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#ifndef types_INC
#define types_INC
#include <opencv2/core.hpp>
#include <Eigen/Dense>
#include <exception>
#define MAXLINE 8192
#define MAXFILENAME 1024
#define STATESIZE 13 /* Set to 13 for quaternion estimation, or 9 for quaternion as input */
#define INLIER_THRESHOLD 24.
#define PATCHSIZE 51 /* must be odd */
using Eigen::Matrix;
using Eigen::Matrix3d;
using Eigen::Quaterniond;
using Eigen::Vector2d;
using Eigen::Vector3d;
using Eigen::Vector4d;
extern double feature_noise;
extern double view_noise;
extern double initial_view_noise;
extern double reflection_view_noise;
extern double r_height;
extern double acc_std;
extern double ang_std;
extern double acc_bias_std;
extern double canoecenter;
extern double canoeheight;
extern double ransac_li_threshold;
extern double ransac_hi_threshold;
extern double covbias;
typedef Eigen::Matrix<double,2,1,Eigen::DontAlign> UVector2d;
// A struct for storing measurements.
typedef enum {BOTH,REFLECTION,MONO,HEIGHT} measurement_type;
typedef struct {
measurement_type z_type;
int id;
Vector3d source, reflection;
double height;
double Ssrc[2];
double Sref[2];
cv::Mat patch, refpatch;
double xcorrmax;
} measurement_t;
// A struct for storing PVA covariance.
typedef struct {
Matrix3d position,velocity,attitude;
} covariance_t;
// A struct for storing x,y,z data.
typedef struct {
double x,y,z;
} tuple;
// A struct for storing velocity in world frame
typedef struct {
double east, north, up;
} velocity_t;
// A struct for storing attitude data.
typedef struct {
double roll,pitch,yaw;
} attitude_t;
// A struct for storing UTM data.
typedef struct {
double northing,easting,up;
int zone_i;
char zone_c;
} UTM;
// A struct for storing GPS data.
typedef struct {
double latitude, longitude, altitude;
} gps;
// Message types
typedef enum {BESTUTM,IMG,INSCOVS,INSPVAS,RAWIMUS} message_type;
/*
* The message struct is a general container for all message types. Not all
* members are used for all messages, so care must be taken not to use garbage
* values.
*/
typedef struct {
int secs,nsecs;
} timestamp;
typedef struct {
// These should always be set.
timestamp stamp;
message_type msg_type;
// Only the members needed by the msg_type are stored.
tuple angular_velocity;
attitude_t attitude;
char image_names[2][MAXFILENAME];
tuple linear_acceleration;
gps position;
UTM utm;
velocity_t velocity;
covariance_t covariance;
} message;
#endif /* ----- #ifndef types_INC ----- */
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