detect keypoints. This uses virtual function calls. That's a negligibly small overhead for many detections. returns the number of detected points.

world-centric velocities

Get the ID of an older frame.

* @brief Checks if a particular frame is a keyframe. * @param[in] frameId ID of frame to check. * @return True if the frame is a keyframe. */

Checks whether the landmark is initialized.

Remove a parameter block from the map.

Right Jacobian, see Forster et al. RSS 2015 eqn. (8)

\brief what is the size of list A?

\brief what is the size of list B?

\brief Writing to file -- not implemented

The jacobian of Plus(x, delta) w.r.t delta at delta = 0.

\brief compute all the overlaps of fields of view. Attention: can be expensive.

Creates a random visible point in homogeneous coordinates.

describe keypoints. This uses virtual function calls. That's a negligibly small overhead for many detections. \param extractionDirection the extractio

\brief Distances above this threshold will not be returned as matches.

access a specific keypoint in OpenCV format

Retrieve the number of correspondences.

Feel free to implement caching for them... Get speeds and IMU biases for a given pose ID.

Computes the minimal difference between a variable x and a perturbed variable x_plus_delta.

* @brief Go to the wall! * * @todo Fully implement the win32 parts, currently just like a regular sleep. */

Start ceres optimization.

@name File read/write - implement in derived class, if needed @{ \brief Reading from file -- not implemented

\brief At the end of the matching step, this function is called once for each pair of matches discovered.

Set the fullStateCallback to be called every time a new state is estimated.

set the frame image;

Set the landmark initialization state.

------------------------------------------------------------------------ */

\brief The class type.

------------------------------------------------------------------------ */

------------------------------------------------------------------------ */

Add an IMU to the configuration.

Add a landmark.

Add a pose to the state.

Applies the dropping/marginalization strategy according to the RSS'13/IJRR'14 paper. The new number of frames in the window will be numKeyframes+numIm

Get the ID of the newest frame added to the state.

Get the ID of the current keyframe.

getters \brief Get the measurement. \return The measurement vector.

trigger display (needed because OSX won't allow threaded display)

\brief This will be called exactly once for each call to DenseMatcher::match()

Retrieve the bearing vector of a correspondence in viewpoint 1.

Retrieve the bearing vector of a correspondence in viewpoint 2.

Get a copy of all the landmarks as a PointMap.

* Returns the scoring method * @return scoring method */

Obtain the angular standard deviation of the correspondence in frame 1 in [rad].

Obtain the angular standard deviation of the correspondence in frame 2 in [rad].

* Returns the weighting method * @return weighting method */

\brief The height of the image in pixels.

\brief The width of the image in pixels.

Check a Jacobian with numeric differences.

access the descriptor -- CAUTION: high-speed version. returns NULL if out of bounds.

* @brief The local parameterisation object to use. */

------------------------------------------------------------------------ */

------------------------------------------------------------------------ */

* @brief Simple representation of the rt library nanosleep function. */

** Cross Platform Functions *********************************************************************/ * These have only internal linkage to this transla

@brief Get parameters -- as a pointer. \return Pointer to the parameters allocated in here.

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

Remove an observation from a landmark.

Set the blocking variable that indicates whether the addMeasurement() functions should return immediately (blocking=false), or only when the processin