Namespaces
	geometry

	imgproc

	timer

Classes
class	ACustomFeatureDetector
	Class for custom feature detection and computation. More...

class	ADataProvider
	ADataProvider class for managing data from various sensors. More...

class	AFeature
	Abstract class for 2D features. More...

class	AFeatureDetector
	Abstract class for feature detectors. More...

class	AFeatureMatcher
	Class for matching features between two sets of features. More...

class	AFeatureTracker
	Implements feature tracking between two images. More...

class	ALandmark
	Abstract class for 3D Landmarks. More...

class	ALandmarkInitializer
	Abstract class for initializing landmarks. More...

class	AMap
	Abstract class for a Map. More...

class	AModel3d
	Abstract class for 3D models. More...

class	AngularAdjustmentCERESAnalytic
	An optimizer that uses Angular Cost function on the unit sphere for Bundle Adjustment and analytical jacobian derivation. More...

class	AngularErrCeres_linexd_dx
	An angular cost function for line landmarks that depends on the delta update of the frame pose and the line parameters. More...

class	AngularErrCeres_pointxd_depth
	An angular cost function that depends on the depth of the landmark, the current frame pose and the anchor frame pose. More...

class	AngularErrCeres_pointxd_dx
	Angular error cost function for a point landmark in the sensor frame. Parameters are delta update of the frame pose and the landmark position. More...

class	AngularErrorScaleCam0
	An angular cost function that depends on the scale of the motion. More...

class	AngularErrorScaleDepth
	An angular cost function that depends on the depth of the landmark and the scale of the motion. More...

class	AOpenCVFeatureDetector
	AOpenCVFeatureDetector class for detecting and computing features using OpenCV. More...

class	AOptimizer
	Abstract class for optimization pipeline based on CERES. More...

class	APoseEstimator
	Abstract class for relative pose estimation between two frames. More...

class	ASensor
	Abstract class for all sensors. More...

class	AssociationTest

class	BBox2D
	A 2D bounding box feature class. More...

class	BBox3D
	A 3D bounding box landmark class. More...

class	BundleAdjustmentCERESAnalytic
	An optimizer that uses Angular Cost function on the unit sphere for Bundle Adjustment and analytical jacobian derivation. More...

class	BundleAdjustmentCERESNumeric
	An optimizer that uses Numeric Cost function for Bundle Adjustment. More...

struct	cam_config
	Camera configuration. More...

class	Camera
	A pinhole camera sensor class. More...

struct	Config
	This structure contains the configuration parameters located in the config file. More...

class	CsvKeypointDetector
	This Class is design for CSV reading features. More...

class	cvBRISKFeatureDetector
	Class for detecting and computing BRISK features using OpenCV. More...

class	cvFASTFeatureDetector
	Class for detecting and computing FAST features using OpenCV. More...

class	cvGFTTFeatureDetector
	Class for detecting and computing GFTT (Good Features To Track) features using OpenCV. More...

class	cvKAZEFeatureDetector
	Class for detecting and computing KAZE features using OpenCV. More...

class	cvORBFeatureDetector
	Class for detecting and computing ORB features using OpenCV. More...

class	DoubleSphere
	An image sensor class that uses a double sphere model. More...

class	EpipolarPoseEstimator
	EpipolarPoseEstimator class for estimating the pose between two frames using Essential Matrix. More...

class	ESKFEstimator
	ESKFEstimator class for estimating the transformation between two frames using an EKF. More...

class	EUROCGrabber
	EUROCGrabber class for loading and processing frames from raw data in the EUROC format. More...

struct	FeatureMatcherStruct
	A struct that contains a feature matcher and its parameters. More...

struct	FeatureStruct
	A struct that gathers all the parameters for a feature. More...

struct	FeatureTrackerStruct
	A struct that contains a feature tracker and its parameters. More...

class	Fisheye
	An image sensor class that uses the normalized spherical model. More...

class	Frame
	A Frame class representing a set of sensors and landmarks at a specific timestamp. More...

class	GlobalMap
	Class for a Global Map. More...

class	ImageSensor
	Abstract class for image sensors. More...

class	IMU
	An Inertial Measurement Unit (IMU) sensor class. More...

struct	imu_config
	Config strucuture for an IMU. More...

class	IMUBiasFactor
	IMU bias cost function that takes into account random walk behaviour. More...

class	IMUFactor
	A cost function for IMU pre-integration factor, parameters are delta updates. More...

class	IMUFactorInit
	Pre integration IMU factor for initialization, the parameters optimized are: scale, roll, pitch, velocities and biases. More...

class	IMUFactorInitBis
	An experimental IMU factor refining only roll, pitch, biases and scale. More...

class	IMUPriordx
	An absolute prior on an Inertial state, including pose, velocity and biases. More...

class	ImuTest

class	Landmark3DPrior
	A factor for absolute 3D position constraint on a punctual landmark. More...

class	LandmarkToLandmarkFactor
	3D relative translation factor between 3D punctual landmarks More...

class	Line2D
	A 2D line feature class. More...

class	Line2DFeatureDetector

class	Line2DFeatureMatcher
	Class for matching 2D line features. More...

class	Line2DFeatureTracker
	Class for tracking 2D line features. More...

class	Line3D
	A 3D Line landmark class. More...

class	Line3DLandmarkInitializer
	Class for initializing 3D line landmarks. More...

class	LineFeatureTest

class	LocalMap
	Class for a Local Map. More...

class	Marginalization
	Marginalization class that handles marginalization (and sparsification) for fixed-lag smoothing. More...

struct	MarginalizationBlockInfo
	Marginalization block struct that stores a factor and the indices of the variables involved. More...

class	MarginalizationFactor
	Ceres cost function of the dense prior factor. More...

class	MarginalizationTest

class	Mesh3D
	A class to build and update a 3D mesh from 2D features and landmarks. More...

class	Mesher
	A class to handles 3D meshing via 2D triangulation on successive KFs. More...

class	MeshTest

class	ModelBBox3D
	Model for a 3D Bounding Box. More...

class	ModelLine3D
	Model for a 3D Line. More...

class	ModelPoint3D
	Model for a 3D point. More...

class	Motion2DFactor
	A cost function to impose a constraint on 2D motion. More...

class	NoFOVTest

class	Omni
	An image sensor class that uses the Omni model. More...

class	PnPPoseEstimator
	PnPPoseEstimator class for estimating the transformation between two frames using PnP. More...

class	Point2D
	A single 2D point feature class. More...

class	Point2DFeatureMatcher
	Class for matching 2D point features. More...

class	Point2DFeatureTracker
	Class for tracking 2D point features. More...

class	Point3D
	A 3D Point landmark class. More...

class	Point3DLandmarkInitializer
	Class for initializing 3D point landmarks. More...

class	PointXYZParametersBlock
	A Parameter block for 3D position that does the interface between a double* and an Eigen::Vector3d. More...

struct	Polygon
	A polygon in the 3D mesh, representing a surface with its vertices, normal, barycenter, and covariance. More...

class	PoseParametersBlock
	A Parameter block for pose that does the interface between a double* and an Eigen::Affine3d. More...

class	PosePriordx
	Absolute 6DoF pose prior factor. More...

class	PoseToLandmarkFactor
	Relative 3D translation between a 6DoF frame and a punctual landmark. More...

class	Relative6DPose
	A cost function for 6DoF relative pose constraint, the parameters are the delta pose of the two related poses. More...

class	ReprojectionErrCeres_linexd_dx
	Reprojection error cost function for a line landmark. The parameters are the delta update of the frame and the delta update of the line 3D parametrization. More...

class	ReprojectionErrCeres_pointxd_dx
	Reprojection errro cost function for a punctual landmark. The parameters are the delta update of the frame and the delta update of the 3D position of the landmark. More...

class	ResidualTest

class	scalePrior
	Prior on a 1D parameter (e.g. scale) More...

class	semanticBBoxFeatureDetector

class	semanticBBoxFeatureMatcher
	Class for matching 2D bouding box features. More...

class	semanticBBoxFeatureTracker
	Class for tracking 2D bounding boxes features. More...

class	semanticBBoxLandmarkInitializer
	Class for initializing semantic bounding box landmarks. More...

struct	sensor_config
	Abstract struct of a sensor. More...

class	SLAMBiMono
	A SLAM class for bi-monocular setups. More...

class	SLAMBiMonoVIO
	A SLAM class for bi-monocular + IMU setups. More...

class	SLAMCore
	The core abstract class of the SLAM system. It handles front-end, back-end and initialization. More...

class	SLAMMono
	A SLAM class for monocular setups. More...

class	SLAMMonoVIO
	A SLAM class for monocular + IMU setups. More...

class	SLAMNonOverlappingFov
	A SLAM class for non overlapping FoV setups. More...

class	SLAMParameters
	A class that gathers most of the algorithmic blocks of the SLAM system that can be setup in the config file. More...

struct	Vertex
	A vertex in the 3D mesh, representing a landmark and its associated polygons. More...

Typedefs
typedef std::vector< std::shared_ptr< AFeature > >	FeatPolygon
	A vector of features for 2D Meshing. More...

typedef std::vector< std::shared_ptr< ALandmark > >	LmkPolygon
	A vector of landmarks for 3D Meshing. More...

typedef std::unordered_map< std::shared_ptr< AFeature >, std::vector< std::shared_ptr< AFeature > > >	vec_feat_matches
	Unordered map to store matches between two feature lists. More...

typedef std::unordered_map< std::shared_ptr< AFeature >, std::vector< double > >	vec_feat_matches_scores
	Unordered map to store scores of matches between two feature lists. More...

typedef Eigen::Matrix< double, 6, 1 >	Vector6d
	A double Eigen vector in 6D. More...

typedef std::pair< std::shared_ptr< isae::AFeature >, std::shared_ptr< isae::AFeature > >	feature_pair
	A pair of feature, useful to represent matches. More...

typedef std::vector< feature_pair >	vec_match
	A vector of feature pairs i.e. matches. More...

typedef std::unordered_map< std::string, vec_match >	typed_vec_match
	An unordered map to link match vector with their type. More...

typedef std::unordered_map< std::string, std::vector< std::shared_ptr< isae::AFeature > > >	typed_vec_features
	A typed vector of features to handle hetereogeneous feature sets. More...

typedef std::unordered_map< std::string, std::vector< std::shared_ptr< isae::ALandmark > > >	typed_vec_landmarks
	A typed vector of landmarks to handle hetereogeneous landmark sets. More...

Functions
std::vector< Eigen::Vector3d >	sampleTriangle (std::vector< Eigen::Vector3d > triangle)

bool	estimateMotionWithHomography (std::vector< cv::Point2d > p_prev, std::vector< cv::Point2d > p_curr, cv::Mat K, cv::Mat H, std::vector< cv::Mat > Rs, std::vector< cv::Mat > ts, std::vector< cv::Mat > normals, std::vector< int > inliers)

Eigen::MatrixXd	jac_homogeneous (const Eigen::Vector3d &point)

Eigen::MatrixXd	jac_delta_update (const Eigen::Vector3d &dtheta, const Eigen::Matrix3d &rotation)

std::tuple< Eigen::Vector2d, Eigen::MatrixXd, Eigen::MatrixXd >	jac_projection (const Eigen::Matrix3d &camera_matrix, const Eigen::Vector3d &point_3d, const Eigen::Matrix3d &rotation, const Eigen::Vector3d &translation, const Eigen::Vector3d &dtheta)

void	subPixelRef (cv::Mat I, std::vector< cv::KeyPoint > &keypoints)

Eigen::Affine3d	pose_from_line (std::string line)

	TEST_F (AssociationTest, matchLmk)

	TEST_F (AssociationTest, epiTest)

void	read_line_euroc (std::string line, Eigen::Affine3d &pose, Eigen::Vector3d &v, double &ts)

void	write_result (std::shared_ptr< Frame > f)

void	write_imu_data (double ts, Eigen::Vector3d acc)

	TEST_F (ImuTest, ImuTestBase)

	TEST_F (ImuTest, ImuNewMeas)

	TEST_F (ImuTest, checkCov)

	TEST_F (ImuTest, accelerating)

	TEST_F (ImuTest, checkJacobiansBiasGyr)

	TEST_F (ImuTest, predictionPositionVelocity)

	TEST_F (ImuTest, biasEstimation)

	TEST_F (ImuTest, predictionWithRotation)

	TEST_F (ImuTest, predictionWithRotation2)

	TEST_F (ImuTest, simuEuroc)

	TEST_F (ImuTest, TestPreInteg)

	TEST_F (LineFeatureTest, LineFeatureRay)

	TEST_F (LineFeatureTest, LineFeatureTriangulation)

	TEST_F (LineFeatureTest, LineFeatureDetection)

	TEST_F (LineFeatureTest, LineFeatureMatching)

	TEST_F (MarginalizationTest, setupTest)

	TEST_F (MarginalizationTest, preMargTest)

	TEST_F (MarginalizationTest, margTest)

	TEST_F (MarginalizationTest, margFailTest)

	TEST_F (MeshTest, MeshTestBase)

	TEST_F (MeshTest, pointInTriangleTest)

	TEST_F (MeshTest, covTest)

	TEST_F (NoFOVTest, scaleTest)

	TEST_F (NoFOVTest, degenerativeCase)

	TEST_F (ResidualTest, PriorResidual)

	TEST_F (ResidualTest, reprojTest)

	TEST_F (ResidualTest, angularTest)

	TEST_F (ResidualTest, scaleTest)

	TEST_F (ResidualTest, PoseToLandmarkResidual)

	TEST_F (ResidualTest, RelativePose6DResidual)

	TEST_F (ResidualTest, ESKFLmkTest)

Typedef Documentation

◆ FeatPolygon

typedef std::vector<std::shared_ptr<AFeature> > isae::FeatPolygon

A vector of features for 2D Meshing.

◆ feature_pair

typedef std::pair<std::shared_ptr<isae::AFeature>,std::shared_ptr<isae::AFeature> > isae::feature_pair

A pair of feature, useful to represent matches.

◆ LmkPolygon

typedef std::vector<std::shared_ptr<ALandmark> > isae::LmkPolygon

A vector of landmarks for 3D Meshing.

◆ typed_vec_features

typedef std::unordered_map<std::string, std::vector<std::shared_ptr<isae::AFeature> > > isae::typed_vec_features

A typed vector of features to handle hetereogeneous feature sets.

◆ typed_vec_landmarks

typedef std::unordered_map<std::string, std::vector<std::shared_ptr<isae::ALandmark> > > isae::typed_vec_landmarks

A typed vector of landmarks to handle hetereogeneous landmark sets.

◆ typed_vec_match

typedef std::unordered_map<std::string, vec_match> isae::typed_vec_match

An unordered map to link match vector with their type.

◆ vec_feat_matches

typedef std::unordered_map<std::shared_ptr<AFeature>, std::vector<std::shared_ptr<AFeature> > > isae::vec_feat_matches

Unordered map to store matches between two feature lists.

◆ vec_feat_matches_scores

typedef std::unordered_map<std::shared_ptr<AFeature>, std::vector<double> > isae::vec_feat_matches_scores

Unordered map to store scores of matches between two feature lists.

◆ vec_match

typedef std::vector<feature_pair> isae::vec_match

A vector of feature pairs i.e. matches.

◆ Vector6d

typedef Eigen::Matrix<double, 6, 1> isae::Vector6d

A double Eigen vector in 6D.

Function Documentation

◆ estimateMotionWithHomography()

bool isae::estimateMotionWithHomography	(	std::vector< cv::Point2d >	p_prev,
		std::vector< cv::Point2d >	p_curr,
		cv::Mat	K,
		cv::Mat	H,
		std::vector< cv::Mat >	Rs,
		std::vector< cv::Mat >	ts,
		std::vector< cv::Mat >	normals,
		std::vector< int >	inliers
	)

◆ jac_delta_update()

Eigen::MatrixXd isae::jac_delta_update	(	const Eigen::Vector3d &	dtheta,
		const Eigen::Matrix3d &	rotation
	)

◆ jac_homogeneous()

Eigen::MatrixXd isae::jac_homogeneous ( const Eigen::Vector3d & point )

◆ jac_projection()

std::tuple<Eigen::Vector2d, Eigen::MatrixXd, Eigen::MatrixXd> isae::jac_projection	(	const Eigen::Matrix3d &	camera_matrix,
		const Eigen::Vector3d &	point_3d,
		const Eigen::Matrix3d &	rotation,
		const Eigen::Vector3d &	translation,
		const Eigen::Vector3d &	dtheta
	)

◆ pose_from_line()

Eigen::Affine3d isae::pose_from_line ( std::string line )

◆ read_line_euroc()

void isae::read_line_euroc	(	std::string	line,
		Eigen::Affine3d &	pose,
		Eigen::Vector3d &	v,
		double &	ts
	)

◆ sampleTriangle()

std::vector<Eigen::Vector3d> isae::sampleTriangle ( std::vector< Eigen::Vector3d > triangle )

inline

◆ subPixelRef()

void isae::subPixelRef	(	cv::Mat	I,
		std::vector< cv::KeyPoint > &	keypoints
	)

◆ TEST_F() [1/33]

isae::TEST_F	(	AssociationTest	,
		epiTest
	)

◆ TEST_F() [2/33]

isae::TEST_F	(	AssociationTest	,
		matchLmk
	)

◆ TEST_F() [3/33]

isae::TEST_F	(	ImuTest	,
		accelerating
	)

◆ TEST_F() [4/33]

isae::TEST_F	(	ImuTest	,
		biasEstimation
	)

◆ TEST_F() [5/33]

isae::TEST_F	(	ImuTest	,
		checkCov
	)

◆ TEST_F() [6/33]

isae::TEST_F	(	ImuTest	,
		checkJacobiansBiasGyr
	)

◆ TEST_F() [7/33]

isae::TEST_F	(	ImuTest	,
		ImuNewMeas
	)

◆ TEST_F() [8/33]

isae::TEST_F	(	ImuTest	,
		ImuTestBase
	)

◆ TEST_F() [9/33]

isae::TEST_F	(	ImuTest	,
		predictionPositionVelocity
	)

◆ TEST_F() [10/33]

isae::TEST_F	(	ImuTest	,
		predictionWithRotation
	)

◆ TEST_F() [11/33]

isae::TEST_F	(	ImuTest	,
		predictionWithRotation2
	)

◆ TEST_F() [12/33]

isae::TEST_F	(	ImuTest	,
		simuEuroc
	)

◆ TEST_F() [13/33]

isae::TEST_F	(	ImuTest	,
		TestPreInteg
	)

◆ TEST_F() [14/33]

isae::TEST_F	(	LineFeatureTest	,
		LineFeatureDetection
	)

◆ TEST_F() [15/33]

isae::TEST_F	(	LineFeatureTest	,
		LineFeatureMatching
	)

◆ TEST_F() [16/33]

isae::TEST_F	(	LineFeatureTest	,
		LineFeatureRay
	)

◆ TEST_F() [17/33]

isae::TEST_F	(	LineFeatureTest	,
		LineFeatureTriangulation
	)

◆ TEST_F() [18/33]

isae::TEST_F	(	MarginalizationTest	,
		margFailTest
	)

◆ TEST_F() [19/33]

isae::TEST_F	(	MarginalizationTest	,
		margTest
	)

◆ TEST_F() [20/33]

isae::TEST_F	(	MarginalizationTest	,
		preMargTest
	)

◆ TEST_F() [21/33]

isae::TEST_F	(	MarginalizationTest	,
		setupTest
	)

◆ TEST_F() [22/33]

isae::TEST_F	(	MeshTest	,
		covTest
	)

◆ TEST_F() [23/33]

isae::TEST_F	(	MeshTest	,
		MeshTestBase
	)

◆ TEST_F() [24/33]

isae::TEST_F	(	MeshTest	,
		pointInTriangleTest
	)

◆ TEST_F() [25/33]

isae::TEST_F	(	NoFOVTest	,
		degenerativeCase
	)

◆ TEST_F() [26/33]

isae::TEST_F	(	NoFOVTest	,
		scaleTest
	)

◆ TEST_F() [27/33]

isae::TEST_F	(	ResidualTest	,
		angularTest
	)

◆ TEST_F() [28/33]

isae::TEST_F	(	ResidualTest	,
		ESKFLmkTest
	)

◆ TEST_F() [29/33]

isae::TEST_F	(	ResidualTest	,
		PoseToLandmarkResidual
	)

◆ TEST_F() [30/33]

isae::TEST_F	(	ResidualTest	,
		PriorResidual
	)

◆ TEST_F() [31/33]

isae::TEST_F	(	ResidualTest	,
		RelativePose6DResidual
	)

◆ TEST_F() [32/33]

isae::TEST_F	(	ResidualTest	,
		reprojTest
	)

◆ TEST_F() [33/33]

isae::TEST_F	(	ResidualTest	,
		scaleTest
	)

◆ write_imu_data()

void isae::write_imu_data	(	double	ts,
		Eigen::Vector3d	acc
	)

◆ write_result()

void isae::write_result ( std::shared_ptr< Frame > f )

Namespaces

Classes

Typedefs

Functions