trajectory.js
@@ -0,0 +1,13 @@
+var classtrajectory_plotting_1_1_trajectory =
+[
+ [ "__init__", "classtrajectory_plotting_1_1_trajectory.html#a71a1a749bd09d5ebf80433b59ec5bf4c", null ],
+ [ "appendAbsoluteTransform", "classtrajectory_plotting_1_1_trajectory.html#a08950a5574e6fa031de10f01899414a7", null ],
+ [ "appendRelativeDeltas", "classtrajectory_plotting_1_1_trajectory.html#a75e78dbec634ef9815d87f0a8fd101a4", null ],
+ [ "appendRelativeTransform", "classtrajectory_plotting_1_1_trajectory.html#a18b62f49e9be3d5913bfddf1409241a5", null ],
+ [ "getGroundTruthDeltasAtTime", "classtrajectory_plotting_1_1_trajectory.html#a7a7a8f886746f69fa22f688534e5eb41", null ],
+ [ "getPoseAtTimes", "classtrajectory_plotting_1_1_trajectory.html#af71c2208e017a99508ff89271af73f04", null ],
+ [ "plot", "classtrajectory_plotting_1_1_trajectory.html#ab6639608bd1c7a82abfd40ea1f53b904", null ],
+ [ "pose_transform", "classtrajectory_plotting_1_1_trajectory.html#ae295f4fa8996d01631c561ab3cb77670", null ],
+ [ "poses", "classtrajectory_plotting_1_1_trajectory.html#ad852f76f56388944f342af3b11bd2c31", null ],
+ [ "timestamps", "classtrajectory_plotting_1_1_trajectory.html#ada03328a9187736162c7277d89ef159e", null ]
+];
\ No newline at end of file
diff --git a/doc/html/functions.html b/doc/html/functions.html
new file mode 100644
index 0000000..c0d0152
--- /dev/null
+++ b/doc/html/functions.html
@@ -0,0 +1,275 @@
+
+
+
+
+
+
+
+-
+
+
- Generated on Thu May 5 2022 00:51:39 for RAW-ROAM by 1.9.3
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ RAW-ROAM
+
+ Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Here is a list of all class members with links to the classes they belong to:
+
+- _ -
-
+
- __init__() : CartCoord, PolarCoord, Keyframe, Map, MotionDistortionSolver, BundleAdjustment, PoseGraphOptimization, RawROAMSystem, Tracker, Trajectory +
- __str__() : CartCoord, PolarCoord +
- a -
-
+
- add() : CartCoord +
- add_edge() : BundleAdjustment, PoseGraphOptimization +
- add_point() : BundleAdjustment +
- add_pose() : BundleAdjustment +
- add_vertex() : PoseGraphOptimization +
- addCoord() : CartCoord +
- addKeyframe() : Map +
- appendAbsoluteTransform() : Trajectory +
- appendRelativeDeltas() : Trajectory +
- appendRelativeTransform() : Trajectory +
- asTuple() : CartCoord, PolarCoord +
- c -
-
+
- compute_time_deltas() : MotionDistortionSolver +
- convertFeaturesLocalToGlobal() : Keyframe +
- copyFromOtherKeyframe() : Keyframe +
- d -
-
+
- debug : MotionDistortionSolver +
- dT : MotionDistortionSolver +
- e -
-
+
- error() : MotionDistortionSolver +
- error_vector() : MotionDistortionSolver +
- estTraj : Map, RawROAMSystem, Tracker +
- expected_observed_pts() : MotionDistortionSolver +
- f -
-
+
- featurePointsLocal : Keyframe +
- featurePointsLocalUndistorted : Keyframe +
- fig : RawROAMSystem +
- filePaths : Map, RawROAMSystem, Tracker +
- g -
-
+
- get_point() : BundleAdjustment +
- get_pose() : BundleAdjustment, PoseGraphOptimization +
- getAngle() : CartCoord +
- getDistance() : CartCoord +
- getGroundTruthDeltasAtTime() : Trajectory +
- getPoseAtTimes() : Trajectory +
- getPrunedFeaturesGlobalPosition() : Keyframe +
- getR() : PolarCoord +
- getTheta() : PolarCoord +
- getTransform() : Tracker +
- getX() : CartCoord +
- getY() : CartCoord +
- gtTraj : RawROAMSystem, Tracker +
- h -
-
+
- hasGroundTruth : RawROAMSystem +
- i -
-
+
- imgPathArr : Map, RawROAMSystem, Tracker +
- infer_velocity() : MotionDistortionSolver +
- info_vector : MotionDistortionSolver +
- initTraj() : Tracker +
- isGoodKeyframe() : Map +
- j -
-
+
- jacobian() : MotionDistortionSolver +
- jacobian_vector() : MotionDistortionSolver +
- k -
-
+
- keyframes : Map +
- m -
-
+
- map : RawROAMSystem +
- mapPoints : Map +
- o -
-
+
- optimize() : MotionDistortionSolver, BundleAdjustment, PoseGraphOptimization +
- optimize_library() : MotionDistortionSolver +
- p -
-
+
- p_jt : MotionDistortionSolver +
- p_w : MotionDistortionSolver +
- paramFlags : RawROAMSystem, Tracker +
- plot() : Map, RawROAMSystem, Tracker, Trajectory +
- plotTraj() : RawROAMSystem +
- pointCloud : Keyframe +
- pose : Keyframe +
- pose_transform : Trajectory +
- poses : Trajectory +
- prunedFeaturePoints : Keyframe +
- prunedUndistortedLocals : Keyframe +
- pruneFeaturePoints() : Keyframe +
- r -
-
+
- r : PolarCoord +
- radarPolarImg : Keyframe +
- run() : RawROAMSystem +
- s -
-
+
- scale() : CartCoord +
- scaleR() : PolarCoord +
- scaleX() : CartCoord +
- scaleY() : CartCoord +
- sequenceName : Map, RawROAMSystem, Tracker +
- sequenceSize : Map, RawROAMSystem, Tracker +
- sigma_p : MotionDistortionSolver +
- sigma_v : MotionDistortionSolver +
- sub() : CartCoord +
- t -
-
+
- T_wj0 : MotionDistortionSolver +
- T_wj0_inv : MotionDistortionSolver +
- T_wj_initial : MotionDistortionSolver +
- theta : PolarCoord +
- timestamps : Trajectory +
- toCart() : PolarCoord +
- total_scan_time : MotionDistortionSolver +
- track() : Tracker +
- tracker : RawROAMSystem +
- u -
-
+
- undistort() : MotionDistortionSolver +
- update_problem() : MotionDistortionSolver +
- updateInfo() : Keyframe +
- updateInternalTraj() : Map +
- updateTrajectory() : RawROAMSystem +
- updateTrajectoryAbsolute() : RawROAMSystem +
- updateTrajFromTracker() : RawROAMSystem +
- v -
-
+
- v_j_initial : MotionDistortionSolver +
- velocity : Keyframe +
- x -
-
+
- x : CartCoord +
- y -
-
+
- y : CartCoord +
+
+
+
diff --git a/doc/html/functions_func.html b/doc/html/functions_func.html
new file mode 100644
index 0000000..e2593ec
--- /dev/null
+++ b/doc/html/functions_func.html
@@ -0,0 +1,203 @@
+
+
+
+
+
+
+
+-
+
- Generated on Thu May 5 2022 00:51:39 for RAW-ROAM by 1.9.3
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ RAW-ROAM
+
+ Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+- _ -
-
+
- __init__() : CartCoord, PolarCoord, Keyframe, Map, MotionDistortionSolver, BundleAdjustment, PoseGraphOptimization, RawROAMSystem, Tracker, Trajectory +
- __str__() : CartCoord, PolarCoord +
- a -
-
+
- add() : CartCoord +
- add_edge() : BundleAdjustment, PoseGraphOptimization +
- add_point() : BundleAdjustment +
- add_pose() : BundleAdjustment +
- add_vertex() : PoseGraphOptimization +
- addCoord() : CartCoord +
- addKeyframe() : Map +
- appendAbsoluteTransform() : Trajectory +
- appendRelativeDeltas() : Trajectory +
- appendRelativeTransform() : Trajectory +
- asTuple() : CartCoord, PolarCoord +
- c -
-
+
- compute_time_deltas() : MotionDistortionSolver +
- convertFeaturesLocalToGlobal() : Keyframe +
- copyFromOtherKeyframe() : Keyframe +
- e -
-
+
- error() : MotionDistortionSolver +
- error_vector() : MotionDistortionSolver +
- expected_observed_pts() : MotionDistortionSolver +
- g -
-
+
- get_point() : BundleAdjustment +
- get_pose() : BundleAdjustment, PoseGraphOptimization +
- getAngle() : CartCoord +
- getDistance() : CartCoord +
- getGroundTruthDeltasAtTime() : Trajectory +
- getPoseAtTimes() : Trajectory +
- getPrunedFeaturesGlobalPosition() : Keyframe +
- getR() : PolarCoord +
- getTheta() : PolarCoord +
- getTransform() : Tracker +
- getX() : CartCoord +
- getY() : CartCoord +
- i -
-
+
- infer_velocity() : MotionDistortionSolver +
- initTraj() : Tracker +
- isGoodKeyframe() : Map +
- j -
-
+
- jacobian() : MotionDistortionSolver +
- jacobian_vector() : MotionDistortionSolver +
- o -
-
+
- optimize() : MotionDistortionSolver, BundleAdjustment, PoseGraphOptimization +
- optimize_library() : MotionDistortionSolver +
- p -
-
+
- plot() : Map, RawROAMSystem, Tracker, Trajectory +
- plotTraj() : RawROAMSystem +
- pruneFeaturePoints() : Keyframe +
- r -
-
+
- run() : RawROAMSystem +
- s -
-
+
- scale() : CartCoord +
- scaleR() : PolarCoord +
- scaleX() : CartCoord +
- scaleY() : CartCoord +
- sub() : CartCoord +
- t -
-
+
- toCart() : PolarCoord +
- track() : Tracker +
- u -
-
+
- undistort() : MotionDistortionSolver +
- update_problem() : MotionDistortionSolver +
- updateInfo() : Keyframe +
- updateInternalTraj() : Map +
- updateTrajectory() : RawROAMSystem +
- updateTrajectoryAbsolute() : RawROAMSystem +
- updateTrajFromTracker() : RawROAMSystem +
+
+
+
diff --git a/doc/html/functions_vars.html b/doc/html/functions_vars.html
new file mode 100644
index 0000000..06e3b8e
--- /dev/null
+++ b/doc/html/functions_vars.html
@@ -0,0 +1,195 @@
+
+
+
+
+
+
+
+-
+
- Generated on Thu May 5 2022 00:51:39 for RAW-ROAM by 1.9.3
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ RAW-ROAM
+
+ Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+- d -
-
+
- debug : MotionDistortionSolver +
- dT : MotionDistortionSolver +
- e -
-
+
- estTraj : Map, RawROAMSystem, Tracker +
- f -
-
+
- featurePointsLocal : Keyframe +
- featurePointsLocalUndistorted : Keyframe +
- fig : RawROAMSystem +
- filePaths : Map, RawROAMSystem, Tracker +
- g -
-
+
- gtTraj : RawROAMSystem, Tracker +
- h -
-
+
- hasGroundTruth : RawROAMSystem +
- i -
-
+
- imgPathArr : Map, RawROAMSystem, Tracker +
- info_vector : MotionDistortionSolver +
- k -
-
+
- keyframes : Map +
- m -
-
+
- map : RawROAMSystem +
- mapPoints : Map +
- p -
-
+
- p_jt : MotionDistortionSolver +
- p_w : MotionDistortionSolver +
- paramFlags : RawROAMSystem, Tracker +
- pointCloud : Keyframe +
- pose : Keyframe +
- pose_transform : Trajectory +
- poses : Trajectory +
- prunedFeaturePoints : Keyframe +
- prunedUndistortedLocals : Keyframe +
- r -
-
+
- r : PolarCoord +
- radarPolarImg : Keyframe +
- s -
-
+
- sequenceName : Map, RawROAMSystem, Tracker +
- sequenceSize : Map, RawROAMSystem, Tracker +
- sigma_p : MotionDistortionSolver +
- sigma_v : MotionDistortionSolver +
- t -
-
+
- T_wj0 : MotionDistortionSolver +
- T_wj0_inv : MotionDistortionSolver +
- T_wj_initial : MotionDistortionSolver +
- theta : PolarCoord +
- timestamps : Trajectory +
- total_scan_time : MotionDistortionSolver +
- tracker : RawROAMSystem +
- v -
-
+
- v_j_initial : MotionDistortionSolver +
- velocity : Keyframe +
- x -
-
+
- x : CartCoord +
- y -
-
+
- y : CartCoord +
+
+
+
diff --git a/doc/html/hierarchy.html b/doc/html/hierarchy.html
new file mode 100644
index 0000000..37d61cc
--- /dev/null
+++ b/doc/html/hierarchy.html
@@ -0,0 +1,114 @@
+
+
+
+
+
+
+
+-
+
- Generated on Thu May 5 2022 00:51:39 for RAW-ROAM by 1.9.3
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ RAW-ROAM
+
+ Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Class Hierarchy
+
+This inheritance list is sorted roughly, but not completely, alphabetically:
+
+
+
+[detail level 12]
| CKeyframe | |
| CMap | |
| CMotionDistortionSolver | |
| ▼Cobject | |
| CCartCoord | |
| CPolarCoord | |
| CRawROAMSystem | |
| ▼CSparseOptimizer | |
| CBundleAdjustment | |
| CPoseGraphOptimization | |
| CTracker | |
| CTrajectory |
+
+
+
diff --git a/doc/html/hierarchy.js b/doc/html/hierarchy.js
new file mode 100644
index 0000000..c423f8a
--- /dev/null
+++ b/doc/html/hierarchy.js
@@ -0,0 +1,17 @@
+var hierarchy =
+[
+ [ "Keyframe", "class_mapping_1_1_keyframe.html", null ],
+ [ "Map", "class_mapping_1_1_map.html", null ],
+ [ "MotionDistortionSolver", "classmotion_distortion_1_1_motion_distortion_solver.html", null ],
+ [ "object", null, [
+ [ "CartCoord", "class_coord_1_1_cart_coord.html", null ],
+ [ "PolarCoord", "class_coord_1_1_polar_coord.html", null ]
+ ] ],
+ [ "RawROAMSystem", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html", null ],
+ [ "SparseOptimizer", null, [
+ [ "BundleAdjustment", "class_pose_graph_lib_1_1_bundle_adjustment.html", null ],
+ [ "PoseGraphOptimization", "class_pose_graph_lib_1_1_pose_graph_optimization.html", null ]
+ ] ],
+ [ "Tracker", "class_tracker_1_1_tracker.html", null ],
+ [ "Trajectory", "classtrajectory_plotting_1_1_trajectory.html", null ]
+];
\ No newline at end of file
diff --git a/doc/html/index.html b/doc/html/index.html
index 5d0e127..582ee1f 100644
--- a/doc/html/index.html
+++ b/doc/html/index.html
@@ -5,7 +5,7 @@
--
+
- Generated on Thu May 5 2022 00:51:39 for RAW-ROAM by 1.9.3
+
pynetconf
+
RAW-ROAM
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
-
+
pynetconf Documentation
RAW-ROAM Documentation
-
-
- Generated on Thu May 5 2022 00:42:00 for pynetconf by 1.9.3
+
- Generated on Thu May 5 2022 00:51:39 for RAW-ROAM by 1.9.3
