cartographer
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      • Namespaces
        • Namespace async_grpc
        • Namespace cartographer
        • Namespace cartographer::cloud
        • Namespace cartographer::cloud::handlers
        • Namespace cartographer::cloud::metrics
        • Namespace cartographer::cloud::metrics::prometheus
        • Namespace cartographer::cloud::testing
        • Namespace cartographer::common
        • Namespace cartographer::common::testing
        • Namespace cartographer::ground_truth
        • Namespace cartographer::io
        • Namespace cartographer::io::testing
        • Namespace cartographer::mapping
        • Namespace cartographer::mapping::@183
        • Namespace cartographer::mapping::constraints
        • Namespace cartographer::mapping::internal
        • Namespace cartographer::mapping::optimization
        • Namespace cartographer::mapping::scan_matching
        • Namespace cartographer::mapping::testing
        • Namespace cartographer::metrics
        • Namespace cartographer::sensor
        • Namespace cartographer::sensor::testing
        • Namespace cartographer::transform
        • Namespace std
      • Classes and Structs
        • Struct MapBuilderContextInterface::Data
        • Struct MapBuilderContextInterface::LocalSlamResult
        • Struct MapBuilderContextInterface::LocalSlamSubscriptionId
        • Struct RateTimer::Event
        • Struct UniversalTimeScaleClock
        • Struct OutlierRemovingPointsProcessor::VoxelData
        • Struct PaintSubmapSlicesResult
        • Struct PointsBatch
        • Struct SubmapSlice
        • Struct SubmapTexture
        • Struct SubmapTexture::Pixels
        • Struct SubmapTextures
        • Struct XRayPointsProcessor::Aggregation
        • Struct XRayPointsProcessor::ColumnData
        • Struct AverageIntensityData
        • Struct CellLimits
        • Struct ConstantYawQuaternionPlus
        • Struct ConstraintBuilder2D::SubmapScanMatcher
        • Struct ConstraintBuilder3D::SubmapScanMatcher
        • Template Struct ExtrapolatePoseResult
        • Struct Floor
        • Template Struct IntegrateImuResult
        • Struct InternalSubmapData
        • Struct InternalTrajectoryState
        • Struct LocalTrajectoryBuilder2D::InsertionResult
        • Struct LocalTrajectoryBuilder2D::MatchingResult
        • Struct LocalTrajectoryBuilder3D::InsertionResult
        • Struct LocalTrajectoryBuilder3D::MatchingResult
        • Struct MapById::IdDataReference
        • Struct MapById::MapByIndex
        • Struct NodeId
        • Struct CeresPose::Data
        • Struct NodeSpec2D
        • Struct NodeSpec3D
        • Struct SubmapSpec2D
        • Struct SubmapSpec3D
        • Struct PoseExtrapolator::TimedPose
        • Struct PoseExtrapolatorInterface::ExtrapolationResult
        • Struct PoseGraph::InitialTrajectoryPose
        • Struct PoseGraphData
        • Struct PoseGraphInterface::Constraint
        • Struct Constraint::Pose
        • Struct PoseGraphInterface::LandmarkNode
        • Struct LandmarkNode::LandmarkObservation
        • Struct PoseGraphInterface::SubmapData
        • Struct PoseGraphInterface::SubmapPose
        • Struct PoseGraphInterface::TrajectoryData
        • Struct Candidate2D
        • Struct FastCorrelativeScanMatcher3D::Result
        • Struct FastCorrelativeScanMatcher3D::SearchParameters
        • Struct PointCloudAndHybridGridsPointers
        • Struct SearchParameters
        • Struct SearchParameters::LinearBounds
        • Struct SubmapId
        • Struct Timespan
        • Struct TrajectoryBuilderInterface::InsertionResult
        • Struct TrajectoryBuilderInterface::SensorId
        • Struct TrajectoryNode
        • Struct TrajectoryNode::Data
        • Struct TrajectoryNodePose
        • Struct TrajectoryNodePose::ConstantPoseData
        • Struct WorkItem
        • Struct YawOnlyQuaternionPlus
        • Struct FixedFramePoseData
        • Struct ImuData
        • Struct LandmarkData
        • Struct LandmarkObservation
        • Struct OdometryData
        • Struct OrderedMultiQueue::Queue
        • Struct PointCloudWithIntensities
        • Struct QueueKey
        • Struct RangeData
        • Struct RangefinderPoint
        • Struct CollatorInput
        • Struct TimedPointCloudData
        • Struct TimedPointCloudOriginData
        • Struct TimedPointCloudOriginData::RangeMeasurement
        • Struct TimedRangefinderPoint
        • Struct TimestampedTransform
        • Template Class AddSensorDataHandlerBase
        • Class LocalTrajectoryUploaderInterface
        • Template Class MapBuilderContext
        • Class MapBuilderContextInterface
        • Class MapBuilderServer
        • Class MapBuilderServerInterface
        • Class MapBuilderStub
        • Class FamilyFactory
        • Class PoseGraphStub
        • Template Class HandlerTest
        • Class MockLocalTrajectoryUploader
        • Class MockMapBuilderContext
        • Class TrajectoryBuilderStub
        • Template Class BlockingQueue
        • Class ConfigurationFileResolver
        • Class DummyFileResolver
        • Class FileResolver
        • Class FixedRatioSampler
        • Class Histogram
        • Class LuaParameterDictionary
        • Template Class RateTimer
        • Class Task
        • Class ThreadPoolForTesting
        • Class ThreadPool
        • Class ThreadPoolInterface
        • Class ColoringPointsProcessor
        • Class CountingPointsProcessor
        • Class FakeFileWriter
        • Class FileWriter
        • Class FixedRatioSamplingPointsProcessor
        • Class ForwardingProtoStreamWriter
        • Class FrameIdFilteringPointsProcessor
        • Class HybridGridPointsProcessor
        • Class Image
        • Class InMemoryProtoStreamReader
        • Class IntensityToColorPointsProcessor
        • Class MinMaxRangeFilteringPointsProcessor
        • Class NullPointsProcessor
        • Class OutlierRemovingPointsProcessor
        • Class PcdWritingPointsProcessor
        • Class PlyWritingPointsProcessor
        • Class PointsProcessor
        • Class PointsProcessorPipelineBuilder
        • Class ProbabilityGridPointsProcessor
        • Class ProtoStreamDeserializer
        • Class ProtoStreamReader
        • Class ProtoStreamReaderInterface
        • Class ProtoStreamWriter
        • Class ProtoStreamWriterInterface
        • Class StreamFileWriter
        • Class VerticalRangeFilteringPointsProcessor
        • Class XRayPointsProcessor
        • Class XyzWriterPointsProcessor
        • Class AccelerationCostFunction3D
        • Class ActiveSubmaps2D
        • Class ActiveSubmaps3D
        • Class CollatedTrajectoryBuilder
        • Class ConnectedComponents
        • Class ConstraintBuilder2D
        • Class ConstraintBuilder3D
        • Template Class DynamicGrid
        • Class DynamicGrid::Iterator
        • Template Class FlatGrid
        • Class FlatGrid::Iterator
        • Class Grid2D
        • Class GridInterface
        • Class HybridGrid
        • Template Class HybridGridBase
        • Class ImuBasedPoseExtrapolator
        • Class ImuTracker
        • Class IntensityHybridGrid
        • Class LocalSlamResult2D
        • Class LocalSlamResult3D
        • Class LocalSlamResultData
        • Class LocalTrajectoryBuilder2D
        • Class LocalTrajectoryBuilder3D
        • Class MapBuilder
        • Class MapBuilderInterface
        • Template Class MapById
        • Class MapById::ConstIterator
        • Class MapById::ConstTrajectoryIterator
        • Class MapLimits
        • Class MotionFilter
        • Template Class NestedGrid
        • Class NestedGrid::Iterator
        • Class CeresPose
        • Class LandmarkCostFunction2D
        • Class LandmarkCostFunction3D
        • Class OptimizationProblem2D
        • Class OptimizationProblem3D
        • Template Class OptimizationProblemInterface
        • Class SpaCostFunction3D
        • Class OverlappingSubmapsTrimmer2D
        • Class PoseExtrapolator
        • Class PoseExtrapolatorInterface
        • Class PoseGraph
        • Class PoseGraph2D
        • Class PoseGraph2D::TrimmingHandle
        • Class PoseGraph3D
        • Class PoseGraph3D::TrimmingHandle
        • Class PoseGraphInterface
        • Class PoseGraphTrimmer
        • Class ProbabilityGrid
        • Class ProbabilityGridRangeDataInserter2D
        • Class PureLocalizationTrimmer
        • Template Class Range
        • Class RangeDataCollator
        • Class RangeDataInserter3D
        • Class RangeDataInserterInterface
        • Class RotationCostFunction3D
        • Class CeresScanMatcher2D
        • Class CeresScanMatcher3D
        • Class FastCorrelativeScanMatcher2D
        • Class FastCorrelativeScanMatcher3D
        • Class IntensityCostFunction3D
        • Template Class InterpolatedGrid
        • Class InterpolatedTSDF2D
        • Class OccupiedSpaceCostFunction3D
        • Class PrecomputationGrid2D
        • Class PrecomputationGrid3D
        • Class PrecomputationGridStack2D
        • Class PrecomputationGridStack3D
        • Class RealTimeCorrelativeScanMatcher2D
        • Class RealTimeCorrelativeScanMatcher3D
        • Class RotationalScanMatcher
        • Class RotationDeltaCostFunctor2D
        • Class RotationDeltaCostFunctor3D
        • Class TranslationDeltaCostFunctor2D
        • Class TranslationDeltaCostFunctor3D
        • Class Submap
        • Class Submap2D
        • Class Submap3D
        • Template Class SubmapController
        • Class FakeTrimmable
        • Class MockMapBuilder
        • Class MockPoseGraph
        • Class MockTrajectoryBuilder
        • Class TrajectoryBuilderInterface
        • Class TrajectoryConnectivityState
        • Class Trimmable
        • Class TSDF2D
        • Class TSDFRangeDataInserter2D
        • Class TSDValueConverter
        • Class ValueConversionTables
        • Class XYIndexRangeIterator
        • Class Counter
        • Template Class Family
        • Class FamilyFactory
        • Class Gauge
        • Class Histogram
        • Template Class NullFamily
        • Class Collator
        • Class CollatorInterface
        • Class CompressedPointCloud
        • Class CompressedPointCloud::ConstIterator
        • Class Data
        • Template Class Dispatchable
        • Template Class MapByTime
        • Class MapByTime::ConstIterator
        • Class MapByTime::ConstTrajectoryIterator
        • Class OrderedMultiQueue
        • Class PointCloud
        • Class TrajectoryCollator
        • Template Class Rigid2
        • Template Class Rigid3
        • Class TransformInterpolationBuffer
      • Enums
        • Enum GridType
        • Enum SubmapState
      • Functions
        • Function cartographer::cloud::CreateAddFixedFramePoseDataRequest
        • Function cartographer::cloud::CreateAddImuDataRequest
        • Function cartographer::cloud::CreateAddLandmarkDataRequest
        • Function cartographer::cloud::CreateAddOdometryDataRequest
        • Function cartographer::cloud::CreateAddRangeFinderDataRequest
        • Function cartographer::cloud::CreateLocalTrajectoryUploader
        • Function cartographer::cloud::CreateMapBuilderServer
        • Function cartographer::cloud::CreateMapBuilderServerOptions
        • Function cartographer::cloud::CreateSensorDataForLocalSlamResult
        • Function cartographer::cloud::CreateSensorMetadata
        • Function cartographer::cloud::FromProto(const proto::TrajectoryState&)
        • Function cartographer::cloud::FromProto(const proto::TrajectoryRemapping&)
        • Function cartographer::cloud::FromProto(const proto::SensorId&)
        • Function cartographer::cloud::LoadMapBuilderServerOptions
        • Function cartographer::cloud::RegisterMapBuilderServerMetrics
        • Template Function cartographer::cloud::testing::BuildDataPredicateEquals
        • Specialized Template Function cartographer::cloud::testing::BuildDataPredicateEquals< proto::AddFixedFramePoseDataRequest >
        • Specialized Template Function cartographer::cloud::testing::BuildDataPredicateEquals< proto::AddImuDataRequest >
        • Specialized Template Function cartographer::cloud::testing::BuildDataPredicateEquals< proto::AddLandmarkDataRequest >
        • Specialized Template Function cartographer::cloud::testing::BuildDataPredicateEquals< proto::AddOdometryDataRequest >
        • Specialized Template Function cartographer::cloud::testing::BuildDataPredicateEquals< proto::AddRangefinderDataRequest >
        • Function cartographer::cloud::testing::BuildProtoPredicateEquals
        • Function cartographer::cloud::ToProto(const mapping::PoseGraphInterface::TrajectoryState&)
        • Function cartographer::cloud::ToProto(const std::map<int, int>&)
        • Function cartographer::cloud::ToProto(const mapping::TrajectoryBuilderInterface::SensorId&)
        • Template Function cartographer::common::atan2
        • Template Function cartographer::common::Clamp
        • Function cartographer::common::CreateCeresSolverOptions
        • Function cartographer::common::CreateCeresSolverOptionsProto
        • Function cartographer::common::DegToRad
        • Function cartographer::common::FastGunzipString
        • Function cartographer::common::FastGzipString
        • Function cartographer::common::FromMilliseconds
        • Function cartographer::common::FromSeconds
        • Function cartographer::common::FromUniversal
        • Function cartographer::common::GetThreadCpuTimeSeconds
        • Function cartographer::common::MakeDictionary
        • Template Function cartographer::common::NormalizeAngleDifference
        • Function cartographer::common::operator<<
        • Template Function cartographer::common::Pow2
        • Template Function cartographer::common::Power
        • Template Function cartographer::common::QuaternionProduct
        • Function cartographer::common::RadToDeg
        • Function cartographer::common::RoundToInt(const float)
        • Function cartographer::common::RoundToInt(const double)
        • Function cartographer::common::RoundToInt64(const float)
        • Function cartographer::common::RoundToInt64(const double)
        • Function cartographer::common::ToSeconds(Duration)
        • Function cartographer::common::ToSeconds(std::chrono::steady_clock::duration)
        • Function cartographer::common::ToUniversal
        • Function cartographer::ground_truth::GenerateGroundTruth
        • Function cartographer::ground_truth::ReadRelationsTextFile
        • Function cartographer::io::CreateProbabilityGrid
        • Function cartographer::io::DeserializeAndFillSubmapSlices
        • Function cartographer::io::DeserializePoseGraphFromFile
        • Function cartographer::io::DrawProbabilityGrid
        • Function cartographer::io::DrawTexture
        • Function cartographer::io::DrawTrajectory
        • Function cartographer::io::FillSubmapSlice
        • Function cartographer::io::FloatComponentToUint8
        • Function cartographer::io::GetColor
        • Function cartographer::io::MakeUniqueCairoPtr
        • Function cartographer::io::MakeUniqueCairoSurfacePtr
        • Function cartographer::io::MigrateStreamVersion1ToVersion2
        • Function cartographer::io::MigrateSubmapFormatVersion1ToVersion2
        • Function cartographer::io::PaintSubmapSlices
        • Function cartographer::io::pbstream_info
        • Function cartographer::io::pbstream_migrate
        • Function cartographer::io::RegisterBuiltInPointsProcessors
        • Function cartographer::io::RemovePoints
        • Template Function cartographer::io::testing::ProtoFromStringOrDie
        • Function cartographer::io::testing::ProtoReaderFromStrings
        • Function cartographer::io::ToFloatColor
        • Function cartographer::io::ToUint8Color
        • Function cartographer::io::Uint8ComponentToFloat
        • Function cartographer::io::UnpackTextureData
        • Function cartographer::io::WritePbStream
        • Function cartographer::mapping::ClampCorrespondenceCost
        • Function cartographer::mapping::ClampProbability
        • Function cartographer::mapping::ComputeLookupTableToApplyCorrespondenceCostOdds
        • Function cartographer::mapping::ComputeLookupTableToApplyOdds
        • Function cartographer::mapping::constraints::ComputeSubmapPose
        • Function cartographer::mapping::constraints::CreateConstraintBuilderOptions
        • Function cartographer::mapping::CorrespondenceCostToProbability
        • Function cartographer::mapping::CorrespondenceCostToValue
        • Function cartographer::mapping::CorrespondenceCostValueToProbabilityValue
        • Function cartographer::mapping::CreateGlobalTrajectoryBuilder2D
        • Function cartographer::mapping::CreateGlobalTrajectoryBuilder3D
        • Function cartographer::mapping::CreateGridOptions2D
        • Function cartographer::mapping::CreateLocalTrajectoryBuilderOptions2D
        • Function cartographer::mapping::CreateLocalTrajectoryBuilderOptions3D
        • Function cartographer::mapping::CreateMapBuilder
        • Function cartographer::mapping::CreateMapBuilderOptions
        • Function cartographer::mapping::CreateMotionFilterOptions
        • Function cartographer::mapping::CreateNormalEstimationOptions2D
        • Function cartographer::mapping::CreatePoseExtrapolatorOptions
        • Function cartographer::mapping::CreatePoseGraphOptions
        • Function cartographer::mapping::CreateProbabilityGridRangeDataInserterOptions2D
        • Function cartographer::mapping::CreateRangeDataInserterOptions
        • Function cartographer::mapping::CreateRangeDataInserterOptions3D
        • Function cartographer::mapping::CreateSubmapsOptions2D
        • Function cartographer::mapping::CreateSubmapsOptions3D
        • Function cartographer::mapping::CreateTrajectoryBuilderOptions
        • Function cartographer::mapping::CreateTSDFRangeDataInserterOptions2D
        • Function cartographer::mapping::DetectFloors
        • Function cartographer::mapping::EstimateNormals
        • Template Function cartographer::mapping::ExtrapolatePoseWithImu(const transform::Rigid3<T>&, const Eigen::Matrix<T, 3, 1>&, const common::Time, const Eigen::Matrix<T, 3, 1>&, const common::Time, const RangeType&, IteratorType *const)
        • Template Function cartographer::mapping::ExtrapolatePoseWithImu(const transform::Rigid3<T>&, const common::Time, const transform::Rigid3<T>&, const common::Time, const Eigen::Matrix<T, 3, 1>&, const common::Time, const RangeType&, IteratorType *const)
        • Function cartographer::mapping::FromProto(const ::google::protobuf::RepeatedPtrField<::cartographer::mapping::proto::PoseGraph::Constraint>&)
        • Function cartographer::mapping::FromProto(const proto::SensorId&)
        • Function cartographer::mapping::FromProto(const proto::TrajectoryNodeData&)
        • Function cartographer::mapping::FromTwoVectors
        • Function cartographer::mapping::GlobalTrajectoryBuilderRegisterMetrics
        • Template Function cartographer::mapping::IntegrateImu(const RangeType&, const Eigen::Transform<T, 3, Eigen::Affine>&, const Eigen::Transform<T, 3, Eigen::Affine>&, const common::Time, const common::Time, IteratorType *const)
        • Template Function cartographer::mapping::IntegrateImu(const RangeType&, const common::Time, const common::Time, IteratorType *const)
        • Template Function cartographer::mapping::internal::GetTime
        • Template Function cartographer::mapping::internal::GetTimeImpl(const T&, int)
        • Template Function cartographer::mapping::internal::GetTimeImpl(const T&, unsigned)
        • Template Function cartographer::mapping::IsDefaultValue(const TValueType&)
        • Template Function cartographer::mapping::IsDefaultValue(const std::vector<TElementType>&)
        • Function cartographer::mapping::Logit
        • Function cartographer::mapping::Odds
        • Function cartographer::mapping::operator<<(std::ostream&, const NodeId&)
        • Function cartographer::mapping::operator<<(std::ostream&, const SubmapId&)
        • Template Function cartographer::mapping::optimization::ComputeUnscaledError(const transform::Rigid2d&, const T *const, const T *const)
        • Template Function cartographer::mapping::optimization::ComputeUnscaledError(const transform::Rigid3d&, const T *const, const T *const, const T *const, const T *const)
        • Template Function cartographer::mapping::optimization::ComputeUnscaledError(const transform::Rigid2d&, const T *const, const T *const)
        • Template Function cartographer::mapping::optimization::ComputeUnscaledError(const transform::Rigid3d&, const T *const, const T *const, const T *const, const T *const)
        • Function cartographer::mapping::optimization::CreateAnalyticalSpaCostFunction
        • Function cartographer::mapping::optimization::CreateAutoDiffSpaCostFunction
        • Function cartographer::mapping::optimization::CreateOptimizationProblemOptions
        • Function cartographer::mapping::optimization::FromPose
        • Template Function cartographer::mapping::optimization::InterpolateNodes2D
        • Template Function cartographer::mapping::optimization::InterpolateNodes3D
        • Template Function cartographer::mapping::optimization::ScaleError(const std::array<T, 3>&, double, double)
        • Template Function cartographer::mapping::optimization::ScaleError(const std::array<T, 6>&, double, double)
        • Template Function cartographer::mapping::optimization::SlerpQuaternions
        • Function cartographer::mapping::ProbabilityFromOdds
        • Function cartographer::mapping::ProbabilityToCorrespondenceCost
        • Function cartographer::mapping::ProbabilityToLogOddsInteger
        • Function cartographer::mapping::ProbabilityToValue
        • Function cartographer::mapping::ProbabilityValueToCorrespondenceCostValue
        • Function cartographer::mapping::RayToPixelMask
        • Function cartographer::mapping::scan_matching::ConvertToPrecomputationGrid
        • Function cartographer::mapping::scan_matching::CreateCeresScanMatcherOptions2D
        • Function cartographer::mapping::scan_matching::CreateCeresScanMatcherOptions3D
        • Function cartographer::mapping::scan_matching::CreateFastCorrelativeScanMatcherOptions2D
        • Function cartographer::mapping::scan_matching::CreateFastCorrelativeScanMatcherOptions3D
        • Function cartographer::mapping::scan_matching::CreateLowResolutionMatcher
        • Function cartographer::mapping::scan_matching::CreateOccupiedSpaceCostFunction2D
        • Function cartographer::mapping::scan_matching::CreateRealTimeCorrelativeScanMatcherOptions
        • Function cartographer::mapping::scan_matching::CreateTSDFMatchCostFunction2D
        • Function cartographer::mapping::scan_matching::DiscretizeScans
        • Function cartographer::mapping::scan_matching::GenerateRotatedScans
        • Function cartographer::mapping::scan_matching::PrecomputeGrid
        • Function cartographer::mapping::testing::AddToProtoGraph(const proto::Node&, proto::PoseGraph *)
        • Function cartographer::mapping::testing::AddToProtoGraph(const proto::Submap&, proto::PoseGraph *)
        • Function cartographer::mapping::testing::AddToProtoGraph(const proto::PoseGraph::Constraint&, proto::PoseGraph *)
        • Function cartographer::mapping::testing::AddToProtoGraph(const proto::PoseGraph::LandmarkPose&, proto::PoseGraph *)
        • Function cartographer::mapping::testing::CreateFakeConstraint
        • Function cartographer::mapping::testing::CreateFakeLandmark
        • Function cartographer::mapping::testing::CreateFakeNode
        • Function cartographer::mapping::testing::CreateFakeSubmap3D
        • Function cartographer::mapping::testing::CreateTrajectoryIfNeeded
        • Function cartographer::mapping::testing::GenerateFakeRangeMeasurements(double, double, double)
        • Function cartographer::mapping::testing::GenerateFakeRangeMeasurements(const Eigen::Vector3f&, double, double, const transform::Rigid3f&)
        • Function cartographer::mapping::testing::ResolveLuaParameters
        • Function cartographer::mapping::To3DIndex
        • Function cartographer::mapping::ToFlatIndex
        • Function cartographer::mapping::ToProto(const MapLimits&)
        • Function cartographer::mapping::ToProto(const CellLimits&)
        • Function cartographer::mapping::ToProto(std::vector<std::vector<int>>)
        • Function cartographer::mapping::ToProto(const PoseGraph::Constraint&)
        • Function cartographer::mapping::ToProto(const TrajectoryBuilderInterface::SensorId&)
        • Function cartographer::mapping::ToProto(const TrajectoryNode::Data&)
        • Function cartographer::mapping::ValueToCorrespondenceCost
        • Function cartographer::mapping::ValueToProbability
        • Function cartographer::metrics::RegisterAllMetrics
        • Function cartographer::sensor::AdaptiveVoxelFilter
        • Function cartographer::sensor::CreateAdaptiveVoxelFilterOptions
        • Function cartographer::sensor::CropPointCloud
        • Function cartographer::sensor::CropRangeData
        • Function cartographer::sensor::FromProto(const proto::FixedFramePoseData&)
        • Function cartographer::sensor::FromProto(const proto::ImuData&)
        • Function cartographer::sensor::FromProto(const proto::LandmarkData&)
        • Function cartographer::sensor::FromProto(const proto::OdometryData&)
        • Function cartographer::sensor::FromProto(const proto::RangeData&)
        • Function cartographer::sensor::FromProto(const proto::RangefinderPoint&)
        • Function cartographer::sensor::FromProto(const proto::TimedRangefinderPoint&)
        • Function cartographer::sensor::FromProto(const proto::TimedPointCloudData&)
        • Template Function cartographer::sensor::MakeDispatchable
        • Function cartographer::sensor::MATCHER_P
        • Template Function cartographer::sensor::operator*(const transform::Rigid3<T>&, const RangefinderPoint&)
        • Template Function cartographer::sensor::operator*(const transform::Rigid3<T>&, const TimedRangefinderPoint&)
        • Function cartographer::sensor::operator==(const RangefinderPoint&, const RangefinderPoint&)
        • Function cartographer::sensor::operator==(const TimedRangefinderPoint&, const TimedRangefinderPoint&)
        • Function cartographer::sensor::ToProto(const FixedFramePoseData&)
        • Function cartographer::sensor::ToProto(const ImuData&)
        • Function cartographer::sensor::ToProto(const LandmarkData&)
        • Function cartographer::sensor::ToProto(const OdometryData&)
        • Function cartographer::sensor::ToProto(const RangeData&)
        • Function cartographer::sensor::ToProto(const RangefinderPoint&)
        • Function cartographer::sensor::ToProto(const TimedRangefinderPoint&)
        • Function cartographer::sensor::ToProto(const TimedPointCloudData&)
        • Function cartographer::sensor::ToRangefinderPoint
        • Function cartographer::sensor::ToTimedRangefinderPoint
        • Function cartographer::sensor::TransformPointCloud
        • Function cartographer::sensor::TransformRangeData
        • Function cartographer::sensor::TransformTimedPointCloud
        • Function cartographer::sensor::VoxelFilter(const std::vector<RangefinderPoint>&, const float)
        • Function cartographer::sensor::VoxelFilter(const PointCloud&, const float)
        • Function cartographer::sensor::VoxelFilter(const TimedPointCloud&, const float)
        • Function cartographer::sensor::VoxelFilter(const std::vector<sensor::TimedPointCloudOriginData::RangeMeasurement>&, const float)
        • Template Function cartographer::transform::AngleAxisVectorToRotationQuaternion
        • Template Function cartographer::transform::Embed3D
        • Function cartographer::transform::FromDictionary
        • Function cartographer::transform::FromProto
        • Template Function cartographer::transform::GetAngle
        • Template Function cartographer::transform::GetYaw(const Eigen::Quaternion<T>&)
        • Template Function cartographer::transform::GetYaw(const Rigid3<T>&)
        • Function cartographer::transform::Interpolate
        • Function cartographer::transform::MATCHER_P2
        • Template Function cartographer::transform::operator*(const Rigid2<FloatType>&, const Rigid2<FloatType>&)
        • Template Function cartographer::transform::operator*(const Rigid2<FloatType>&, const typename Rigid2<FloatType>::Vector&)
        • Template Function cartographer::transform::operator*(const Rigid3<FloatType>&, const Rigid3<FloatType>&)
        • Template Function cartographer::transform::operator*(const Rigid3<FloatType>&, const typename Rigid3<FloatType>::Vector&)
        • Template Function cartographer::transform::operator<<(std::ostream&, const cartographer::transform::Rigid2<T>&)
        • Template Function cartographer::transform::operator<<(std::ostream&, const cartographer::transform::Rigid3<T>&)
        • Template Function cartographer::transform::Project2D
        • Function cartographer::transform::RollPitchYaw
        • Template Function cartographer::transform::RotationQuaternionToAngleAxisVector
        • Template Function cartographer::transform::ToEigen(const Rigid2<T>&)
        • Template Function cartographer::transform::ToEigen(const Rigid3<T>&)
        • Function cartographer::transform::ToEigen(const proto::Vector2d&)
        • Function cartographer::transform::ToEigen(const proto::Vector3f&)
        • Function cartographer::transform::ToEigen(const proto::Vector4f&)
        • Function cartographer::transform::ToEigen(const proto::Vector3d&)
        • Function cartographer::transform::ToEigen(const proto::Quaterniond&)
        • Function cartographer::transform::ToProto(const TimestampedTransform&)
        • Function cartographer::transform::ToProto(const Rigid2d&)
        • Function cartographer::transform::ToProto(const Rigid2f&)
        • Function cartographer::transform::ToProto(const Rigid3d&)
        • Function cartographer::transform::ToProto(const Rigid3f&)
        • Function cartographer::transform::ToProto(const Eigen::Vector2d&)
        • Function cartographer::transform::ToProto(const Eigen::Vector3f&)
        • Function cartographer::transform::ToProto(const Eigen::Vector4f&)
        • Function cartographer::transform::ToProto(const Eigen::Vector3d&)
        • Function cartographer::transform::ToProto(const Eigen::Quaternionf&)
        • Function cartographer::transform::ToProto(const Eigen::Quaterniond&)
        • Function cartographer::transform::ToRigid2
        • Function cartographer::transform::ToRigid3
      • Variables
        • Variable cartographer::common::kUtsEpochOffsetFromUnixEpochInSeconds
        • Variable cartographer::io::kCairoFormat
        • Variable cartographer::io::kFormatVersionWithoutSubmapHistograms
        • Variable cartographer::io::kMappingStateSerializationFormatVersion
        • Variable cartographer::mapping::kMaxCorrespondenceCost
        • Variable cartographer::mapping::kMaxLogOdds
        • Variable cartographer::mapping::kMaxProbability
        • Variable cartographer::mapping::kMinCorrespondenceCost
        • Variable cartographer::mapping::kMinLogOdds
        • Variable cartographer::mapping::kMinProbability
        • Variable cartographer::mapping::kUnknownCorrespondenceValue
        • Variable cartographer::mapping::kUnknownProbabilityValue
        • Variable cartographer::mapping::kUpdateMarker
        • Variable cartographer::mapping::kValueToCorrespondenceCost
        • Variable cartographer::mapping::kValueToProbability
        • Variable cartographer::transform::kUnlimitedBufferSize
      • Typedefs
        • Typedef cartographer::cloud::testing::DataPredicateType
        • Typedef cartographer::cloud::testing::ProtoPredicateType
        • Typedef cartographer::common::Duration
        • Typedef cartographer::common::Time
        • Typedef cartographer::int16
        • Typedef cartographer::int32
        • Typedef cartographer::int64
        • Typedef cartographer::int8
        • Typedef cartographer::io::FileWriterFactory
        • Typedef cartographer::io::FloatColor
        • Typedef cartographer::io::PoseToPixelFunction
        • Typedef cartographer::io::Uint8Color
        • Typedef cartographer::io::UniqueCairoPtr
        • Typedef cartographer::io::UniqueCairoSurfacePtr
        • Typedef cartographer::mapping::GridBase
        • Typedef cartographer::mapping::scan_matching::DiscreteScan2D
        • Typedef cartographer::mapping::scan_matching::InterpolatedIntensityGrid
        • Typedef cartographer::mapping::scan_matching::InterpolatedProbabilityGrid
        • Typedef cartographer::mapping::scan_matching::MatchingFunction
        • Typedef cartographer::mapping::WorkQueue
        • Typedef cartographer::sensor::testing::CollatorOutput
        • Typedef cartographer::sensor::TimedPointCloud
        • Typedef cartographer::transform::Rigid2d
        • Typedef cartographer::transform::Rigid2f
        • Typedef cartographer::transform::Rigid3d
        • Typedef cartographer::transform::Rigid3f
        • Typedef cartographer::uint16
        • Typedef cartographer::uint32
        • Typedef cartographer::uint64
        • Typedef cartographer::uint8
      • Directories
        • Directory cartographer
        • Directory cloud
        • Directory client
        • Directory internal
        • Directory client
        • Directory handlers
        • Directory mapping
        • Directory sensor
        • Directory testing
        • Directory metrics
        • Directory prometheus
        • Directory common
        • Directory internal
        • Directory testing
        • Directory ground_truth
        • Directory io
        • Directory internal
        • Directory testing
        • Directory mapping
        • Directory 2d
        • Directory 3d
        • Directory internal
        • Directory 2d
        • Directory scan_matching
        • Directory 3d
        • Directory scan_matching
        • Directory constraints
        • Directory optimization
        • Directory cost_functions
        • Directory scan_matching
        • Directory testing
        • Directory metrics
        • Directory sensor
        • Directory internal
        • Directory transform
      • Files
        • File acceleration_cost_function_3d.h
        • File add_fixed_frame_pose_data_handler.h
        • File add_imu_data_handler.h
        • File add_landmark_data_handler.h
        • File add_odometry_data_handler.h
        • File add_rangefinder_data_handler.h
        • File add_sensor_data_batch_handler.h
        • File add_sensor_data_handler_base.h
        • File add_trajectory_handler.h
        • File autogenerate_ground_truth.h
        • File blocking_queue.h
        • File ceres_pose.h
        • File ceres_scan_matcher_2d.h
        • File ceres_scan_matcher_3d.h
        • File ceres_solver_options.h
        • File collated_trajectory_builder.h
        • File collator.h
        • File collator_interface.h
        • File color.h
        • File coloring_points_processor.h
        • File compressed_point_cloud.h
        • File configuration_file_resolver.h
        • File connected_components.h
        • File constraint_builder.h
        • File constraint_builder_2d.h
        • File constraint_builder_3d.h
        • File correlative_scan_matcher_2d.h
        • File cost_helpers.h
        • File cost_helpers_impl.h
        • File counter.h
        • File counting_points_processor.h
        • File data.h
        • File delete_trajectory_handler.h
        • File detect_floors.h
        • File dispatchable.h
        • File draw_trajectories.h
        • File eigen_quaterniond_from_two_vectors.h
        • File fake_file_writer.h
        • File fake_trimmable.h
        • File family_factory.h
        • File family_factory.h
        • File fast_correlative_scan_matcher_2d.h
        • File fast_correlative_scan_matcher_3d.h
        • File file_writer.h
        • File finish_trajectory_handler.h
        • File fixed_frame_pose_data.h
        • File fixed_ratio_sampler.h
        • File fixed_ratio_sampling_points_processor.h
        • File frame_id_filtering_points_processor.h
        • File gauge.h
        • File get_all_submap_poses.h
        • File get_constraints_handler.h
        • File get_landmark_poses_handler.h
        • File get_local_to_global_transform_handler.h
        • File get_submap_handler.h
        • File get_trajectory_node_poses_handler.h
        • File get_trajectory_states_handler.h
        • File global_trajectory_builder.h
        • File grid_2d.h
        • File grid_interface.h
        • File handler_test.h
        • File histogram.h
        • File histogram.h
        • File hybrid_grid.h
        • File hybrid_grid_points_processor.h
        • File id.h
        • File image.h
        • File imu_based_pose_extrapolator.h
        • File imu_data.h
        • File imu_integration.h
        • File imu_tracker.h
        • File in_memory_proto_stream.h
        • File intensity_cost_function_3d.h
        • File intensity_to_color_points_processor.h
        • File interpolated_grid.h
        • File interpolated_tsdf_2d.h
        • File is_trajectory_finished_handler.h
        • File is_trajectory_frozen_handler.h
        • File landmark_cost_function_2d.h
        • File landmark_cost_function_3d.h
        • File landmark_data.h
        • File load_state_from_file_handler.h
        • File load_state_handler.h
        • File local_slam_result_2d.h
        • File local_slam_result_3d.h
        • File local_slam_result_data.h
        • File local_trajectory_builder_2d.h
        • File local_trajectory_builder_3d.h
        • File local_trajectory_builder_options_2d.h
        • File local_trajectory_builder_options_3d.h
        • File local_trajectory_uploader.h
        • File low_resolution_matcher.h
        • File lua.h
        • File lua_parameter_dictionary.h
        • File lua_parameter_dictionary_test_helpers.h
        • File map_builder.h
        • File map_builder_context_impl.h
        • File map_builder_context_interface.h
        • File map_builder_interface.h
        • File map_builder_server.h
        • File map_builder_server_interface.h
        • File map_builder_server_options.h
        • File map_builder_stub.h
        • File map_by_time.h
        • File map_limits.h
        • File mapping_state_serialization.h
        • File math.h
        • File min_max_range_filtering_points_processor.h
        • File mock_local_trajectory_uploader.h
        • File mock_map_builder.h
        • File mock_map_builder_context.h
        • File mock_pose_graph.h
        • File mock_trajectory_builder.h
        • File motion_filter.h
        • File normal_estimation_2d.h
        • File null_points_processor.h
        • File occupied_space_cost_function_2d.h
        • File occupied_space_cost_function_3d.h
        • File odometry_data.h
        • File optimization_problem_2d.h
        • File optimization_problem_3d.h
        • File optimization_problem_interface.h
        • File optimization_problem_options.h
        • File ordered_multi_queue.h
        • File outlier_removing_points_processor.h
        • File overlapping_submaps_trimmer_2d.h
        • File pbstream_info.h
        • File pbstream_migrate.h
        • File pcd_writing_points_processor.h
        • File ply_writing_points_processor.h
        • File point_cloud.h
        • File points_batch.h
        • File points_processor.h
        • File points_processor_pipeline_builder.h
        • File port.h
        • File pose_extrapolator.h
        • File pose_extrapolator_interface.h
        • File pose_graph.h
        • File pose_graph_2d.h
        • File pose_graph_3d.h
        • File pose_graph_data.h
        • File pose_graph_interface.h
        • File pose_graph_stub.h
        • File pose_graph_trimmer.h
        • File precomputation_grid_3d.h
        • File probability_grid.h
        • File probability_grid_points_processor.h
        • File probability_grid_range_data_inserter_2d.h
        • File probability_values.h
        • File proto_stream.h
        • File proto_stream_deserializer.h
        • File proto_stream_interface.h
        • File range_data.h
        • File range_data_collator.h
        • File range_data_inserter_3d.h
        • File range_data_inserter_interface.h
        • File rangefinder_point.h
        • File rate_timer.h
        • File ray_to_pixel_mask.h
        • File real_time_correlative_scan_matcher.h
        • File real_time_correlative_scan_matcher_2d.h
        • File real_time_correlative_scan_matcher_3d.h
        • File receive_global_slam_optimizations_handler.h
        • File receive_local_slam_results_handler.h
        • File register.h
        • File relations_text_file.h
        • File rigid_transform.h
        • File rigid_transform_test_helpers.h
        • File rotation_cost_function_3d.h
        • File rotation_delta_cost_functor_2d.h
        • File rotation_delta_cost_functor_3d.h
        • File rotation_parameterization.h
        • File rotational_scan_matcher.h
        • File run_final_optimization_handler.h
        • File serialization.h
        • File serialization.h
        • File serialization_format_migration.h
        • File set_landmark_pose_handler.h
        • File spa_cost_function_2d.h
        • File spa_cost_function_3d.h
        • File submap_2d.h
        • File submap_3d.h
        • File submap_controller.h
        • File submap_painter.h
        • File submaps.h
        • File task.h
        • File test_helpers.h
        • File test_helpers.h
        • File test_helpers.h
        • File test_helpers.h
        • File thread_pool.h
        • File thread_pool_for_testing.h
        • File time.h
        • File timed_point_cloud_data.h
        • File timestamped_transform.h
        • File trajectory_builder_interface.h
        • File trajectory_builder_stub.h
        • File trajectory_collator.h
        • File trajectory_connectivity_state.h
        • File trajectory_node.h
        • File transform.h
        • File transform_interpolation_buffer.h
        • File translation_delta_cost_functor_2d.h
        • File translation_delta_cost_functor_3d.h
        • File tsd_value_converter.h
        • File tsdf_2d.h
        • File tsdf_match_cost_function_2d.h
        • File tsdf_range_data_inserter_2d.h
        • File value_conversion_tables.h
        • File vertical_range_filtering_points_processor.h
        • File voxel_filter.h
        • File work_queue.h
        • File write_state_handler.h
        • File write_state_to_file_handler.h
        • File xray_points_processor.h
        • File xy_index.h
        • File xyz_writing_points_processor.h
  • Standard Documents
    • PACKAGE
    • README
      • Cartographer
        • Purpose
        • Getting started
        • Contributing
        • Open house slide archive
    • CHANGELOG
      • Changelog for package cartographer
        • 2.0.0 (2021-03-09)
        • 1.0.0 (2018-06-01)
        • 0.3.0 (2017-11-23)
        • 0.2.0 (2017-06-19)
        • 0.1.0 (2017-05-18)
    • LICENSE
    • CONTRIBUTING
      • Before you contribute
      • Developer Certificate of Origin
      • Code reviews
        • Style guide
        • Best practices
        • Testing
  • Index
cartographer
  • C++ API
  • Namespace cartographer::ground_truth
  • View page source

Namespace cartographer::ground_truth

Contents

  • Functions

Functions

  • Function cartographer::ground_truth::GenerateGroundTruth

  • Function cartographer::ground_truth::ReadRelationsTextFile

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© Copyright The <cartographer> Contributors. License: Apache 2.0.

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