• align_and_publish() : live_align_trajectory.cpp
• main() : error_comparison.cpp , timing_percentages.cpp , timing_histogram.cpp , timing_flamegraph.cpp , timing_comparison.cpp , pose_to_file.cpp , plot_trajectories.cpp , live_align_trajectory.cpp , format_converter.cpp , error_singlerun.cpp , error_simulation.cpp , error_dataset.cpp
• process_csv() : format_converter.cpp