Id of frame.

Return the number of keyframes in the map

Return the pose of the frame in the (w)orld coordinate frame.

normalizes homography with intrinsic camera parameters

Get the parameters of a residual block.

getters Get a shared pointer to a parameter block.

Start processing. Call this function at the beginning or to restart once the stage is set to paused.

Id of frame bundle

Returns duration in seconds

Get pose of the cam in world coordinates.

@brief Get parameter block ID.

Adds a residual block.

Get pose of camera rig.

getters Get estimate.

setters Set estimate of this parameter block.

Add a parameter block to the map

@brief Get the number of cameras used

Image height in pixels.

Image width in pixels.

Reset the current timer and the accumulated

Timestamp of frame in seconds.

How many cameras does this system have?

@brief Return parameter block type as string

Get pose of imu in world coordinates.

Get timestamp of camera rig.

Get the residual blocks of a parameter block.

---------------------------------------------------------------------------- Skew symmetric matrix.

sizes \brief Residual dimension.

Return length, i.e. eucledian norm, of ndarray along axis. >>> v = numpy.random.random(3) >>> n = vector_norm(v) >>> numpy.allclose(n, nu

Return length, i.e. eucledian norm, of ndarray along axis. >>> v = numpy.random.random(3) >>> n = vector_norm(v) >>> numpy.allclose(n, nu

\brief The parameter block local dimension.

@brief Whether or not this is optimised at all.

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\brief The parameter block dimension.

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Get coordinates of seed in frame coordinates.

\brief Check whether the projection was successful and the point is visible in the image.

Check whether a certain parameter block is part of the map.

Remove a residual block.

Do not optimise a certain parameter block.

@brief Solve the optimization problem.

Return ndarray normalized by length, i.e. eucledian norm, along axis. >>> v0 = numpy.random.random(3) >>> v1 = unit_vector(v0) >>> numpy.

Return ndarray normalized by length, i.e. eucledian norm, along axis. >>> v0 = numpy.random.random(3) >>> v1 = unit_vector(v0) >>> numpy.

Was this frame selected as keyframe?

This evaluates the error term and additionally computes the Jacobians.

Get pose of world-origin in IMU coordinates.

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