Return a copy of the transformation inverted.

Obtain the frame id

Get the parameters of a residual block.

The underlying transformation

getters Get a shared pointer to a parameter block.

\brief Stop the thread pool. This method is non-blocking.

Adds a new frame to the internal buffer and returns the Multiframe containing the frame.

Set this transformation to identity

@name Getters @{ * @brief Get the timestamp for a particular frame. * @param[in] frameId ID of frame. * @return Timestamp of frame. */

Adds a residual block.

Set this to a random transformation.

Inform the synchronizer that a frame in the multiframe has completed keypoint detection and description.

@brief Get parameter block ID.

getters Get estimate.

Access the landmark ID

This will return true if the internal counter on how many times detectionEndedForMultiFrame() has been called for this multiframe equals the number of

setters Set estimate of this parameter block.

@brief Get the parameter dimension. \return The parameter dimension.

sizes \brief Residual dimension.

\brief Get the focal length along the u-dimension. \return The horizontal focal length in pixels.

get the size of a specific keypoint

\brief Plus matrix of a quaternion, i.e. q_AB*q_BC = plus(q_AB)*q_BC.coeffs(). @param[in] q_AB A Quaternion.

Add a parameter block to the map

get a specific keypoint

* @brief Checks whether the landmark is added to the estimator. * @param landmarkId The ID. * @return True if added. */

\brief Oplus matrix of a quaternion, i.e. q_AB*q_BC = oplus(q_BC)*q_AB.coeffs(). @param[in] q_BC A Quaternion.

@brief Get the number of states/frames in the estimator. \return The number of frames.

Reset with vector of extrinsics and geometries

This evaluates the error term and additionally computes the Jacobians in the minimal internal representation.

\brief The parameter block local dimension.

@brief Whether or not this is optimised at all.

Get pose for a given pose ID.

@brief Get the internal minimal parameter dimension. \return The internal minimal parameter dimension.

@brief Return parameter block type as string

\brief The parameter block dimension.

* @brief Get the oldest entry still in the queue. Blocking if queue is empty. * @param[out] value Oldest entry in queue. * @return False if sh

Add a new image.

Add an IMU measurement.

\brief Can the first camera see parts of the FOV of the second camera? @param[in] cameraIndexSeenBy The camera index for one camera. @param[in] camera

\brief Tell the queue shut down. This will notify all threads to wake up.

Add a camera to the configuration. Sensors can only be added and never removed.

\brief Obtain the projection type

* @brief Get a multiframe. * @param frameId ID of desired multiframe. * @return Shared pointer to multiframe. */

to make things a bit faster than using angle-axis conversion:

This evaluates the error term and additionally computes the Jacobians.

\brief Push to the queue. If full, drop the oldest entry. \param[in] value New entry in queue. \param[in] max_queue_size Maximum queue size. \return T

\brief Checks if the queue is empty. * the state of the queue might change right after this query. */

get a unique new ID.

Check whether a certain parameter block is part of the map.

Set the landmark ID

Generalization of the addition operation, x_plus_delta = Plus(x, delta) with the condition that Plus(x, 0) = x.

\brief Push to the queue if the size is less than max_queue_size, else block. \param[in] value New entry in queue. \param[in] max_queue_size Maximum q

Setters

* Returns the exception message */

Get camera states for a given pose ID.

Remove a residual block.

Get the residual blocks of a parameter block.

@name Local parameterization @{ * @brief Set which local parameterisation object to use. * @param ManifoldPtr The local parameterisation object to

@brief Solve the optimization problem.

\brief Return the size of the queue.

getters Get a specific landmark.

\brief Obtain the generic parameters.

* Returns whether the node is a leaf node * @return true iff the node is a leaf */

Do not optimise a certain parameter block.