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⨍ Functions 451◇ Types & classes 89

MethodShowState

src/msckf_mine_1.0/backup/msckf_20180131.cc:859

MethodSquareRootBase

src/EKF_learning/kalman/include/kalman/SquareRootBase.hpp:80

MethodSquareRootExtendedKalmanFilter

* @brief Constructor */

src/EKF_learning/kalman/include/kalman/SquareRootExtendedKalmanFilter.hpp:79

MethodSquareRootUnscentedKalmanFilter

* Constructor * * See paper for detailed parameter explanation * * @param alpha Scaling parameter for spread of

src/EKF_learning/kalman/include/kalman/SquareRootUnscentedKalmanFilter.hpp:99

MethodStandardBase

src/EKF_learning/kalman/include/kalman/StandardBase.hpp:83

MethodSystemModel

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

src/msckf_vio_note/test/math_utils_test.cpp:17

src/msckf_vio_note/test/feature_initialization_test.cpp:33

src/EKF_learning/kalman/test/UnscentedKalmanFilterBase.cpp:23

src/EKF_learning/kalman/test/SquareRootUnscentedKalmanFilter.cpp:12

src/EKF_learning/kalman/test/UnscentedKalmanFilter.cpp:12

src/EKF_learning/kalman/test/StandardBase.cpp:13

src/EKF_learning/kalman/test/Matrix.cpp:12

src/EKF_learning/kalman/test/SquareRootBase.cpp:13

src/EKF_learning/kalman/test/ExtendedKalmanFilter.cpp:12

src/msckf_mine_1.0/backup/msckf_20180131.cc:318

src/msckf_mine_1.0/src/msckf.cc:333

MethodTriangulationReprojectionErr

src/msckf_mine_1.0/include/triangulation.h:14

MethodTriangulationReprojectionErr

src/msckf_mine/include/triangulation.h:14

MethodTriangulationReprojectionErr

src/msckf_mine_1.5/include/triangulation.h:14

MethodTriangulationWorldPoint

src/msckf_mine_1.0/backup/msckf_20180131.cc:470

MethodTriangulationWorldPoint

src/msckf_mine_1.0/src/msckf.cc:485

MethodTriangulationWorldPoint

src/msckf_mine/src/msckf.cc:439

MethodUnDistortImg

src/msckf_mine_1.0/src/frame.cc:86

MethodUnDistortImg

src/msckf_mine_1.5/src/frame.cc:86

MethodUnscentedKalmanFilter

* Constructor * * See paper for detailed parameter explanation * * @param alpha Scaling parameter for spread of

src/EKF_learning/kalman/include/kalman/UnscentedKalmanFilter.hpp:99

MethodUnscentedKalmanFilterBase

* Constructor * * See paper for parameter explanation * * @param _alpha Scaling parameter for spread of sigma po

src/EKF_learning/kalman/include/kalman/UnscentedKalmanFilterBase.hpp:106

src/msckf_mine_1.0/backup/msckf_20180131.cc:824

src/msckf_mine_1.0/src/msckf.cc:869

src/msckf_mine/src/msckf.cc:747

src/EKF_learning/kalman/include/kalman/Matrix.hpp:78

MethodaddFeatureObservations

* @brief 判断特征点是否为新的特征点并将其加入到地图点中 * @param msg All features on the current image, including tracked ones and newly detected ones. * features[] featur

src/msckf_vio_note/src/msckf_vio.cpp:924

MethodaddNewFeatures

src/msckf_mine_1.5/src/image_processor.cc:627

MethodaddNewFeatures

src/msckf_vio_note/src/image_processor.cpp:829

MethodbatchImuProcessing

* @brief 对当前帧前所有缓存中的imu数据进行处理 * * 循环处理缓存中每个Imu数据 * 动态方程转换为状态转移方程 * 状态转移方程离散化 * Imu数据进行误差状态的传递（预测新的状态） * imu协方差的传递以及imu与相机位姿之间的协方差更新 */

src/msckf_vio_note/src/msckf_vio.cpp:587

MethodcalcDeltaQuaternion

src/msckf_mine_1.0/backup/msckf_20180131.cc:202

MethodcalcDeltaQuaternion

src/msckf_mine_1.0/src/msckf.cc:203

MethodcalcDeltaQuaternion

src/msckf_mine/src/msckf.cc:199

MethodcalcOmegaMatrix

src/msckf_mine_1.0/backup/msckf_20180131.cc:191

MethodcalcOmegaMatrix

src/msckf_mine_1.0/src/msckf.cc:192

MethodcalcOmegaMatrix

src/msckf_mine/src/msckf.cc:188

Functionchi2Inv

src/msckf_mine_1.5/include/chi2table.h:207

MethodcomputeKalmanGain

src/EKF_learning/kalman/include/kalman/SquareRootUnscentedKalmanFilter.hpp:275

MethodcomputeKalmanGain

src/EKF_learning/kalman/include/kalman/SquareRootExtendedKalmanFilter.hpp:252

MethodcomputeMeasurementPrediction

src/EKF_learning/kalman/include/kalman/UnscentedKalmanFilterBase.hpp:140

MethodcomputePredictedCovarianceSquareRoot

src/EKF_learning/kalman/include/kalman/SquareRootExtendedKalmanFilter.hpp:209

MethodcomputePredictionFromSigmaPoints

src/EKF_learning/kalman/include/kalman/UnscentedKalmanFilterBase.hpp:224

MethodcomputeSigmaPoints

* @brief Compute sigma points from current state estimate and state covariance * * @note This covers equations (17) and (22) of Alg

src/EKF_learning/kalman/include/kalman/SquareRootUnscentedKalmanFilter.hpp:196

MethodcomputeStatePrediction

src/EKF_learning/kalman/include/kalman/UnscentedKalmanFilterBase.hpp:123

src/msckf_vio_note/include/msckf_vio/feature.hpp:168

MethodcreateImagePyramids

src/msckf_mine_1.5/src/image_processor.cc:231

MethodcreateImagePyramids

* @brief 创建图像金字塔 * * 调用了OpenCV的函数buildOpticalFlowPyramid构建图像金字塔 */

src/msckf_vio_note/src/image_processor.cpp:342

MethodcreateRosIO

src/msckf_mine_1.5/src/image_processor.cc:111

MethodcreateRosIO

* @brief 创建ROS的相关发布和订阅的主题 * * 发布的主题主要包括里程计、地图点云和 * 订阅的主题主要包括imu数据、图像处理节点发送的和 */

src/msckf_vio_note/src/msckf_vio.cpp:203

MethodcreateRosIO

* @brief 创建ros发布和订阅的主题 * * 发布节点：相机的特征量测和跟踪信息 * 订阅节点：两个相机的图像以及imu */

src/msckf_vio_note/src/image_processor.cpp:212

MethoddistortPoints

src/msckf_mine_1.5/src/image_processor.cc:821

MethoddistortPoints

* @brief 计算原图像帧关键点对应的矫正位置 * @param pts_in：图像帧中已校正的关键点位置 * @param intrinsics:内参矩阵 * @param distortion_model：相机模型 * @param distortion_coeffs:畸变系数 *

src/msckf_vio_note/src/image_processor.cpp:1046

MethoddrawFeaturesMono

src/msckf_mine_1.5/src/image_processor.cc:1213

MethoddrawFeaturesMono

src/msckf_vio_note/src/image_processor.cpp:1511

MethoddrawFeaturesStereo

src/msckf_mine_1.5/src/image_processor.cc:1283

MethoddrawFeaturesStereo

* @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:1585

src/EKF_learning/kalman/test/models/Quadratic.hpp:22

MethodfeatureCallback

* @brief image_process的nodelet得到双目数据 * */

src/msckf_vio_note/src/msckf_vio.cpp:427

MethodfeatureCompareByLifetime

* @brief featureCompareByLifetime * Compare two features based on the lifetime. */

src/msckf_mine_1.5/include/image_processor.h:89

MethodfeatureCompareByLifetime

* @brief featureCompareByLifetime * Compare two features based on the lifetime. */

src/msckf_vio_note/include/msckf_vio/image_processor.h:119

MethodfeatureCompareByResponse

* @brief featureCompareByResponse * Compare two features based on the response. */

src/msckf_mine_1.5/include/image_processor.h:78

MethodfeatureCompareByResponse

* @brief featureCompareByResponse * Compare two features based on the response. */

src/msckf_vio_note/include/msckf_vio/image_processor.h:108

MethodfeatureJacobian

* @brief 计算某个特征点对应所有的相机测量的雅克比，并消除Hf * @param feature_id 某个特征标号 * @param cam_state_ids 一组相机状态 * @param H_x 雅克比矩阵 * @param r 量测残差 * @cite S

src/msckf_vio_note/src/msckf_vio.cpp:1062

MethodfeatureLifetimeStatistics

src/msckf_mine_1.5/src/image_processor.cc:1401

MethodfeatureLifetimeStatistics

src/msckf_vio_note/src/image_processor.cpp:1711

MethodfindRedundantCamStates

src/msckf_vio_note/src/msckf_vio.cpp:1409

MethodgatingTest

* @brief 卡方检验 * @param H 某个特征标号 * @param r 一组相机状态 * @param dof */

src/msckf_vio_note/src/msckf_vio.cpp:1279

MethodgenerateInitialGuess

src/msckf_vio_note/include/msckf_vio/feature.hpp:228

src/EKF_learning/KF/src/kalman_filter.cc:21

MethodgetQangle

src/EKF_learning/KF/include/kalman_filter.h:25

src/EKF_learning/KF/include/kalman_filter.h:26

Used to set angle, this should be set as the starting angle

src/EKF_learning/KF/include/kalman_filter.h:18

MethodgetRmeasure

src/EKF_learning/KF/include/kalman_filter.h:27

src/msckf_mine_1.5/src/camera.cc:71

* @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/OrientationMeasurementModel.hpp:68

MethodimageComing

src/msckf_mine_1.0/backup/msckf_20180131.cc:279

MethodimuCallback

src/msckf_mine_1.5/src/image_processor.cc:223

MethodimuCallback

* @brief IMU数据接收触发回调函数，保存Imu数据不立即处理当前数据 * * 将imu数据保存至imu_msg_buffer中 * 初始化状态噪声的偏置 * 创建ros发布和订阅的主题 */

src/msckf_vio_note/src/msckf_vio.cpp:272

MethodimuCallback

* @brief 将imu的消息类型保存在缓冲中 * */

src/msckf_vio_note/src/image_processor.cpp:327

Methodinitialize

src/msckf_mine_1.5/src/image_processor.cc:129

Methodinitialize

* @brief 视觉前端初始化，从ROS的参数服务器中读取相关参数以及创建ros发布和订阅的主题 * * 载入参数服务器中的相关参数 * 创建ros发布和订阅的主题 */

src/msckf_vio_note/src/image_processor.cpp:192

MethodinitializeFirstFrame

src/msckf_mine_1.5/src/image_processor.cc:247

MethodinitializeFirstFrame

* @brief 第一帧图像初始化 * 提取fast关键点，用光流进行跟踪匹配关键点对（klt） * 对图像画格子，对格子内提取一定数量的特征点 * */

src/msckf_vio_note/src/image_processor.cpp:367

MethodinitializeGravityAndBias

* @brief 在系统开始运行后，在一定数量的Imu数据基础上初始化IMU的偏置和初始方向 * * 得到重力向量以及Imu的初始方向 */

src/msckf_vio_note/src/msckf_vio.cpp:303

MethodintegrateImuData

src/msckf_mine_1.5/src/image_processor.cc:851

MethodintegrateImuData

* @brief 计算原图像帧关键点对应的矫正位置 * @param cam0_R_p_c：图像帧中已校正的关键点位置 * @param cam1_R_p_c:内参矩阵 * */

src/msckf_vio_note/src/image_processor.cpp:1085

src/msckf_vio_note/include/msckf_vio/feature.hpp:190

MethodkeyPointCompareByResponse

* @brief keyPointCompareByResponse * Compare two keypoints based on the response. */

src/msckf_mine_1.5/include/image_processor.h:67

MethodkeyPointCompareByResponse

* @brief keyPointCompareByResponse * Compare two keypoints based on the response. */

src/msckf_vio_note/include/msckf_vio/image_processor.h:97

MethodloadCamera

src/msckf_mine_1.0/src/data_reader.cc:36

MethodloadCamera

src/msckf_mine/src/data_reader.cc:36

MethodloadCamera

src/msckf_mine_1.5/src/data_reader.cc:36

src/msckf_mine_1.0/src/data_reader.cc:21

src/msckf_mine/src/data_reader.cc:21

src/msckf_mine_1.5/src/data_reader.cc:21

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