  AbsoluteAdapterBase | |
  opengv::absolute_pose::FrameNoncentralAbsoluteAdapter | Adapter for absolute pose RANSAC (3D2D) with non-central cameras, i.e. could be a multi-camera-setup |
| AbsolutePoseSacProblem | |
| opengv::sac_problems::absolute_pose::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 |
 okvis::BarometerParameters | Barometer parameters |
| okvis::BarometerReading | Barometer measurement |
| okvis::cameras::CameraBase | Base class for all camera models |
| okvis::cameras::PinholeCamera< DISTORTION_T > | |
| okvis::VioParametersReader::CameraCalibration | Struct that contains all the camera calibration information |
| okvis::CameraData | Camera measurement |
| CentralRelativePoseSacProblem | |
| opengv::sac_problems::relative_pose::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 |
| CostFunction | |
| okvis::ceres::MarginalizationError | |
| okvis::DenseMatcher | This class matches keypoints from two frames in parallel |
| okvis::DepthCameraData | Depth camera measurements. For now assume they are synchronized: |
| okvis::DifferentialPressureReading | Differential pressure sensor measurement |
| okvis::DifferentialPressureSensorParameters | Differential pressure sensor parameters |
| okvis::cameras::DistortionBase | Base class for all distortion models |
| okvis::cameras::EquidistantDistortion | Implements equidistant distortion |
| okvis::cameras::NoDistortion | This trivially doesn't do anything in terms of distortion. This is useful for testing, or working with pre-undistorted images |
| okvis::cameras::RadialTangentialDistortion | |
| okvis::cameras::RadialTangentialDistortion8 | |
| okvis::timing::DummyTimer | |
| okvis::DurationBase< T > | Base class for Duration implementations. Provides storage, common functions and operator overloads. This should not need to be used directly |
| okvis::DurationBase< Duration > | |
| okvis::Duration | Duration representation for use with the Time class |
| okvis::DurationBase< WallDuration > | |
| okvis::WallDuration | Duration representation for use with the WallTime class |
| okvis::ceres::ErrorInterface | Simple interface class the errors implemented here should inherit from |
| okvis::ceres::HomogeneousPointError | Absolute error of a homogeneous point (landmark) |
| okvis::ceres::ImuError | Implements a nonlinear IMU factor |
| okvis::ceres::MarginalizationError | |
| okvis::ceres::PoseError | Absolute error of a pose |
| okvis::ceres::RelativePoseError | Relative error between two poses |
| okvis::ceres::ReprojectionErrorBase | Reprojection error base class |
 okvis::ceres::ReprojectionError2dBase | 2D keypoint reprojection error base class |
 okvis::ceres::ReprojectionError< GEOMETRY_TYPE > | The 2D keypoint reprojection error |
| okvis::ceres::SpeedAndBiasError | |
| okvis::ExtrinsicsEstimationParameters | Struct to define the behavior of the camera extrinsics |
| okvis::Frame | A single camera frame equipped with keypoint detector / extractor |
| okvis::FrameData | Frame measurement |
| okvis::FrameSynchronizer | This class combines multiple frames with the same or similar timestamp into one multiframe |
| okvis::GpsParameters | GPS parameters |
| okvis::GpsPositionReading | GPS position measurement |
| okvis::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 |
| okvis::ImuParameters | IMU parameters |
| okvis::ImuSensorReadings | IMU measurements. For now assume they are synchronized: |
| okvis::IdProvider::instance | |
| IterationCallback | |
| okvis::ceres::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 |
| okvis::KeypointData | Keypoint measurement |
| okvis::KeypointIdentifier | Unique identifier for a keypoint |
| LocalParameterization | |
| okvis::ceres::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 |
| okvis::ceres::PoseLocalParameterization | Pose local parameterisation, i.e. for orientation dq(dalpha) x q_bar |
| okvis::ceres::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 |
| okvis::ceres::PoseLocalParameterization3d | Pose local parameterisation, i.e. for orientation dq(dalpha) x q_bar. Here, we only perturb the translation though |
| okvis::ceres::PoseLocalParameterization4d | Pose local parameterisation, i.e. for orientation dq(dalpha) x q_bar. Here, we only perturb the translation and yaw though |
| okvis::ceres::LocalParamizationAdditionalInterfaces | Provides some additional interfaces to ceres' LocalParamization than are needed in the generic marginalisation okvis::ceres::MarginalizationError |
| okvis::ceres::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 |
| okvis::ceres::PoseLocalParameterization | Pose local parameterisation, i.e. for orientation dq(dalpha) x q_bar |
| okvis::ceres::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 |
| okvis::ceres::PoseLocalParameterization3d | Pose local parameterisation, i.e. for orientation dq(dalpha) x q_bar. Here, we only perturb the translation though |
| okvis::ceres::PoseLocalParameterization4d | Pose local parameterisation, i.e. for orientation dq(dalpha) x q_bar. Here, we only perturb the translation and yaw though |
| okvis::MagneticEnuZParameters | Magnetic ENU z bias |
| okvis::MagnetometerParameters | Magnetometer parameters |
| okvis::MagnetometerReading | Magnetometer measurement |
| okvis::ceres::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.. |
| okvis::MapPoint | A type to store information about a point in the world map |
| okvis::Match | Type to store the result of matching |
| okvis::MatchingAlgorithm | Interface for 1-1 matching between lists of things |
| okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T > | A MatchingAlgorithm implementation |
| TestMatchingAlgorithm | |
| okvis::DenseMatcher::MatchJob | A data struct for the worker thread |
| okvis::Measurement< MEASUREMENT_T > | Generic measurements |
| okvis::MockVioFrontendInterface | |
| okvis::MultiFrame | A multi camera frame that uses okvis::Frame underneath |
| okvis::cameras::NCameraSystem | A class that assembles multiple cameras into a system of (potentially different) cameras |
| okvis::Observation | For convenience to pass associations - also contains the 3d points |
| okvis::Optimization | Parameters for optimization and related things (detection) |
| okvis::ThreadedKFVio::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 |
| okvis::DenseMatcher::Pairing | A struct to save an index and distance pair |
| okvis::ceres::ParameterBlock | Base class providing the interface for parameter blocks |
| okvis::ceres::ParameterBlockSized< Dim, MinDim, T > | Base class providing the interface for parameter blocks |
| okvis::ceres::ParameterBlockSized< 4, 3, Eigen::Vector4d > | |
| okvis::ceres::HomogeneousPointParameterBlock | Wraps the parameter block for a speed / IMU biases estimate |
| okvis::ceres::ParameterBlockSized< 7, 6, okvis::kinematics::Transformation > | |
| okvis::ceres::PoseParameterBlock | Wraps the parameter block for a pose estimate |
| okvis::ceres::ParameterBlockSized< 9, 9, SpeedAndBias > | |
| okvis::ceres::SpeedAndBiasParameterBlock | Wraps the parameter block for a speed / IMU biases estimate |
| okvis::ceres::MarginalizationError::ParameterBlockInfo | Book-keeping of the ordering |
| PinholeCamera< DISTORTION_T > | This implements a standard pinhole camera projection model |
| PoseViewer | |
| okvis::PositionReading | Position measurement |
| okvis::PositionSensorParameters | Position sensor parameters |
| okvis::triangulation::ProbabilisticStereoTriangulator< CAMERA_GEOMETRY_T > | The ProbabilisticStereoTriangulator class |
| okvis::triangulation::ProbabilisticStereoTriangulator< camera_geometry_t > | |
| ProjectionStatus | Indicates what happened when applying any of the project functions |
| okvis::Publisher | This class handles the publishing to either ROS topics or files |
| okvis::PublishingParameters | Some publishing parameters |
| okvis::QffParameters | QFF parameters |
| RelativeAdapterBase | |
| opengv::relative_pose::FrameRelativeAdapter | Adapter for relative pose RANSAC (2D2D) |
| okvis::ceres::Map::ResidualBlockSpec | Struct to store some infos about a residual |
| RotationOnlySacProblem | |
| opengv::sac_problems::relative_pose::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 |
| runtime_error | |
| okvis::NoHighPerformanceTimersException | Thrown if windoze high perf. timestamping is unavailable |
| okvis::SensorsInformation | Information on camera and IMU setup |
| SizedCostFunction | |
| okvis::ceres::HomogeneousPointError | Absolute error of a homogeneous point (landmark) |
| okvis::ceres::ImuError | Implements a nonlinear IMU factor |
| okvis::ceres::PoseError | Absolute error of a pose |
| okvis::ceres::RelativePoseError | Relative error between two poses |
| okvis::ceres::ReprojectionErrorBase | Reprojection error base class |
| okvis::ceres::SpeedAndBiasError | |
| okvis::source_file_pos | |
| okvis::Estimator::StateInfo | StateInfo This configures the state vector ordering |
| okvis::Estimator::States | States This summarizes all the possible states – i.e. their ids: |
| okvis::Subscriber | This class handles all the buffering of incoming data |
| Test | |
| FrameSynchronizerTest | |
| okvis::TestDataGenerator | |
| okvis::ThreadPool | This class manages multiple threads and fills them with work |
| okvis::threadsafe::ThreadSafeQueue< QueueType > | Class that implements a threadsafe FIFO queue |
| okvis::threadsafe::ThreadSafeQueue< okvis::okvis::Measurement > | |
| okvis::threadsafe::ThreadSafeQueue< okvis::ThreadedKFVio::OptimizationResults > | |
| okvis::threadsafe::ThreadSafeQueue< okvis::VioVisualizer::VisualizationData::Ptr > | |
| okvis::threadsafe::ThreadSafeQueue< std::shared_ptr< okvis::okvis::MultiFrame > > | |
| okvis::threadsafe::ThreadSafeQueue< std::vector< cv::Mat > > | |
| okvis::threadsafe::ThreadSafeQueueBase | |
| okvis::TimeBase< T, D > | Base class for Time implementations. Provides storage, common functions and operator overloads. This should not need to be used directly |
| okvis::TimeBase< Time, Duration > | |
| okvis::Time | Time representation. May either represent wall clock time or ROS clock time |
| okvis::TimeBase< WallTime, WallDuration > | |
| okvis::WallTime | Time representation. Always wall-clock time |
| okvis::timing::Timer | |
| okvis::timing::TimerMapValue | |
| okvis::timing::Timing | |
| okvis::kinematics::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 |
| okvis::VioBackendInterface | An abstract interface for backends |
| okvis::Estimator | The estimator class |
| okvis::MockVioBackendInterface | |
| okvis::VioFrontendInterface | Interface for frontends |
| okvis::Frontend | A frontend using BRISK features |
| okvis::VioInterface | An abstract base class for interfaces between Front- and Backend |
| okvis::ThreadedKFVio | This class manages the complete data flow in and out of the algorithm, as well as between the processing threads |
| okvis::VioParameters | Struct to combine all parameters and settings |
| okvis::VioParametersReader | This class reads and parses config file |
| okvis::RosParametersReader | This class extends the VioParametersReader class in order to use ROS services and topics |
| okvis::VioVisualizer | This class is responsible to visualize the matching results |
| okvis::Visualization | Some visualization settings |
| okvis::VioVisualizer::VisualizationData | This struct contains the relevant data for visualizing |
| okvis::WindParameters | Wind parameters |
1.8.6
