* \brief Time representation. May either represent wall clock time or ROS clock time. * * okvis::TimeBase provides most of its functionality. */

emulating singleton syntax

\brief A class that does homogeneous transformations. This relates a frame A and B: T_AB; it consists of translation r_AB (represented in frame A) and

Functions to generate pseudo-random numbers

* \brief Duration representation for use with the Time class. * * okvis::DurationBase provides most of its functionality. */

\brief Wraps the parameter block for a pose estimate

Single result of a query

* \brief Unique identifier for a keypoint. * * A keypoint is identified as the keypoint with index \e keypointIndex * in the frame with index \e ca

* \brief Duration representation for use with the WallTime class. * * okvis::DurationBase provides most of its functionality. */

\class EquidistantDistortion \brief Implements equidistant distortion.

* @brief This class combines multiple frames with the same or similar timestamp into one multiframe. * @warning This class is not threadsafe. Make su

\brief IMU measurements. For now assume they are synchronized:

Vector of nodes with indexes of local features

* @brief A type to store information about a point in the world map. */

\brief Type to store the result of matching.

\class NoDistortion \brief This trivially doesn't do anything in terms of distortion. This is useful for testing, or working with pre-undistorted imag

* @brief Thrown if windoze high perf. timestamping is unavailable. * * @sa getWallTime */

BRIEF descriptor

! * \brief Barometer parameters. * * A simple struct to specify properties of a barometer. * */

\brief Barometer measurement.

Vector of words to represent images

\class CameraBase \brief Base class for all camera models.

\brief Camera measurement.

* @brief The CeresIterationCallback class tries to enforce a time limit on the * optimization. It does not guarantee to stay within the time b

General exception

* @brief This class matches keypoints from two frames in parallel. */

\brief Depth camera measurements. For now assume they are synchronized:

\brief Absolute error of a depth measurement.

* @brief This class is to safely notify different threads whether Depth measurements * up to a timestamp (e.g. the one of a camera frame) have

@Sharmin \brief depth measurement.

\brief Differential pressure sensor measurement.

! * \brief Differential pressure sensor parameters. * * A simple struct to specify properties of a differential pressure sensor. * */

\class DistortionBase \brief Base class for all distortion models.

A class that has the statistics interface but does nothing. Swapping this in in place of the Statistics class (say with a typedef) eliminates the func

A class that has the timer interface but does nothing. Swapping this in in place of the Timer class (say with a typedef) should allow one to disable t

@brief Simple interface class the errors implemented here should inherit from.

The estimator class ! The estimator class. This does all the backend work. Frames: W: World B: Body C: Camera S: Sensor (IMU) */

\brief Struct to define the behavior of the camera extrinsics.

Functions to manipulate BRIEF descriptors

Generic class to encapsulate functions to manage descriptors. * This class must be inherited. Derived classes can be used as the * parameter F when c

\class Frame \brief A single camera frame equipped with keypoint detector / extractor.

* \brief Provides functions for fitting an absolute-pose model to a set of * bearing-vector to point correspondences, using different algorith

\brief Frame measurement.

\brief Adapter for absolute pose RANSAC (3D2D) with non-central cameras, i.e. could be a multi-camera-setup.

\brief Adapter for relative pose RANSAC (2D2D)

* \brief Provides functions for fitting a relative-pose model to a set of * bearing-vector to point correspondences, using different algorithm

* \brief Functions for fitting a rotation-only model to a set of bearing-vector * correspondences (using twopt_rotationOnly). The viewpoints a

* @brief A frontend using BRISK features */

Base class of scoring functions

! * \brief GPS parameters * * A simple struct to specify properties of a GPS receiver. * */

\brief GPS position measurement.

Sharmin: Read from config file.

\brief Absolute error of a homogeneous point (landmark).

\brief Local parameterisation of a homogeneous point [x,y,z,w]^T. We use a Euclidean-type perturbation, i.e. only affect the x-y-z-part.

\brief Wraps the parameter block for a speed / IMU biases estimate

\brief Implements a nonlinear IMU factor.

* @brief This class is to safely notify different threads whether IMU measurements * up to a timestamp (e.g. the one of a camera frame) have a

! * \brief IMU parameters. * * A simple struct to specify properties of an IMU. * */

Lightweight container to dump keyframe info to text

\brief Keypoint measurement.