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⨍ Functions 451◇ Types & classes 89

↓ 22 callersFunctionquaternionToRotation

* @brief Convert a quaternion to the corresponding rotation matrix * @note Pay attention to the convention used. The function follows the * conve

src/msckf_vio_note/include/msckf_vio/math_utils.hpp:100

↓ 11 callersFunctionskewSymmetric

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

src/msckf_vio_note/include/msckf_vio/math_utils.hpp:23

↓ 10 callersMethodtheta

src/EKF_learning/kalman/examples/Robot1/SystemModel.hpp:34

↓ 7 callersMethodx

src/EKF_learning/kalman/examples/Robot1/SystemModel.hpp:32

↓ 7 callersMethody

src/EKF_learning/kalman/examples/Robot1/SystemModel.hpp:33

↓ 6 callersMethodgetTBS

src/msckf_mine_1.0/src/camera.cc:71

↓ 6 callersMethodisIdentity

* @brief Check whether the decomposed matrix is the identity matrix */

src/EKF_learning/kalman/include/kalman/Matrix.hpp:128

↓ 5 callersMethodgetK

src/msckf_mine_1.0/src/camera.cc:61

↓ 5 callersMethodgetK

src/msckf_mine/src/camera.cc:61

↓ 5 callersMethodimageComing

src/msckf_mine_1.0/src/msckf.cc:281

↓ 5 callersMethodv

src/EKF_learning/kalman/examples/Robot1/SystemModel.hpp:61

↓ 4 callersMethoddtheta

src/EKF_learning/kalman/examples/Robot1/SystemModel.hpp:62

↓ 4 callersMethodextractFeatures

src/msckf_mine/src/msckf.cc:291

↓ 4 callersMethodf

* @brief Definition of (non-linear) state transition function * * This function defines how the system state is propagated through time,

src/EKF_learning/kalman/examples/Robot1/SystemModel.hpp:101

↓ 4 callersMethodget

src/msckf_mine_1.0/include/config.h:24

↓ 4 callersMethodgetCovariance

* Get covariance reconstructed from square root */

src/EKF_learning/kalman/include/kalman/SquareRootBase.hpp:53

↓ 4 callersMethodgetCovarianceSquareRoot

* Get covariance (as square root) */

src/EKF_learning/kalman/include/kalman/StandardBase.hpp:53

↓ 4 callersMethodgetTBS

src/msckf_mine/src/camera.cc:71

↓ 4 callersFunctionquaternionNormalize

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

src/msckf_vio_note/include/msckf_vio/math_utils.hpp:40

↓ 4 callersFunctionrotationToQuaternion

* @brief Convert a rotation matrix to a quaternion. * @note Pay attention to the convention used. The function follows the * conversion in "Indir

src/msckf_vio_note/include/msckf_vio/math_utils.hpp:122

↓ 4 callersMethodupdateJacobians

* Callback function for state-dependent update of Jacobi-matrices F and W before each update step */

src/EKF_learning/kalman/include/kalman/LinearizedSystemModel.hpp:64

↓ 3 callersMethodConstructFrame

src/msckf_mine/src/msckf.cc:303

↓ 3 callersMethodMatcheTwoFrames

src/msckf_mine/src/ORBmatcher.cc:55

↓ 3 callersMethodget

src/msckf_mine/include/config.h:24

↓ 3 callersMethodgetD

src/msckf_mine_1.0/src/camera.cc:66

↓ 3 callersMethodgetD

src/msckf_mine/src/camera.cc:66

↓ 3 callersFunctiongetTransformCV

src/msckf_vio_note/src/utils.cpp:34

↓ 3 callersFunctiongetTransformEigen

src/msckf_vio_note/src/utils.cpp:14

↓ 3 callersMethodh

src/EKF_learning/kalman/test/models/Quadratic.hpp:40

↓ 3 callersMethodinit

* @brief Initialize state * @param initialState The initial state of the system */

src/EKF_learning/kalman/include/kalman/KalmanFilterBase.hpp:66

↓ 3 callersMethodinitializePosition

src/msckf_vio_note/include/msckf_vio/feature.hpp:294

↓ 3 callersFunctionquaternionMultiplication

* @brief Perform q1 * q2 */

src/msckf_vio_note/include/msckf_vio/math_utils.hpp:49

↓ 3 callersFunctionsmallAngleQuaternion

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

src/msckf_vio_note/include/msckf_vio/math_utils.hpp:72

↓ 2 callersMethodDivideNode

src/msckf_mine/src/ORBextractor.cc:430

↓ 2 callersMethodGenerateMask

* output is mask */

src/msckf_mine_1.0/src/frame.cc:140

↓ 2 callersMethodRunFeatureMatching

src/msckf_mine/src/msckf.cc:326

↓ 2 callersMethodShowState

src/msckf_mine_1.0/src/msckf.cc:920

↓ 2 callersMethodcheckMotion

src/msckf_vio_note/include/msckf_vio/feature.hpp:250

↓ 2 callersFunctionchi2Inv

src/msckf_mine_1.0/include/chi2table.h:207

↓ 2 callersMethodcomputeKalmanGain

src/EKF_learning/kalman/include/kalman/UnscentedKalmanFilter.hpp:248

↓ 2 callersFunctioncomputeOrientation

src/msckf_mine/src/ORBextractor.cc:421

↓ 2 callersMethodcomputeSigmaPoints

* @brief Compute sigma points from current state estimate and state covariance * * @note This covers equations (6) and (9) of Algor

src/EKF_learning/kalman/include/kalman/UnscentedKalmanFilter.hpp:192

↓ 2 callersMethodd1

src/EKF_learning/kalman/examples/Robot1/PositionMeasurementModel.hpp:28

↓ 2 callersMethodd2

src/EKF_learning/kalman/examples/Robot1/PositionMeasurementModel.hpp:29

↓ 2 callersMethodget

src/msckf_mine_1.5/include/config.h:24

↓ 2 callersMethodh

* @brief Definition of (possibly non-linear) measurement function * * This function maps the system state to the measurement that is expecte

src/EKF_learning/kalman/examples/Robot1/PositionMeasurementModel.hpp:88

↓ 2 callersMethodimageComing

src/msckf_mine/src/msckf.cc:273

↓ 2 callersMethodinitialize

* @brief MSCKF初始化，从launch文件从读入相关参数以及创建ros发布和订阅的主题 * * 载入launch文件中相关参数 * 初始化状态噪声的偏置 * 初始化卡方检验表 * 创建ros发布和订阅的主题 */

src/msckf_vio_note/src/msckf_vio.cpp:231

↓ 2 callersMethodpropagateIMU

src/msckf_mine_1.0/src/msckf.cc:68

↓ 2 callersMethodsetFeatureNum

src/msckf_mine/src/ORBextractor.cc:1083

↓ 2 callersFunctionshowMsckfAllDate

src/msckf_mine_1.0/test/msckf_test_v0.cpp:115

↓ 2 callersFunctionshowMsckfAllDate

src/msckf_mine/test/msckf_test_v0.cpp:115

↓ 2 callersMethodtheta

src/EKF_learning/kalman/examples/Robot1/OrientationMeasurementModel.hpp:25

↓ 1 callersMethodAugmentation

src/msckf_mine_1.0/src/msckf.cc:234

↓ 1 callersMethodAugmentation

src/msckf_mine/src/msckf.cc:224

↓ 1 callersMethodBigOmega

src/msckf_mine_1.0/src/msckf.cc:44

↓ 1 callersMethodBigOmega

src/msckf_mine/src/msckf.cc:40

↓ 1 callersMethodCalcResidualsAndStackingIt

src/msckf_mine_1.0/src/msckf.cc:546

↓ 1 callersMethodCalcResidualsAndStackingIt

src/msckf_mine/src/msckf.cc:484

↓ 1 callersFunctionDrawFrameMatch

src/msckf_mine_1.0/test/frame_and_orb_test.cpp:29

↓ 1 callersFunctionDrawFrameMatch

src/msckf_mine/test/frame_and_orb_test.cpp:29

↓ 1 callersMethodDrawFrameMatch

src/msckf_mine/src/ORBmatcher.cc:225

↓ 1 callersMethodExtractORB

src/msckf_mine/src/frame.cc:52

↓ 1 callersFunctionGenerateMask

src/msckf_mine_1.0/test/optical_flow_test/optical_flow_tracking_mask.cpp:127

↓ 1 callersFunctionGenerateMask

src/msckf_mine_1.0/test/optical_flow_test/tracking_feature_manager.cpp:227

↓ 1 callersFunctionGenerateMask

src/msckf_mine/test/optical_flow_test/optical_flow_tracking_mask.cpp:127

↓ 1 callersFunctionGenerateMask

src/msckf_mine/test/optical_flow_test/tracking_feature_manager.cpp:144

↓ 1 callersMethodGetFeaturesInArea

src/msckf_mine/src/frame.cc:69

↓ 1 callersFunctionIC_Angle

src/msckf_mine/src/ORBextractor.cc:22

↓ 1 callersFunctionShowFeatures

src/msckf_mine_1.0/test/msckf_vio_stereo_test/fast_feature_detect.cpp:12

↓ 1 callersFunctionShowFeatures

src/msckf_mine_1.0/test/frame_test/frame_test.cpp:78

↓ 1 callersFunctionShowFeatures

src/msckf_mine_1.0/test/frame_test/frame_with_imu_test.cpp:100

↓ 1 callersFunctionchi2Inv

src/msckf_mine/include/chi2table.h:207

↓ 1 callersMethodcomputeCovarianceFromSigmaPoints

src/EKF_learning/kalman/include/kalman/UnscentedKalmanFilter.hpp:227

↓ 1 callersMethodcomputeCovarianceSquareRootFromSigmaPoints

src/EKF_learning/kalman/include/kalman/SquareRootUnscentedKalmanFilter.hpp:226

↓ 1 callersFunctioncomputeDescriptors

src/msckf_mine/src/ORBextractor.cc:983

↓ 1 callersFunctioncomputeOrbDescriptor

src/msckf_mine/src/ORBextractor.cc:53

↓ 1 callersMethodcomputeSigmaPointMeasurements

src/EKF_learning/kalman/include/kalman/UnscentedKalmanFilterBase.hpp:207

↓ 1 callersMethodcomputeSigmaPointTransition

src/EKF_learning/kalman/include/kalman/UnscentedKalmanFilterBase.hpp:190

↓ 1 callersMethodcomputeWeights

* @brief Compute sigma weights */

src/EKF_learning/kalman/include/kalman/UnscentedKalmanFilterBase.hpp:152

↓ 1 callersMethodgetD

src/msckf_mine_1.5/src/camera.cc:66

↓ 1 callersMethodgetK

src/msckf_mine_1.5/src/camera.cc:61

↓ 1 callersFunctiongetKalibrStyleTransform

src/msckf_vio_note/src/utils.cpp:66

↓ 1 callersFunctiongetVec16Transform

src/msckf_vio_note/src/utils.cpp:55

↓ 1 callersMethodpropagateIMU

src/msckf_mine/src/msckf.cc:64

↓ 1 callersMethodpublish

src/msckf_mine_1.5/src/image_processor.cc:1162

↓ 1 callersMethodpublish

src/msckf_vio_note/src/msckf_vio.cpp:1648

↓ 1 callersMethodpublish

* @brief 用于显示双目图像和特征点，并发布消息 * */

src/msckf_vio_note/src/image_processor.cpp:1455

↓ 1 callersMethodsetCovariance

* Set Covariance */

src/EKF_learning/kalman/include/kalman/StandardBase.hpp:61

↓ 1 callersMethodsetCovarianceSquareRoot

* @brief Set Covariance using Square Root * * @param covSquareRoot Lower triangular Matrix representing the covariance *

src/EKF_learning/kalman/include/kalman/StandardBase.hpp:73

↓ 1 callersMethodsetImuData_Acc

src/EKF_learning/KF/include/imu_data_structure.h:28

↓ 1 callersMethodsetImuData_Gyro

src/EKF_learning/KF/include/imu_data_structure.h:29

↓ 1 callersFunctionshowFeatures

src/msckf_mine_1.0/test/orb_feature_extract.cpp:13

↓ 1 callersFunctionshowFeatures

src/msckf_mine_1.0/test/frame_and_orb_test.cpp:15

↓ 1 callersFunctionshowFeatures

src/msckf_mine_1.0/test/orb_feature_match_test.cpp:13

↓ 1 callersFunctionshowFeatures

src/msckf_mine/test/orb_feature_extract.cpp:13

↓ 1 callersFunctionshowFeatures

src/msckf_mine/test/frame_and_orb_test.cpp:15

↓ 1 callersFunctionshowFeatures

src/msckf_mine/test/orb_feature_match_test.cpp:13

↓ 1 callersMethodskewMatrix

src/msckf_mine_1.0/src/msckf.cc:55

↓ 1 callersMethodskewMatrix

src/msckf_mine/src/msckf.cc:51

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