* Class describing camera parameters. */

Forward-declarations

\struct Backend Output Params * \brief Params controlling what the backend outputs. */

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-------------------------------------------------------------------------- */ A Plane defined by a gtsam::Symbol, a normal, a distance, and the set of

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/////////////////////////////////////////////////////////////////////////// FeatureTrack TODO(Toni): what is this doing here... should be in frontend

Multiple Imu measurements, bundled in dynamic matrices.

* @brief Structure storing mesh 3d visualization properties. */

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TODO (Toni): this should be on its own... * Compact storage of state. */

/////////////////////////////////////////////////////////////////////////// \brief The BackendType enum * - kStereoImu: vanilla backend type using S

* Store a list of image names and provide functionalities to parse them. */

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

* Parse all images and camera calibration for an ETH dataset. */

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/////////////////////////////////////////////////////////////////////// Class for storing/processing a single image

* Specialization of a ParallelPlaneRegularFactor where normals error is in * R³ (chordal) and the distance error is in R. * The error metric consid

* Specialization of a ParallelPlaneRegularFactor using normals error * in Tangent Space of S² (geodesic) and distance error in R. * The error metric

* Store GT poses and GT info. */

* Class implementing the Imu Front End preintegration. * Construct using imu_params, and optionally an initial ImuBias. * Call preintegrateImuMeasur

Guess State (pose, velocity, imu bias) from IMU only: - Guesses initial state **assuming zero velocity**. - Guesses IMU bias **assuming upright vehicl

Struct for performance in initialization

TODO(Toni): make a class enum.

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