  okvis | Okvis Main namespace of this package |
  cameras | Cameras Namespace for camera-related functionality |
  CameraBase | Base class for all camera models |
| DistortionBase | Base class for all distortion models |
| EquidistantDistortion | Implements equidistant distortion |
| NCameraSystem | A class that assembles multiple cameras into a system of (potentially different) cameras |
| NoDistortion | This trivially doesn't do anything in terms of distortion. This is useful for testing, or working with pre-undistorted images |
| PinholeCamera | |
| RadialTangentialDistortion | |
 RadialTangentialDistortion8 | |
| ceres | Ceres Namespace for ceres-related functionality implemented in okvis |
| ode | Ode Namespace for functionality related to ODE integration implemented in okvis |
| CeresIterationCallback | Tries to enforce a time limit on the optimization. It does not guarantee to stay within the time budget as it assumes the next iteration takes as long as the previous iteration |
| ErrorInterface | Simple interface class the errors implemented here should inherit from |
| HomogeneousPointError | Absolute error of a homogeneous point (landmark) |
| HomogeneousPointLocalParameterization | Local parameterisation of a homogeneous point [x,y,z,w]^T. We use a Euclidean-type perturbation, i.e. only affect the x-y-z-part |
| HomogeneousPointParameterBlock | Wraps the parameter block for a speed / IMU biases estimate |
| ImuError | Implements a nonlinear IMU factor |
| LocalParamizationAdditionalInterfaces | Provides some additional interfaces to ceres' LocalParamization than are needed in the generic marginalisation okvis::ceres::MarginalizationError |
| Map | The Map class. This keeps track of how parameter blocks are connected to residual blocks. In essence, it encapsulates the ceres::Problem. This way, we can easily manipulate the optimisation problem. You could argue why not use cere's internal mechanisms to do that. We found that our implementation was faster.. |
| ResidualBlockSpec | Struct to store some infos about a residual |
| MarginalizationError | |
| ParameterBlockInfo | Book-keeping of the ordering |
| ParameterBlock | Base class providing the interface for parameter blocks |
| ParameterBlockSized | Base class providing the interface for parameter blocks |
| PoseError | Absolute error of a pose |
| PoseLocalParameterization | Pose local parameterisation, i.e. for orientation dq(dalpha) x q_bar |
| PoseLocalParameterization3d | Pose local parameterisation, i.e. for orientation dq(dalpha) x q_bar. Here, we only perturb the translation though |
| PoseLocalParameterization4d | Pose local parameterisation, i.e. for orientation dq(dalpha) x q_bar. Here, we only perturb the translation and yaw though |
| PoseLocalParameterization2d | Pose local parameterisation, i.e. for orientation dq(dalpha) x q_bar. Here, we only perturb roll and pitch, i.e. dalpha = [dalpha1, dalpha2, 0]^T |
| PoseParameterBlock | Wraps the parameter block for a pose estimate |
| RelativePoseError | Relative error between two poses |
| ReprojectionError | The 2D keypoint reprojection error |
| ReprojectionErrorBase | Reprojection error base class |
| ReprojectionError2dBase | 2D keypoint reprojection error base class |
| SpeedAndBiasError | |
| SpeedAndBiasParameterBlock | Wraps the parameter block for a speed / IMU biases estimate |
| detail | |
| IdProvider | Provides IDs |
| instance | |
| kinematics | Kinematics Namespace for kinematics functionality, i.e. transformations and stuff |
| Transformation | A class that does homogeneous transformations. This relates a frame A and B: T_AB; it consists of translation r_AB (represented in frame A) and Quaternion q_AB (as an Eigen Quaternion). see also the RSS'13 / IJRR'14 paper or the Thesis. Follows some of the functionality of the SchweizerMesser library by Paul Furgale, but uses Eigen quaternions underneath |
| threadsafe | Namespace for helper classes for threadsafe operation |
| ThreadSafeQueueBase | |
| ThreadSafeQueue | Class that implements a threadsafe FIFO queue |
| timing | |
| TimerMapValue | |
| DummyTimer | |
| Timer | |
| Timing | |
| triangulation | Triangulation A namespace for operations related to triangulation |
| ProbabilisticStereoTriangulator | The ProbabilisticStereoTriangulator class |
| Publisher | This class handles the publishing to either ROS topics or files |
| RosParametersReader | This class extends the VioParametersReader class in order to use ROS services and topics |
| Subscriber | This class handles all the buffering of incoming data |
| Estimator | The estimator class |
| StateInfo | StateInfo This configures the state vector ordering |
| States | States This summarizes all the possible states – i.e. their ids: |
| KeypointIdentifier | Unique identifier for a keypoint |
| Match | Type to store the result of matching |
| MapPoint | A type to store information about a point in the world map |
| Observation | For convenience to pass associations - also contains the 3d points |
| Measurement | Generic measurements |
| ImuSensorReadings | IMU measurements. For now assume they are synchronized: |
| DepthCameraData | Depth camera measurements. For now assume they are synchronized: |
| PositionReading | Position measurement |
| GpsPositionReading | GPS position measurement |
| MagnetometerReading | Magnetometer measurement |
| BarometerReading | Barometer measurement |
| DifferentialPressureReading | Differential pressure sensor measurement |
| CameraData | Camera measurement |
| KeypointData | Keypoint measurement |
| FrameData | Frame measurement |
| ExtrinsicsEstimationParameters | Struct to define the behavior of the camera extrinsics |
| ImuParameters | IMU parameters |
| MagnetometerParameters | Magnetometer parameters |
| GpsParameters | GPS parameters |
| PositionSensorParameters | Position sensor parameters |
| MagneticEnuZParameters | Magnetic ENU z bias |
| BarometerParameters | Barometer parameters |
| QffParameters | QFF parameters |
| DifferentialPressureSensorParameters | Differential pressure sensor parameters |
| WindParameters | Wind parameters |
| Optimization | Parameters for optimization and related things (detection) |
| SensorsInformation | Information on camera and IMU setup |
| Visualization | Some visualization settings |
| PublishingParameters | Some publishing parameters |
| VioParameters | Struct to combine all parameters and settings |
| VioBackendInterface | An abstract interface for backends |
| VioFrontendInterface | Interface for frontends |
| VioInterface | An abstract base class for interfaces between Front- and Backend |
| VioParametersReader | This class reads and parses config file |
| CameraCalibration | Struct that contains all the camera calibration information |
| Frame | A single camera frame equipped with keypoint detector / extractor |
| MultiFrame | A multi camera frame that uses okvis::Frame underneath |
| Frontend | A frontend using BRISK features |
| VioKeyframeWindowMatchingAlgorithm | A MatchingAlgorithm implementation |
| DenseMatcher | This class matches keypoints from two frames in parallel |
| MatchJob | A data struct for the worker thread |
| Pairing | A struct to save an index and distance pair |
| MatchingAlgorithm | Interface for 1-1 matching between lists of things |
| ThreadPool | This class manages multiple threads and fills them with work |
| FrameSynchronizer | This class combines multiple frames with the same or similar timestamp into one multiframe |
| ImuFrameSynchronizer | This class is to safely notify different threads whether IMU measurements up to a timestamp (e.g. the one of a camera frame) have already been registered |
| ThreadedKFVio | This class manages the complete data flow in and out of the algorithm, as well as between the processing threads |
| OptimizationResults | This struct contains the results of the optimization for ease of publication. It is also used for publishing poses that have been propagated with the IMU measurements |
| VioVisualizer | This class is responsible to visualize the matching results |
| VisualizationData | This struct contains the relevant data for visualizing |
| MockVioBackendInterface | |
| MockVioFrontendInterface | |
| TestDataGenerator | |
| DurationBase | Base class for Duration implementations. Provides storage, common functions and operator overloads. This should not need to be used directly |
| Duration | Duration representation for use with the Time class |
| WallDuration | Duration representation for use with the WallTime class |
| NoHighPerformanceTimersException | Thrown if windoze high perf. timestamping is unavailable |
| TimeBase | Base class for Time implementations. Provides storage, common functions and operator overloads. This should not need to be used directly |
| Time | Time representation. May either represent wall clock time or ROS clock time |
| WallTime | Time representation. Always wall-clock time |
| source_file_pos | |
| opengv | Namespace for classes extending the OpenGV library |
| absolute_pose | The namespace for the absolute pose methods |
| FrameNoncentralAbsoluteAdapter | Adapter for absolute pose RANSAC (3D2D) with non-central cameras, i.e. could be a multi-camera-setup |
| relative_pose | The namespace for the relative pose methods |
| FrameRelativeAdapter | Adapter for relative pose RANSAC (2D2D) |
 sac_problems | The namespace for the sample consensus problems |
 absolute_pose | The namespace for the absolute pose methods |
| FrameAbsolutePoseSacProblem | Provides functions for fitting an absolute-pose model to a set of bearing-vector to point correspondences, using different algorithms (central and non-central ones). Used in a sample-consenus paradigm for rejecting outlier correspondences |
| relative_pose | The namespace for the relative pose methods |
| FrameRelativePoseSacProblem | Provides functions for fitting a relative-pose model to a set of bearing-vector to point correspondences, using different algorithms (only central case). Used in a sample-consenus paradigm for rejecting outlier correspondences |
| FrameRotationOnlySacProblem | Functions for fitting a rotation-only model to a set of bearing-vector correspondences (using twopt_rotationOnly). The viewpoints are assumed to be separated by rotation only. Used within a random-sample paradigm for rejecting outlier correspondences |
| FrameSynchronizerTest | |
| PinholeCamera< DISTORTION_T > | This implements a standard pinhole camera projection model |
| PoseViewer | |
| ProjectionStatus | Indicates what happened when applying any of the project functions |
| TestMatchingAlgorithm | |
1.8.6
