- a -

• angleSum : visualOdometry.cpp

- b -

• bridge : featureTracking.cpp , visualOdometry.cpp

- c -

• cloudCount : processDepthmap.cpp , registerPointCloud.cpp
• cloudRegInd : registerPointCloud.cpp , processDepthmap.cpp
• cloudSkipNum : registerPointCloud.cpp , processDepthmap.cpp

- d -

• deg2rad : transformMaintenance.cpp
• depthCloudNum : visualOdometry.cpp
• depthCloudPubPointer : processDepthmap.cpp
• depthCloudTime : visualOdometry.cpp
• depthPoints : bundleAdjust.cpp , stackDepthPoint.cpp
• depthPointsCurNum : visualOdometry.cpp
• depthPointsLastNum : visualOdometry.cpp
• depthPointsPubPointer : visualOdometry.cpp , stackDepthPoint.cpp
• depthPointsTime : stackDepthPoint.cpp , bundleAdjust.cpp

- e -

• epsilon : numericalDiff.cpp

- f -

• featuresCur : featureTracking.cpp
• featuresError : featureTracking.cpp
• featuresFound : featureTracking.cpp
• featuresInd : featureTracking.cpp
• featuresIndFromStart : featureTracking.cpp
• featuresLast : featureTracking.cpp
• frameCount : stackDepthPoint.cpp

- i -

• image : visualOdometry.cpp
• imageCur : featureTracking.cpp
• imageEig : featureTracking.cpp
• imageHeight : cameraParameters.h
• imageLast : featureTracking.cpp
• imagePixelNum : registerPointCloud.cpp , featureTracking.cpp , processDepthmap.cpp
• imagePointsCurNum : visualOdometry.cpp
• imagePointsCurTime : visualOdometry.cpp
• imagePointsLastNum : visualOdometry.cpp
• imagePointsLastPubPointer : featureTracking.cpp
• imagePointsLastTime : visualOdometry.cpp
• imagePointsProjPubPointer : visualOdometry.cpp
• imageShowMono : featureTracking.cpp
• imageShowPubPointer : featureTracking.cpp , visualOdometry.cpp
• imageShowRGB : featureTracking.cpp
• imageTmp : featureTracking.cpp
• imageWidth : cameraParameters.h
• imgSize : featureTracking.cpp
• imuInited : visualOdometry.cpp
• imuPitch : visualOdometry.cpp
• imuPitchCur : visualOdometry.cpp
• imuPitchLast : visualOdometry.cpp
• imuPointerFront : visualOdometry.cpp
• imuPointerLast : visualOdometry.cpp
• imuQueLength : visualOdometry.cpp
• imuRoll : visualOdometry.cpp
• imuRollCur : visualOdometry.cpp
• imuRollLast : visualOdometry.cpp
• imuTime : visualOdometry.cpp
• imuYaw : visualOdometry.cpp
• imuYawCur : visualOdometry.cpp
• imuYawInit : visualOdometry.cpp
• imuYawLast : visualOdometry.cpp
• ipInd : visualOdometry.cpp
• ipy2 : visualOdometry.cpp

- k -

• kDepth : cameraParameters.h
• keepSyncCloudNum : processDepthmap.cpp , registerPointCloud.cpp
• keyframeCount : stackDepthPoint.cpp
• keyframeNum : bundleAdjust.cpp , stackDepthPoint.cpp
• kImage : cameraParameters.h
• kMat : featureTracking.cpp

- l -

• lastPubTime : stackDepthPoint.cpp

- m -

• MAXFEATURENUM : featureTracking.cpp
• maxFeatureNumPerSubregion : featureTracking.cpp
• maxTrackDis : featureTracking.cpp

- n -

• newKeyframe : bundleAdjust.cpp

- p -

• PI : bundleAdjust.cpp , processDepthmap.cpp , stackDepthPoint.cpp , transformMaintenance.cpp , registerPointCloud.cpp , visualOdometry.cpp
• pitchRec : transformMaintenance.cpp , bundleAdjust.cpp
• pointSearchInd : visualOdometry.cpp
• pointSearchSqrDis : visualOdometry.cpp
• pyrCur : featureTracking.cpp
• pyrLast : featureTracking.cpp

- r -

• rad2deg : transformMaintenance.cpp
• rollRec : bundleAdjust.cpp , transformMaintenance.cpp
• rxRec : processDepthmap.cpp , registerPointCloud.cpp
• ryRec : registerPointCloud.cpp , processDepthmap.cpp
• rzRec : registerPointCloud.cpp , processDepthmap.cpp

- s -

• showCount : featureTracking.cpp , registerPointCloud.cpp
• showDSRate : visualOdometry.cpp , featureTracking.cpp
• showSize : featureTracking.cpp
• showSkipNum : featureTracking.cpp , registerPointCloud.cpp
• subregionFeatureNum : featureTracking.cpp
• subregionHeight : featureTracking.cpp
• subregionWidth : featureTracking.cpp
• surroundCloudPubPointer : registerPointCloud.cpp
• syncCloudArray : registerPointCloud.cpp , processDepthmap.cpp
• syncCloudInd : registerPointCloud.cpp , processDepthmap.cpp
• syncCloudTime : processDepthmap.cpp , registerPointCloud.cpp
• systemInited : featureTracking.cpp

- t -

• tfBroadcaster2Pointer : transformMaintenance.cpp
• tfBroadcasterPointer : visualOdometry.cpp
• timeCur : featureTracking.cpp
• timeLast : featureTracking.cpp
• timeOdomAftBA : transformMaintenance.cpp
• timeOdomBefBA : transformMaintenance.cpp
• timeRec : registerPointCloud.cpp , processDepthmap.cpp
• totalFeatureNum : featureTracking.cpp
• totalSubregionNum : featureTracking.cpp
• transformAftBA : bundleAdjust.cpp , transformMaintenance.cpp
• transformBefBA : bundleAdjust.cpp , transformMaintenance.cpp
• transformSum : visualOdometry.cpp
• txRec : bundleAdjust.cpp , processDepthmap.cpp , registerPointCloud.cpp , transformMaintenance.cpp
• tyRec : registerPointCloud.cpp , bundleAdjust.cpp , transformMaintenance.cpp , processDepthmap.cpp
• tzRec : bundleAdjust.cpp , processDepthmap.cpp , transformMaintenance.cpp , registerPointCloud.cpp

- u -

• USE_CSPARSE : Cholesky.cpp
• USE_CSPARSE_QR : Cholesky.cpp

- v -

• voData2 : transformMaintenance.cpp
• voData2PubPointer : transformMaintenance.cpp
• voDataPubPointer : visualOdometry.cpp
• voDataTrans2 : transformMaintenance.cpp

- w -

• winSize : featureTracking.cpp

- x -

• xBoundary : featureTracking.cpp
• xSubregionNum : featureTracking.cpp

- y -

• yawRec : bundleAdjust.cpp , transformMaintenance.cpp
• yBoundary : featureTracking.cpp
• ySubregionNum : featureTracking.cpp