#include <Eigen/StdVector>
#include <tr1/random>
#include <iostream>
#include <stdint.h>
#include <tr1/unordered_set>
#include "g2o/core/graph_optimizer_sparse.h"
#include "g2o/core/block_solver.h"
#include "g2o/core/solver.h"
#include "g2o/solvers/cholmod/linear_solver_cholmod.h"
#include "g2o/solvers/dense/linear_solver_dense.h"
#include "g2o/core/structure_only_solver.h"
#include "g2o/core/base_vertex.h"
#include "g2o/core/base_binary_edge.h"
#include "g2o/core/base_multi_edge.h"
#include <Eigen/Eigen>
#include <Eigen/Geometry>
#include <cstdio>
#include <fstream>

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Classes
struct	Data
class	g2o::EdgeProjectXYZ2UV
class	SE3AxisAngle
class	g2o::VertexPointXYZ
	Point vertex, XYZ. More...
class	g2o::VertexSE3AxisAngle
Namespaces
namespace	g2o
	Executes code, only if secs are gone since last exec.
Typedefs
typedef Eigen::Matrix< double, 3, 3 >	Matrix3
typedef Eigen::Matrix< double, 4, 4 >	Matrix4
typedef Eigen::Matrix< double, 6, 6 >	Matrix6
typedef Eigen::Matrix< double, 2, 1 >	Vector2
typedef Eigen::Matrix< double, 3, 1 >	Vector3
typedef Eigen::Matrix< double, 4, 1 >	Vector4
typedef Eigen::Matrix< double, 5, 1 >	Vector5
typedef Eigen::Matrix< double, 6, 1 >	Vector6
Functions
void	poseOptimization (Data &dat)