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

\brief Get the total number of intrinsics. \return Number of intrinsics parameters.

\brief Get the epoch time as nanoseconds since the epoch.

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

\brief Convert the time (in integer nanoseconds) to decimal seconds.

Log information on a parameter block.

Propagates pose, speeds and biases with given IMU measurements.

------------------------------------------------------------------------ */ First quartile.

------------------------------------------------------------------------ */ Third quartile.

\brief a function that tells you how many times setMatching() will be called.

(Re)set the NCameraSystem -- which clears the frames as well.

provide keypoints externally

\brief Reset the linearisation point. Use with caution.

Reset the (local) parameterisation of a parameter block.

\brief Convert the time (in seconds) to integer nanoseconds

@brief Set the maximum number of keypoints of the BRISK detector.

@brief Set the number of octaves of the BRISK detector.

@brief Set the detection threshold of the BRISK detector.

Set an odometry output CSV file.

Hunter

Set the geometry

@brief Set parameter block ID @param[in] id A unique ID.

Set a CVS file where the IMU data will be saved to.

\brief Set initialisaiton status. @param[in] initialized Whether or not the 3d position is considered initialised.

@brief Set whether a frame is a keyframe or not. @param[in] frameId The frame ID. @param[in] isKeyframe Whether or not keyrame.

Set a CVS file where the landmarks will be saved to.

Optimise a certain parameter block (this is the default).

* @brief setTimeLimit changes time limit of optimization. * If you want to disable the time limit, either set it to a large value, *

@param[in] timestamp The timestamp of this state.

(Re)set the timestamp

Set a CVS file where the tracks (data associations) will be saved to.

Set pose for a given pose ID.

Tell the synchronizer to shutdown. This will notify all waiting threads to wake up.

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

Triangulate the intersection of two rays.

\brief Obtain the projection type

This must be called before optimization after adding residual blocks and/or marginalizing, since it performs all the lhs and rhs computations on from

Verifies the correctness of a implementation.

This method blocks until the queue is empty.

\brief The parameter block dimension.

\brief The parameter block dimension.

\brief The parameter block dimension.

\brief The parameter block dimension.

* Creates the BRIEF a priori data for descriptors of nbits length * @param patch_size * @param type type of pairs to generate */

\brief default Constructor -- does nothing serious

* @brief The constructor. * @param[in] timeLimit Time budget for the optimization. * @param[in] iterationMinimum Minimum iterations the optimiza

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

* Creates an exception with a general error message */