* Add a new sample to the filter. * * Updates internal average and stability metrics. */

Shortcut for calibration provider gravity magnitude

Clear all cameras / constraints.

Return pose of camera rig frame i.

Add camera to sensor rig. The returned ID should be used when adding measurements for this camera.

Access the current state of the IMU biases.

Return the root mean squared error of the camera reprojections.

* Has the data reached a consistently stable value. */

Return current Mean Square reprojection Error - the objective function being minimised by optimization.

Return number of cameras in camera rig.

Return number of synchronised camera rig frames.

Adds an element to the interpolation buffer, updates the average and end times

Add imu measurements.

Add observation p_c of 3D feature P_w from 'camera' for 'frame' 'camera' and 'frame' id's can be obtained by calls to AddCamera and AddFrame respectiv

* Name: CameraCalibrationsDiffer * @args * const CameraAndPose &last: This will represent previously guessed or *

Set whether intrinsics should be 'fixed' and left unchanged by the minimization.

Returns an interpolated element. Call HasElement before this function to make sure an element exists for this time

Retrieve the number of already completed Ceres outer-iterations.

Print summary of calibration.

Configure the optimization's exit condition.

Externally adjust which parts of the optimization are active.

Runs the optimization in a background thread.

Stop optimization thread.

Write XML file containing configuration of camera rig.

Add frame to optimiser. The returned ID should be used when adding target measurements for a given moment in time. Measurements given for any camera f

* Construct a boxcar filter. * * @param window_size The size of the moving average window * * @param stability_threshold The maximum chang

* The moving average of the samples */

Update GL rendering.

Calculate the covariance of the optimization.