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Functions177 in github.com/PetWorm/LARVIO

⨍ Functions 177◇ Types & classes 30

↓ 103 callersMethodpush_back

include/Initializer/ImuPreintegration.h:57

↓ 51 callersFunctionskewSymmetric

* @brief Create a skew-symmetric matrix from a 3-element vector. * @note Performs the operation: * w -> [ 0 -w3 w2] * [ w3 0 -w1

include/larvio/math_utils.hpp:26

↓ 9 callersFunctionsmallAngleQuaternion

* @brief Convert the vector part of a quaternion to a * full quaternion. * @note This function is useful to convert delta quaternion * which

include/larvio/math_utils.hpp:85

↓ 6 callersMethodpublish

src/image_processor.cpp:1131

↓ 5 callersMethodcomputeDescriptors

src/ORBDescriptor.cpp:385

↓ 4 callersMethodcheckMotion

include/larvio/feature.hpp:334

↓ 3 callersMethodgetVisualImg

Get publish image.

include/larvio/image_processor.h:63

↓ 3 callersMethodprocessFeatures

src/larvio.cpp:363

↓ 3 callersMethodprocessImage

Process current img msg and return the feature msg.

src/image_processor.cpp:130

↓ 3 callersFunctionquaternionNormalize

* @brief Normalize the given quaternion to unit quaternion. */

include/larvio/math_utils.hpp:43

↓ 2 callersFunctionDrawCurrentPose

include/visualization/visualize.hpp:21

↓ 2 callersFunctionDrawKeyFrames

include/visualization/visualize.hpp:63

↓ 2 callersFunctionDrawSlideWindow

include/visualization/visualize.hpp:143

↓ 2 callersFunctionDrawStableMapPoints

include/visualization/visualize.hpp:202

↓ 2 callersFunctionGetCurrentOpenGLPoseMatrix

include/visualization/visualize.hpp:107

↓ 2 callersMethodassignInitialState

src/StaticInitializer.cpp:126

↓ 2 callersMethodendFrame

src/feature_manager.cpp:12

↓ 2 callersMethodgetActiveeMapPointPositions

src/larvio.cpp:2726

↓ 2 callersFunctiongetSmallAngleQuaternion

* @brief Convert the vector part of a quaternion to a * full quaternion. * @note This function is useful to convert delta quaternion * which

include/larvio/math_utils.hpp:113

↓ 2 callersMethodgetStableMapPointPositions

Get position of stable map points

src/larvio.cpp:2719

↓ 2 callersMethodgetTbw

src/larvio.cpp:2645

↓ 2 callersMethodinitialize

src/larvio.cpp:314

↓ 2 callersMethodinitializePosition

include/larvio/feature.hpp:383

↓ 1 callersFunctionDrawActiveMapPoints

include/visualization/visualize.hpp:187

↓ 1 callersFunctionGetSwOpenGLPoseMatrices

include/visualization/visualize.hpp:133

↓ 1 callersFunctionLinearAlignment

src/initial_alignment.cpp:131

↓ 1 callersFunctionRefineGravity

src/initial_alignment.cpp:62

↓ 1 callersFunctionTangentBasis

src/initial_alignment.cpp:46

↓ 1 callersFunctionVisualIMUAlignment

src/initial_alignment.cpp:206

↓ 1 callersMethodaddFeatureCheckParallax

src/feature_manager.cpp:45

↓ 1 callersMethodclearState

src/feature_manager.cpp:23

↓ 1 callersMethodconstruct

original: q w_R_cam t w_R_cam c_rotation cam_R_w c_translation cam_R_w relative_q[i][j] j_q_i relative_t[i][j] j_t_ji (j < i)

src/initial_sfm.cpp:128

↓ 1 callersFunctiondecomposeEssentialMat

src/solve_5pts.cpp:4

↓ 1 callersMethodgetCorresponding

src/feature_manager.cpp:100

↓ 1 callersMethodgetPpose

src/larvio.cpp:2672

↓ 1 callersMethodgetPvel

src/larvio.cpp:2691

↓ 1 callersMethodgetSwPoses

Get poses of augmented IMU states

src/larvio.cpp:2702

↓ 1 callersMethodgetVel

src/larvio.cpp:2662

↓ 1 callersMethodinitialize

Initializing the system.

ros_wrapper/src/larvio/src/System.cpp:85

↓ 1 callersMethodinitializeInvParamPosition

include/larvio/feature.hpp:723

↓ 1 callersMethodinitializePosition_AssignAnchor

include/larvio/feature.hpp:554

↓ 1 callersFunctionloadImageList

* @description: Read data.csv containing image file names * @param imagePath Path of data.csv * @return: iListData Cotaining image informations. */

include/utils/DataReader.hpp:31

↓ 1 callersFunctionloadImuFile

* @description: Read data.csv containing IMU data * @param imuPath Path of data.csv * @return: vimuData Cotaining IMU informations. */ QXC：读取imu的da

include/utils/DataReader.hpp:68

↓ 1 callersFunctionrecoverPose

src/solve_5pts.cpp:29

↓ 1 callersMethodremoveBack

src/feature_manager.cpp:203

↓ 1 callersMethodremoveFront

src/feature_manager.cpp:222

↓ 1 callersMethodrepropagate

include/Initializer/ImuPreintegration.h:65

↓ 1 callersMethodsetRic

src/feature_manager.cpp:18

↓ 1 callersFunctionsolveGyroscopeBias

src/initial_alignment.cpp:10

↓ 1 callersMethodsolveRelativeRT

src/solve_5pts.cpp:194

↓ 1 callersMethodtryDynInit

src/DynamicInitializer.cpp:21

↓ 1 callersMethodtryIncInit

src/StaticInitializer.cpp:13

include/Initializer/initial_sfm.h:58

MethodDynamicInitializer

include/Initializer/DynamicInitializer.h:40

Constructors for the struct.

include/larvio/feature.hpp:61

MethodFeaturePerFrame

include/Initializer/feature_manager.h:30

MethodFeaturePerId

include/Initializer/feature_manager.h:69

MethodFlexibleInitializer

include/Initializer/FlexibleInitializer.h:24

MethodGlobalSFM

src/initial_sfm.cpp:11

src/ORBDescriptor.cpp:486

include/larvio/imu_state.h:78

MethodIMUState_Aug

include/larvio/imu_state.h:136

MethodImageFrame

include/Initializer/initial_alignment.h:32

MethodImageProcessor

src/image_processor.cpp:28

MethodImageProcessor

Disable copy and assign constructors.

include/larvio/image_processor.h:41

include/sensors/ImuData.hpp:17

MethodIntegrationBase

include/Initializer/ImuPreintegration.h:36

src/larvio.cpp:42

Disable copy and assign constructor

include/larvio/larvio.h:44

MethodMonoFeatureMeasurement

include/larvio/feature_msg.h:17

MethodORBdescriptor

src/ORBDescriptor.cpp:287

MethodOptimizationConfig

include/larvio/feature.hpp:49

MethodStaticInitializer

include/Initializer/StaticInitializer.h:30

ros_wrapper/src/larvio/src/System.cpp:24

Disable copy and assign constructors.

ros_wrapper/src/larvio/include/System.h:41

MethodSystemNodelet

ros_wrapper/src/larvio/include/System_nodelet.h:16

MethodaddFeatureObservations

src/larvio.cpp:804

MethodassignInitialState

src/DynamicInitializer.cpp:443

MethodbatchImuProcessing

src/larvio.cpp:464

src/larvio.cpp:3475

MethodcheckZUPT

check if need ZUPT, added by QXC

src/larvio.cpp:2751

MethodclearDepth

src/feature_manager.cpp:155

MethodcompareByObsNum

Delete redundant features in grid map

include/larvio/larvio.h:387

MethodcompensatedParallax2

src/feature_manager.cpp:245

MethodcomputeDescriptorDistance

copy from ORBmatcher.cc, below is original comment Bit set count operation from http://graphics.stanford.edu/~seander/bithacks.html#CountBitsSetParall

include/ORB/ORBDescriptor.h:43

MethodcomputeOrbDescriptor

src/ORBDescriptor.cpp:334

include/larvio/feature.hpp:252

MethodcreateImagePyramids

src/image_processor.cpp:318

MethodcreateRosIO

Subscribe image and imu msgs.

ros_wrapper/src/larvio/src/System.cpp:49

MethoddelRedundantFeatures

src/larvio.cpp:3373

include/Initializer/ImuPreintegration.h:187

MethodfeatureJacobian_ekf

src/larvio.cpp:1341

MethodfeatureJacobian_ekf_new

src/larvio.cpp:1247

MethodfeatureJacobian_msckf

src/larvio.cpp:924

FunctionfindFirstAlign

include/utils/DataReader.hpp:123

MethodfindNewFeaturesToBeTracked

src/image_processor.cpp:1005

MethodfindRedundantImuStates

src/larvio.cpp:2259

MethodgatingTest

src/larvio.cpp:1865

MethodgenerateInitialGuess

include/larvio/feature.hpp:312

MethodgetDepthVector

src/feature_manager.cpp:168

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