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⨍ Functions 790◇ Types & classes 182

MethodStaticInitialIMUState

src/inertial/inertial_initializer.cpp:93

MethodSystemState

src/utils/parameter_struct.h:103

FunctionTangentAndTheta logAndTheta

As above, but also returns ``theta = |omega|``.

src/sophus_lib/so3.hpp:220

MethodTangentBasis

src/visual_odometry/initial/initial_aligment.cpp:47

FunctionThreadsConstructA

src/estimator/factor/analytic_diff/marginalization_factor.cpp:141

src/utils/tic_toc.h:29

MethodTrajectory

src/spline/trajectory.h:45

MethodTrajectoryEstimator

src/estimator/trajectory_estimator.cpp:97

MethodTrajectoryEstimatorOptions

src/estimator/trajectory_estimator_options.h:36

MethodTrajectoryManager

src/estimator/trajectory_manager.cpp:30

FunctionTransformation Dxi_exp_x_matrix_at_0

Returns derivative of exp(x).matrix() wrt. x_i at x=0.

src/sophus_lib/se3.hpp:707

FunctionTransformation Dxi_exp_x_matrix_at_0

Returns derivative of exp(x).matrix() wrt. x_i at x=0.

src/sophus_lib/se2.hpp:504

FunctionTransformation Dxi_exp_x_matrix_at_0

Returns derivative of exp(x).matrix() wrt. x_i at x=0.

src/sophus_lib/sim2.hpp:416

FunctionTransformation Dxi_exp_x_matrix_at_0

Returns derivative of exp(x).matrix() wrt. x_i at x=0.

src/sophus_lib/sim3.hpp:422

FunctionTransformation Dxi_exp_x_matrix_at_0

Returns derivative of exp(x).matrix() wrt. x_i at x=0.

src/sophus_lib/so2.hpp:394

FunctionTransformation generator

Returns the ith infinitesimal generators of SE(3). The infinitesimal generators of SE(3) are: | 0 0 0 1 | G_0 = | 0 0 0 0 | | 0 0 0 0 |

src/sophus_lib/se3.hpp:791

FunctionTransformation generator

Returns the ith infinitesimal generators of SE(2). The infinitesimal generators of SE(2) are: | 0 0 1 | G_0 = | 0 0 0 | | 0 0 0 | | 0 0

src/sophus_lib/se2.hpp:569

FunctionTransformation generator

Returns the ith infinitesimal generators of SO(3). The infinitesimal generators of SO(3) are: | 0 0 0 | G_0 = | 0 0 -1 | | 0 1 0 | | 0 0

src/sophus_lib/so3.hpp:596

FunctionTransformation generator

Returns the ith infinitesimal generators of Sim(2). The infinitesimal generators of Sim(2) are: | 0 0 1 | G_0 = | 0 0 0 | | 0 0 0 | | 0

src/sophus_lib/sim2.hpp:477

FunctionTransformation generator

Returns the ith infinitesimal generators of Sim(3). The infinitesimal generators of Sim(3) are: | 0 0 0 1 | G_0 = | 0 0 0 0 | | 0 0 0 0

src/sophus_lib/sim3.hpp:497

FunctionTransformation generator

Returns the infinitesimal generators of SO3. The infinitesimal generators of SO(2) is: | 0 1 | | -1 0 |

src/sophus_lib/so2.hpp:405

FunctionTransformation hat

hat-operator It takes in the 6-vector representation (= twist) and returns the corresponding matrix representation of Lie algebra element. Formally,

src/sophus_lib/se3.hpp:810

FunctionTransformation hat

hat-operator It takes in the 3-vector representation (= twist) and returns the corresponding matrix representation of Lie algebra element. Formally,

src/sophus_lib/se2.hpp:588

FunctionTransformation hat

hat-operator It takes in the 3-vector representation ``omega`` (= rotation vector) and returns the corresponding matrix representation of Lie algebra

src/sophus_lib/so3.hpp:618

FunctionTransformation hat

hat-operator It takes in the 4-vector representation and returns the corresponding matrix representation of Lie algebra element. Formally, the ``hat

src/sophus_lib/sim2.hpp:496

FunctionTransformation hat

hat-operator It takes in the 7-vector representation and returns the corresponding matrix representation of Lie algebra element. Formally, the ``hat

src/sophus_lib/sim3.hpp:516

FunctionTransformation hat

hat-operator It takes in the scalar representation ``theta`` (= rotation angle) and returns the corresponding matrix representation of Lie algebra el

src/sophus_lib/so2.hpp:420

FunctionTransformation matrix

Returns 3x3 matrix representation of the instance. For SO(3), the matrix representation is an orthogonal matrix ``R`` with ``det(R)=1``, thus the so-

src/sophus_lib/so3.hpp:283

FunctionTransformation rotationMatrix

Returns rotation matrix.

src/sophus_lib/rxso2.hpp:263

FunctionTransformation rotationMatrix

Returns rotation matrix.

src/sophus_lib/rxso3.hpp:295

FunctionUTMtoLL

src/visual_odometry/visual_feature/camera_models/gpl.cc:827

MethodUpdateVIOPrior

src/estimator/trajectory_manager.cpp:122

MethodVIOInitialization

src/visual_odometry/vio_initial.h:33

MethodVelocityBody

@brief Evaluate rotational velocity (first time derivative) of SO(3) B-spline in the body frame @param[in] time time for evaluating velocity of the s

src/estimator/factor/analytic_diff/so3_spline_view.h:356

MethodVisualIMUAlignment

src/visual_odometry/initial/initial_alignment.h:40

MethodVisualInitialAlign

src/visual_odometry/vio_initial.cpp:202

MethodVisualOdometry

src/visual_odometry/visual_odometry.h:49

FunctionXYThetaToPoseData

src/utils/math_utils.h:28

Methodacceleration

@brief Alias for second derivative of spline. See \ref evaluate.

src/estimator/factor/analytic_diff/rd_spline_view.h:106

MethodaddPoints

src/visual_odometry/visual_feature/feature_tracker.cpp:171

Returns rotation angle.

src/sophus_lib/rxso2.hpp:103

Extract rotation angle about canonical X-axis

src/sophus_lib/se3.hpp:93

Extract rotation angle about canonical Y-axis

src/sophus_lib/se3.hpp:97

Extract rotation angle about canonical Z-axis

src/sophus_lib/se3.hpp:101

src/spline/se3_spline.h:317

MethodapplyMask

src/visual_odometry/visual_feature/feature_tracker.cpp:137

Functionassertion_failed

src/spline/assert.h:49

Functionassertion_failed_msg

src/spline/assert.h:58

Functionaverage

src/sophus_lib/average.hpp:53

MethodbackprojectSymmetric

src/visual_odometry/visual_feature/camera_models/EquidistantCamera.cc:715

MethodbaseCoeffsWithTime

src/estimator/factor/analytic_diff/so3_spline_view.h:439

MethodbaseCoeffsWithTime

src/spline/ceres_spline_helper_jet.h:76

MethodbaseCoeffsWithTime

src/spline/ceres_spline_helper.h:74

MethodbaseCoeffsWithTimeR3

src/estimator/factor/analytic_diff/rd_spline_view.h:125

FunctionbresCircle

src/visual_odometry/visual_feature/camera_models/gpl.cc:532

src/sophus_lib/sim_details.hpp:10

FunctioncalcWInv

src/sophus_lib/sim_details.hpp:52

src/spline/rd_spline.h:101

src/visual_odometry/visual_feature/camera_models/gpl.h:12

MethodclearDepth

src/visual_odometry/feature_manager.cpp:159

MethodclearState

src/visual_odometry/feature_manager.cpp:11

FunctioncolorDepthImage

src/visual_odometry/visual_feature/camera_models/gpl.cc:439

Functioncolormap

src/visual_odometry/visual_feature/camera_models/gpl.cc:465

MethodcompensatedParallax2

src/visual_odometry/feature_manager.cpp:424

FunctioncomputeBaseCoefficients

src/spline/spline_common.h:135

FunctioncomputeBlendingMatrix

src/spline/spline_common.h:77

MethodcomputeTIndexNs

src/spline/so3_spline.h:119

Methodconstruct

src/visual_odometry/initial/initial_sfm.cpp:122

src/spline/so3_spline.h:145

src/visual_odometry/visual_feature/camera_models/gpl.h:51

src/visual_odometry/visual_feature/camera_models/gpl.cc:59

This provides unsafe read/write access to internal data. SO(3) is represented by an Eigen::Quaternion (four parameters). When using direct write acces

src/sophus_lib/se3.hpp:469

This provides unsafe read/write access to internal data. SO(2) is represented by a complex number (two parameters). When using direct write access, th

src/sophus_lib/se2.hpp:403

This provides unsafe read/write access to internal data. Sim(2) is represented by a complex number (two parameters) and a 2-vector. When using direct

src/sophus_lib/sim2.hpp:384

This provides unsafe read/write access to internal data. Sim(3) is represented by an Eigen::Quaternion (four parameters) and a 3-vector. When using di

src/sophus_lib/sim3.hpp:390

This provides unsafe read/write access to internal data. RxSO(2) is represented by a complex number (two parameters). When using direct write access,

src/sophus_lib/rxso2.hpp:120

This provides unsafe read/write access to internal data. RxSO(3) is represented by an Eigen::Quaternion (four parameters). When using direct write acc

src/sophus_lib/rxso3.hpp:120

This provides unsafe read/write access to internal data. SO(2) is represented by a unit complex number (two parameters). When using direct write acces

src/sophus_lib/so2.hpp:113

FunctiondefaultEnsure

src/sophus_lib/common.hpp:119

src/visual_odometry/utility.h:16

Methoddistortion

* \brief Apply distortion to input point (from the normalised plane) * * \param p_u undistorted coordinates of point on the normalised plane * \r

src/visual_odometry/visual_feature/camera_models/CataCamera.cc:765

Methoddistortion

* \brief Apply distortion to input point (from the normalised plane) * * \param p_u undistorted coordinates of point on the normalised plane * \ret

src/visual_odometry/visual_feature/camera_models/PinholeCamera.cc:645

Methoddouble2feature

src/estimator/trajectory_manager.h:87

Methoddouble2vector

src/estimator/trajectory_manager.cpp:485

src/sophus_lib/common.hpp:144

src/sophus_lib/common.hpp:156

MethodepsilonSqrt

src/sophus_lib/common.hpp:146

MethodepsilonSqrt

src/sophus_lib/common.hpp:160

MethodestimateExtrinsics

src/visual_odometry/visual_feature/camera_models/Camera.cc:122

MethodestimateIntrinsics

src/visual_odometry/visual_feature/camera_models/EquidistantCamera.cc:311

MethodestimateIntrinsics

src/visual_odometry/visual_feature/camera_models/CataCamera.cc:372

MethodestimateIntrinsics

src/visual_odometry/visual_feature/camera_models/PinholeCamera.cc:344

MethodestimateIntrinsics

src/visual_odometry/visual_feature/camera_models/ScaramuzzaCamera.cc:227

src/estimator/factor/analytic_diff/rd_spline_view.h:64

@brief Evaluate SO(3) B-spline @param[in] time_ time for evaluating the value of the spline @param[out] J if not nullptr, return the Jacobian of the

src/spline/so3_spline.h:240

src/spline/ceres_spline_helper_jet.h:223

src/spline/ceres_spline_helper.h:219

Methodevaluate333

src/visual_odometry/integration_base.h:210

Methodevaluate_lie

src/spline/ceres_spline_helper_jet.h:111

Methodevaluate_lie

src/spline/ceres_spline_helper.h:109

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