Return the number of keyframes in the map

It re-normalizes the SO3 element. Note: Because of the class invariant of SO3, there is typically no need to call this function directly.

Return the pose of the frame in the (w)orld coordinate frame.

Get the last frame that has been processed.

Logarithmic map Computes the logarithm, the inverse of the group exponential which maps element of the group (rigid body transformations) to elements

Copy constructor

This provides unsafe read/write access to internal data. SO(3) is represented by an Eigen::Quaternion (four parameters). When using direct write acces

Transforms point coordinates in world-frame (w) to camera pixel coordinates (c).

Copy constructor

It re-normalizes ``unit_quaternion`` to unit length. Note: Because of the class invariant, there is typically no need to call this function directly.

Transforms point coordinates in world-frame (w) to camera-frams (f).

Was this frame selected as keyframe?

Get the number of feature observations of the last frame.

Return the keyframe which was last inserted in the map.

Logarithmic map Computes the logarithm, the inverse of the group exponential which maps element of the group (rotation matrices) to elements of the t

Returns scale.

Horizontal sum of uint32s stored in an XMM register

Return value between 0 and 255 WARNING This function does not check whether the x/y is within the border

Return number of point observations.

void Point::optimize(const size_t n_iter) { Vector3d old_point = pos_; double chi2 = 0.0; Matrix3d A; Vector3d b; for(size_t i=0; i<n_iter;

Returns scale.

Takes in quaternion, and normalizes it. Precondition: The quaternion must not be close to zero.

Sets ``so3`` using ``rotation_matrix``. Precondition: ``R`` must be orthogonal and ``det(R)=1``.

Setter of SO(2) rotations, leaves scale as is.

Constructor from pair of real and imaginary number. Precondition: The pair must not be close to zero.

Copy constructor

Copy constructor

Horizontal sum of uint16s stored in an XMM register