First order approximation of a rotation: I + skew(rotvec) cfo, 2015/08/13

First order approximation of a rotation: I + skew(rotvec) cfo, 2015/08/13

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Returns duration since the last reset or construction of the timer

@brief get ceres map return map_ptr The pointer to the ceres_backend::Map.

Matched points: where the two points have different IDs, but the same position

* @brief getNumFrames returns the number of frames in backend * @return */

Call this in order to (re-)add this error term after whenever it had been modified.

Matched points for reobserved landmarks in the bundle adjustment

Reobserved landmarks: points in the global map that are successfully projected into the new frame

Get depth at seed.

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Returns duration of last measurement in seconds

get information for other modules, use with lock

Does the camera have a mask?

\brief Get initialisaiton status. \return Whether or not the 3d position is considered initialised.

* @brief check if parameter block with id is in marginalization term and * hence check if it can be marginalized. * @param param_block_id

Check if i-th keypoint has a reference to a landmark.