From GTSAM

Right Jacobian for Exponential map in SO(3) Equation (10.86) and following equations in G.S. Chirikjian, "Stochastic Models, Information Theor

Right Jacobian for Exponential map in SO(3) Equation (10.86) and following equations in G.S. Chirikjian, "Stochastic Models, Information Theor

Return rotation angle and axis from rotation matrix. >>> angle = (random.random() - 0.5) * (2*math.pi) >>> direc = numpy.random.random(3) - 0

Return rotation angle and axis from rotation matrix. >>> angle = (random.random() - 0.5) * (2*math.pi) >>> direc = numpy.random.random(3) - 0

Return matrix to rotate about axis defined by point and direction. >>> angle = (random.random() - 0.5) * (2*math.pi) >>> direc = numpy.random

Return matrix to rotate about axis defined by point and direction. >>> angle = (random.random() - 0.5) * (2*math.pi) >>> direc = numpy.random

Return scaling factor, origin and direction from scaling matrix. >>> factor = random.random() * 10 - 5 >>> origin = numpy.random.random(3) -

Return scaling factor, origin and direction from scaling matrix. >>> factor = random.random() * 10 - 5 >>> origin = numpy.random.random(3) -

Return matrix to scale by factor around origin in direction. Use factor -1 for point symmetry. >>> v = (numpy.random.rand(4, 5) - 0.5) * 20.

Return matrix to scale by factor around origin in direction. Use factor -1 for point symmetry. >>> v = (numpy.random.rand(4, 5) - 0.5) * 20.

Set inital value for illumination estimation multiplicative parameter

Set inital value for illumination estimation additive parameter

\brief Set the underlying camera model. @param[in] cameraGeometry The camera geometry.

Set the transformation from sensor to camera frame for a given pose ID.

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@brief Set parameter block ID @param[in] id A unique ID.

\brief (Re)set the measurements

\brief (Re)set the parameters. \@param[in] imuParameters The parameters to be used.

Set the information.

Construct with measurement and variance.

Set the information.

Set the information.

Set the information.

Set pose of first frame by specifying the camera pose

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Set user-specific camera label.

Add a high prior to a landmarks position

Set the landmark initialization state.

Set position for a given landmark.

Set the underlying ceres_backend::Map.

@brief set ceres map @param[in] map_ptr The pointer to the ceres_backend::Map.

setters \brief Set the measurement. @param[in] measurement The measurement.

\brief Set the measurement. @param[in] measurement The measurement.

setters \brief Set the measurement. @param[in] measurement The measurement.

setters \brief Set the measurement. @param[in] measurement The measurement.

* @brief Do not optimise a certain parameter block. * @param[in] parameter_block Pointer to the parameter block that should be constant. * @retu

* @brief Optimise a certain parameter block (this is the default). * @param[in] parameter_block Pointer to the parameter block that should be optim

Set the (local) parameterisation of a parameter block.

* @brief Set the (local) parameterisation of a parameter block. * @param[in] parameter_block The pointer to the parameter block in question. * @

Performance monitor for benchmarking

Set the speeds and IMU biases for a given pose ID.

\brief (Re)set the start time. \@param[in] t_0 Start time.

\brief (Re)set the start time. \@param[in] t_1 End time.

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Set pose for a given pose ID.

Set axes to constrain rotations.

Set axes to constrain rotations.

Set state of constrain to axis mode.

Set state of constrain to axis mode.

Return shear angle, direction and plane from shear matrix. >>> angle = (random.random() - 0.5) * 4*math.pi >>> direct = numpy.random.random(3

Return shear angle, direction and plane from shear matrix. >>> angle = (random.random() - 0.5) * 4*math.pi >>> direct = numpy.random.random(3

Return matrix to shear by angle along direction vector on shear plane. The shear plane is defined by a point and normal vector. The direction

Return matrix to shear by angle along direction vector on shear plane. The shear plane is defined by a point and normal vector. The direction