\brief Checks if the queue is empty. * the state of the queue might change right after this query. */

NON-THREAD SAFE, and potentially very hazardous, giving away rights to modify class members is EVIL.

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

-------------------------------------------------------------------------- */ Assert equality up to a tolerance.

-------------------------------------------------------------------------- */ Parse YAML file describing camera parameters.

Printers. -------------------------------------------------------------------------- */ THIS IS NOT THREAD-SAFE !!

evaluateError Hpoint: jacobian of h wrt point landmark Hplane: jacobian of h wrt plane

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

* @brief registerOutputCallback Add an extra output callback to the list * of callbacks. This will be called every time there is a new output from

-------------------------------------------------------------------------- */ TODO remove global variables from optimize, pass them as local parameter

-------------------------------------------------------------------------- */ TODO: Clean up RGBD TODO: this should be in StereoMatcher

Getters Thread-safe.

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

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

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

++++++++++++++++++++++ NONCONST FUNCTIONS ++++++++++++++++++++++++++++++ */ ExtractCorners using goodFeaturesToTrack This is only used for testing pur

------------------------------------------------------------------------ */ @brief Returns a pointer to the database of LCDFrames. * @return A poin

-------------------------------------------------------------------------- */ NOT THREAD-SAFE What happens if someone updates the bias in the middle o

Getters

------------------------------------------------------------------------ */ This should be called by the stereo frontend, whenever there is a new keyf

++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ */ TODO(Toni) Optimize this function.

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

NOT THREAD-SAFE, needs critical section.

------------------------------------------------------------------------ */ This should be called by the backend, whenever there is a new imu bias est

/ helper function

------------------------------------------------------------------------ */ THREAD-SAFE.

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

------------------------------------------------------------------------ */ TODO(marcus): only add nodes if they're x dist away from previous node TOD

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

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

-------------------------------------------------------------------------- */ TODO this can be greatly improved, but we need to get rid of global vari

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

-------------------------------------------------------------------------- */ Resume all workers and queues

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

-------------------------------------------------------------------------- */ Performs visual-inertial alignment and gravity estimate. [out] initial g

------------------------------------------------------------------------ */ Create projection factors on the Linear navigation state: position, vel, a

-------------------------------------------------------------------------- */ TODO this won't work in parallel mode, as visualization must be done in

------------------------------------------------------------------------ */ @brief Returns a pointer to the parameters of the LoopClosureDetector.

TODO needs to be generalized to aleatory polygonal meshes. Currently it only allows polygons of same size.

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

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

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

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

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

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

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

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