Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

[detail level 12]

▼Nmsceqf
CBiasState	This struct represent the IMU bias state of the system
CCamera
CCameraExtrinsicState	This struct represent the camera extrinsics state of the system
CCameraIntrinsicState	This struct represent the camera intrinsics state of the system
CCameraOptions
CChecker	Simple class to perform various checks
CCheckerOptions
CEquidistantCamera
CExtendedPoseState	This struct represent the extended pose state of the system
CFastOptions
CFeatHelper	FeatHelper struct. This struct implements a helper structure holding all the information related to a single feature measurement to be used in the computation of the C matrix, Cf matrix and residual delta, for the MSCEqF update
CFeatures	(Cache friendly) Features struct. Define a set of features detected/tracked
CFeatureState	This struct represent a single persistent feature state of the system
CGFTTOptions
CImu	Struct for one IMU reading. It includes timestamp, angular velocity and linear acceleration. -1 indicates an invalid timestamp
CInitializerOptions
CMSCEqF
CMSCEqFInState	This struct represent the Intrinsic state of the MSCEqF
CMSCEqFOptions
CMSCEqFSDBState	This struct represent the Semi Direct bias state of the MSCEqF
CMSCEqFSE3State	This struct represent the Special Euclidean Group of dimension 3 state of the MSCEqF
CMSCEqFSOT3State	This struct represent the Scaled Orthogonal Transforms state of the MSCEqF
CMSCEqFState	This class represent the state of the MSCEqF. This includes the state of the lifted system (element of the symmetry group) and the covariance
CMSCEqFStateElement	This class represent the base class for a general element of the MSCEqF state. This include the index of the variable (index in the residual, and in the covariance), and the degrees of freedom
COptionParser
CPinholeCamera	This class represnt the base class for any pinhole camera type
CProjectionHelper	ProjectionHelper interface. This class provides an interface to the implementation of the projection function as well as its differential
CProjectionHelperS2	ProjectionHelperS2 class. This class provides an implementation of the projection on the unit sphere as well as its differential
CProjectionHelperZ1	ProjectionHelperZ1 class. This class provides an implementation of the projection on the unit plane as well as its differential
CPropagator
CPropagatorOptions
CRadtanCamera	This class represent a pinhole camera with radtan distortion model
CStateOptions
CStaticInitializer
CSymmetry
CSystemState	Represent the state of the system posed on the Homogenous space
CSystemStateElement	This struct represent the base struct for a general element of the system state
CTrack	(Cache friendly) Track struct. Define a feature (labeled via a feature id) detected/tracked at different points in time
CTracker	This class implement the feature tracker module based on Lucas-Kanade optical flow. The tracker tracks feature temporally in subsequent images and produces a set of matches
CTrackerOptions
CTrackManager	This class manages the multiple tracks of feature traked in time
CTrackManagerOptions
CTriangulatedFeatures
CUpdater	Updater class. This class implements the Multi State Constraint update step of the MSCEqF filter
CUpdaterHelper	Updater helper struct. This structs implements common helper methods for MSCEqF update
CUpdaterOptions
CVisualizer
CZeroVelocityUpdater	Zero velocity updater class. This class implements the Equivariant Zero Velocity Update (ZVU) of the MSCEqF filter
CZeroVelocityUpdaterOptions
▼Nutils
CInsertionOrderedMap	This calss define a map that keeps the insertion order
Cis_streamable
Cis_streamable< S, C, decltype(void(std::declval< S & >()<< std::declval< C const & >()))>
CLogger	Logger
CMSCEqFRos