sSlam_vins.cpp File Reference

#include "ArManager.h"
#include "ArCameraParam.h"
#include "sSlam.h"
#include <vector>

Go to the source code of this file.

Functions
uint32	firstPO2From (uint32 n)
void	Sophus2Cv (const dso::SE3 &smat, cv::Mat &mat)
void	cvMatToQuatAndPos (const cv::Mat mat, BtQuaternion &quat, Vector3 &vec, bool invertx=false, bool flip=false)
cv::Mat	ExpSO3 (const float &x, const float &y, const float &z)
cv::Mat	ExpSO3 (const cv::Mat &v)
cv::Point2f	Camera2Pixel (cv::Mat poseCamera, cv::Mat mk)

Variables
const float	eps = 1e-4

Function Documentation

Camera2Pixel()

cv::Point2f Camera2Pixel	(	cv::Mat	poseCamera,
		cv::Mat	mk
	)

Definition at line 127 of file sSlam_vins.cpp.

cvMatToQuatAndPos()

void cvMatToQuatAndPos	(	const cv::Mat	mat,
		BtQuaternion &	quat,
		Vector3 &	vec,
		bool	invertx = false,
		bool	flip = false
	)

Definition at line 75 of file sSlam_vins.cpp.

ExpSO3() [1/2]

cv::Mat ExpSO3

(

const cv::Mat &

v

)

Definition at line 122 of file sSlam_vins.cpp.

ExpSO3() [2/2]

cv::Mat ExpSO3	(	const float &	x,
		const float &	y,
		const float &	z
	)

Definition at line 108 of file sSlam_vins.cpp.

firstPO2From()

uint32 firstPO2From

(

uint32

n

)

Definition at line 32 of file sSlam_vins.cpp.

Sophus2Cv()

void Sophus2Cv	(	const dso::SE3 &	smat,
		cv::Mat &	mat
	)

Definition at line 47 of file sSlam_vins.cpp.

Variable Documentation

eps

const float eps = 1e-4

Definition at line 107 of file sSlam_vins.cpp.