C++ API

Class Hierarchy

• • Namespace g2o
    • Class Edge2Planes
    • Class Edge2Rooms
    • Class EdgeDoorWay2Rooms
    • Class EdgeFloorRoom
    • Class EdgeInfiniteRoomXPlane
    • Class EdgeInfiniteRoomYPlane
    • Class EdgeLoopClosure
    • Class EdgePlaneIdentity
    • Class EdgePlaneParallel
    • Class EdgePlanePerpendicular
    • Class EdgePlanePriorDistance
    • Class EdgePlanePriorNormal
    • Class EdgeRoom2Planes
    • Class EdgeRoom4Planes
    • Class EdgeRoomRoom
    • Class EdgeSE3InfiniteRoom
    • Class EdgeSE3Plane
    • Class EdgeSE3PlanePlane
    • Class EdgeSE3PointToPlane
    • Class EdgeSE3PriorQuat
    • Class EdgeSE3PriorVec
    • Class EdgeSE3PriorXY
    • Class EdgeSE3PriorXYZ
    • Class EdgeSE3Room
    • Class EdgeSE3RoomRoom
    • Class EdgeWall2Planes
    • Class EdgeXInfiniteRoomXInfiniteRoom
    • Class EdgeYInfiniteRoomYInfiniteRoom
    • Class VertexDeviation
    • Class VertexDoorWay
    • Class VertexFloor
    • Class VertexInfiniteRoom
    • Class VertexRoom
    • Class VertexWallXYZ
  • Namespace s_graphs
    • Struct DoorWays
    • Struct Floors
    • Struct GPRMC
    • Struct KeyFrame
    • Struct KeyFrameSnapshot
    • Struct Loop
    • Struct plane_data_list
    • Struct registration_params
    • Struct room_analyzer_params
    • Struct RoomInfo
    • Struct RoomPlanes
    • Struct structure_data_list
    • Class FiniteRoomMapper
    • Class FloorAnalyzer
    • Class FloorMapper
    • Class GPSMapper
    • Class GraphSLAM
    • Class GraphUtils
    • Class GraphVisualizer
    • Class HorizontalPlanes
    • Class IMUMapper
    • Class InfiniteRoomMapper
    • Class InfiniteRooms
    • Class InformationMatrixCalculator
    • Class KeyframeMapper
    • Class KeyframeUpdater
    • Class LoopDetector
    • Class LoopMapper
    • Class MapCloudGenerator
    • Class MapperUtils
    • Class NmeaSentenceParser
    • Class OptimizationData
    • Class PlaneAnalyzer
    • Class PlaneMapper
    • Class Planes
    • Class PlaneUtils
    • Class RoomAnalyzer
    • Class RoomGraphGenerator
    • Class Rooms
    • Class VerticalPlanes
    • Class WallMapper
  • Struct ExtendedRooms
  • Struct PlaneGlobalRep
  • Class GraphPublisher
  • Class RoomsKeyframeGenerator
  • Class RosTimeHash

File Hierarchy

• • Directory include
    • Directory g2o
      • File edge_doorway_two_rooms.hpp
      • File edge_infinite_room_plane.hpp
      • File edge_loop_closure.hpp
      • File edge_plane.hpp
      • File edge_plane_identity.hpp
      • File edge_plane_prior.hpp
      • File edge_room.hpp
      • File edge_se3_plane.hpp
      • File edge_se3_point_to_plane.hpp
      • File edge_se3_priorquat.hpp
      • File edge_se3_priorvec.hpp
      • File edge_se3_priorxy.hpp
      • File edge_se3_priorxyz.hpp
      • File edge_se3_two_planes.hpp
      • File edge_se3_two_rooms.hpp
      • File edge_wall_two_planes.hpp
      • File robust_kernel_io.hpp
      • File vertex_deviation.hpp
      • File vertex_doorway.hpp
      • File vertex_floor.hpp
      • File vertex_infinite_room.hpp
      • File vertex_room.hpp
      • File vertex_wall.hpp
    • Directory s_graphs
      • Directory backend
        • File floor_mapper.hpp
        • File gps_mapper.hpp
        • File graph_slam.hpp
        • File imu_mapper.hpp
        • File keyframe_mapper.hpp
        • File loop_mapper.hpp
        • File plane_mapper.hpp
        • File room_graph_generator.hpp
        • File room_mapper.hpp
        • File wall_mapper.hpp
      • Directory common
        • File door_ways.hpp
        • File floors.hpp
        • File graph_utils.hpp
        • File infinite_rooms.hpp
        • File information_matrix_calculator.hpp
        • File keyframe.hpp
        • File map_cloud_generator.hpp
        • File nmea_sentence_parser.hpp
        • File optimization_data.hpp
        • File plane_utils.hpp
        • File planes.hpp
        • File registrations.hpp
        • File room_utils.hpp
        • File rooms.hpp
        • File ros_time_hash.hpp
        • File ros_utils.hpp
      • Directory frontend
        • File floor_analyzer.hpp
        • File keyframe_updater.hpp
        • File loop_detector.hpp
        • File plane_analyzer.hpp
        • File room_analyzer.hpp
      • Directory visualization
        • File graph_publisher.hpp
        • File graph_visualizer.hpp

Full C++ API

Namespaces

• Namespace g2o

• Namespace g2o::HyperGraph

• Namespace s_graphs

Classes and Structs

• Struct ExtendedRooms

• Struct PlaneGlobalRep

• Struct DoorWays

• Struct Floors

• Struct GPRMC

• Struct KeyFrame

• Struct KeyFrameSnapshot

• Struct Loop

• Struct plane_data_list

• Struct registration_params

• Struct room_analyzer_params

• Struct RoomInfo

• Struct RoomPlanes

• Struct structure_data_list

• Class Edge2Planes

• Class Edge2Rooms

• Class EdgeDoorWay2Rooms

• Class EdgeFloorRoom

• Class EdgeInfiniteRoomXPlane

• Class EdgeInfiniteRoomYPlane

• Class EdgeLoopClosure

• Class EdgePlaneIdentity

• Class EdgePlaneParallel

• Class EdgePlanePerpendicular

• Class EdgePlanePriorDistance

• Class EdgePlanePriorNormal

• Class EdgeRoom2Planes

• Class EdgeRoom4Planes

• Class EdgeRoomRoom

• Class EdgeSE3InfiniteRoom

• Class EdgeSE3Plane

• Class EdgeSE3PlanePlane

• Class EdgeSE3PointToPlane

• Class EdgeSE3PriorQuat

• Class EdgeSE3PriorVec

• Class EdgeSE3PriorXY

• Class EdgeSE3PriorXYZ

• Class EdgeSE3Room

• Class EdgeSE3RoomRoom

• Class EdgeWall2Planes

• Class EdgeXInfiniteRoomXInfiniteRoom

• Class EdgeYInfiniteRoomYInfiniteRoom

• Class VertexDeviation

• Class VertexDoorWay

• Class VertexFloor

• Class VertexInfiniteRoom

• Class VertexRoom

• Class VertexWallXYZ

• Class GraphPublisher

• Class RoomsKeyframeGenerator

• Class RosTimeHash

• Class FiniteRoomMapper

• Class FloorAnalyzer

• Class FloorMapper

• Class GPSMapper

• Class GraphSLAM

• Class GraphUtils

• Class GraphVisualizer

• Class HorizontalPlanes

• Class IMUMapper

• Class InfiniteRoomMapper

• Class InfiniteRooms

• Class InformationMatrixCalculator

• Class KeyframeMapper

• Class KeyframeUpdater

• Class LoopDetector

• Class LoopMapper

• Class MapCloudGenerator

• Class MapperUtils

• Class NmeaSentenceParser

• Class OptimizationData

• Class PlaneAnalyzer

• Class PlaneMapper

• Class Planes

• Class PlaneUtils

• Class RoomAnalyzer

• Class RoomGraphGenerator

• Class Rooms

• Class VerticalPlanes

• Class WallMapper

Functions

• Function convertExtendedRoomToRosMsg

• Function filter_inside_room_keyframes

• Template Function filter_room_pointcloud

• Function find_intersection

• Function g2o::kernel_type

• Function g2o::load_robust_kernels

• Function g2o::save_robust_kernels

• Function generate_room_keyframe

• Template Function generate_room_pointcloud

• Function get_room_keyframes

• Function is_keyframe_inside_room

• Function is_SE3_inside_a_room

• Function obtain_global_centre_of_room

• Function obtain_global_planes_from_room

• Function obtain_planes_from_room

• Function obtainExtendedRoomFromRosMsg

• Function publish_room_keyframes_ids

• Function s_graphs::isometry2pose

• Function s_graphs::Keyframe2ROS

• Function s_graphs::matrix2PoseStamped

• Function s_graphs::matrix2transform

• Function s_graphs::odom2isometry

• Function s_graphs::pose2isometry

• Function s_graphs::ROS2Keyframe

• Function s_graphs::select_registration_method

• Function s_graphs::tf2isometry

• Template Function transform_pointcloud

Typedefs

• Typedef s_graphs::PointNormal

• Typedef s_graphs::PointT

Directories

• Directory include

• Directory g2o

• Directory s_graphs

• Directory backend

• Directory common

• Directory frontend

• Directory visualization

Files

• File door_ways.hpp

• File edge_doorway_two_rooms.hpp

• File edge_infinite_room_plane.hpp

• File edge_loop_closure.hpp

• File edge_plane.hpp

• File edge_plane_identity.hpp

• File edge_plane_prior.hpp

• File edge_room.hpp

• File edge_se3_plane.hpp

• File edge_se3_point_to_plane.hpp

• File edge_se3_priorquat.hpp

• File edge_se3_priorvec.hpp

• File edge_se3_priorxy.hpp

• File edge_se3_priorxyz.hpp

• File edge_se3_two_planes.hpp

• File edge_se3_two_rooms.hpp

• File edge_wall_two_planes.hpp

• File floor_analyzer.hpp

• File floor_mapper.hpp

• File floors.hpp

• File gps_mapper.hpp

• File graph_publisher.hpp

• File graph_slam.hpp

• File graph_utils.hpp

• File graph_visualizer.hpp

• File imu_mapper.hpp

• File infinite_rooms.hpp

• File information_matrix_calculator.hpp

• File keyframe.hpp

• File keyframe_mapper.hpp

• File keyframe_updater.hpp

• File loop_detector.hpp

• File loop_mapper.hpp

• File map_cloud_generator.hpp

• File nmea_sentence_parser.hpp

• File optimization_data.hpp

• File plane_analyzer.hpp

• File plane_mapper.hpp

• File plane_utils.hpp

• File planes.hpp

• File registrations.hpp

• File robust_kernel_io.hpp

• File room_analyzer.hpp

• File room_graph_generator.hpp

• File room_mapper.hpp

• File room_utils.hpp

• File rooms.hpp

• File ros_time_hash.hpp

• File ros_utils.hpp

• File vertex_deviation.hpp

• File vertex_doorway.hpp

• File vertex_floor.hpp

• File vertex_infinite_room.hpp

• File vertex_room.hpp

• File vertex_wall.hpp

• File wall_mapper.hpp