set the detector

set the extractor

@brief Whether or not this should be optimised at all. @param[in] fixed True if not to be optimised.

Sharmin

Set the homogeneous coordinates for a landmark.

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

* @brief setMinimumIterations changes the minimum iterations the optimization * goes through disregarding the time limit * @param iterati

Set a time limit for the optimization process.

\brief Set the parameters @param parameters The parameters.

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

\brief Should we skip the item in list A? This will be called once for each item in the list

\brief Should we skip the item in list B? This will be called many times.

Wait until a IMU measurement with a timestamp equal or newer to the supplied one is registered.

This evaluates the error term and additionally computes the Jacobians.

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

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

\brief Push non-blocking to the queue.

lestefan: some additional accessors * @brief Get the camera index for a specific correspondence. * @param index The serialized index of the corresp

get the camera geometry of camera cameraIndex

\brief Convert std::chrono to nanoseconds since the epoch.

Creates a random (uniform distribution) image point.

Matching as well as initialization of landmarks and state.

Detection and descriptor extraction on a per image basis.

\brief the "distance" between the two points. For points that absolutely don't match. Please use float max.

\brief By which factor does the first best match has to be better than the second best one.

Get a shared pointer to an error term.

Retrieve the bearing vector of a correspondence.

* Returns the branching factor of the tree (k) * @return k */

Retrieve the position of a camera of a correspondence seen from the viewpoint origin.

Retrieve the rotation from a camera of a correspondence to the viewpoint origin.

* Returns the depth levels of the tree (L) * @return L */

Obtain the Hessian block for a specific parameter block.

* @brief Get the keypoint index in frame 2 of a correspondence. * @param index The serialized index of the correspondence. * @return The keypoin

Call this in order to (re-)add this error term after whenever it had been modified.

Retrieve the world point of a correspondence.

Obtain the angular standard deviation in [rad].

Tell the synchronizer that a new IMU measurement has been registered.

* Sets the test pattern * @param x1 x1 coordinates of pairs * @param y1 y1 coordinates of pairs * @param x2 x2 coordinates of pairs * @par

Initialises settings and calls startThreads().

\brief Get initialisaiton status. \return Whether or not the 3d position is considered initialised.

Checks if a particular frame is still in the IMU window

* @brief Get the keypoint index for a specific correspondence * @param index The serialized index of the correspondence. * @return Keypoint inde

Computes the Jacobian from minimal space to naively overparameterised space as used by ceres.

Marginalise out a set of parameter blocks.