Executes code, only if secs are gone since last exec. More...

Namespaces
namespace	tutorial
Classes
class	AbstractHyperGraphElementCreator
	Abstract interface for allocating HyperGraphElement. More...
class	AbstractSolverCreator
	base for allocating a solver More...
class	BaseBinaryEdge
class	BaseEdge
class	BaseMultiEdge
	base class to represent an edge connecting an arbitrary number of nodes D - Dimension of the measurement E - type to represent the measurement More...
class	BaseUnaryEdge
class	BaseVertex
	Templatized BaseVertex. More...
class	BlockSolver
	Implementation of a solver operating on the blocks of the Hessian. More...
struct	BlockSolverTraits
	Traits to summarize the properties of the fixed size optimization problem. More...
struct	BlockSolverTraits<-1,-1 >
	Traits to summarize the properties of the dynamic size optimization problem. More...
struct	CholmodExt
	Our extension of the CHOLMOD matrix struct. More...
class	CholmodSolverCreator
struct	ColSort
class	CommandArgs
	Command line parsing of argc and argv. More...
struct	CSparseExt
	Our C++ version of the csparse struct. More...
class	CSparseSolverCreator
class	DenseSolverCreator
class	DlWrapper
	Loading libraries during run-time. More...
class	DrawAction
	draw actions More...
class	Edge_V_V_GICP
class	Edge_XYZ_VSC
	Point vertex, XYZ, is in types_sba. More...
class	EdgeGICP
class	EdgeNormal
class	EdgeProjectP2MC
class	EdgeProjectP2MC_Intrinsics
class	EdgeProjectP2SC
class	EdgeProjectXYZ2UV
class	EdgeProjectXYZ2UVQ
class	EdgeProjectXYZ2UVU
class	EdgeSBACam
	3D edge between two SBAcam More...
class	EdgeSBAScale
	edge between two SBAcam that specifies the distance between them More...
class	EdgeSE2
	2D edge between two Vertex2 More...
class	EdgeSE2DrawAction
class	EdgeSE2Multi
	Pairwise SE2 Edge as MultiEdge. Mainly for debugging. More...
class	EdgeSE2PointXY
class	EdgeSE2PointXYBearing
class	EdgeSE2PointXYBearingWriteGnuplotAction
class	EdgeSE2PointXYCalib
	Landmark measurement that also calibrates an offset for the landmark measurement. More...
class	EdgeSE2PointXYWriteGnuplotAction
class	EdgeSE2Prior
	Prior for a two D pose. More...
class	EdgeSE2WriteGnuplotAction
class	EdgeSE3
	3D edge between two VertexSE3 More...
class	EdgeSE3Expmap
	6D edge between two Vertex6 More...
class	EdgeSE3WriteGnuplotAction
class	EdgeSim3
	7D edge between two Vertex7 More...
class	EdgeSim3ProjectXYZ
class	EstimatePropagator
	propagation of an initial guess More...
class	Factory
	create vertices and edges based on TAGs in, for example, a file More...
struct	G2OBatchStatistics
	statistics about the optimization More...
class	G2oQGLViewer
	OpenGL based viewer for the graph. More...
class	G2oSlamInterface
class	GLUWrapper
	handle the GLU quadratic More...
class	GuiHyperGraphAction
	action which calls an GUI update after each iteration More...
struct	HyperDijkstra
class	HyperGraph
class	HyperGraphAction
	Abstract action that operates on an entire graph. More...
class	HyperGraphActionLibrary
	library of actions, indexed by the action name; More...
class	HyperGraphElementAction
	Abstract action that operates on a graph entity. More...
class	HyperGraphElementActionCollection
	collection of actions More...
class	HyperGraphElementCreator
	templatized creator class which creates graph elements More...
class	LinearSolver
	basic solver for Ax = b More...
class	LinearSolverCholmod
	basic solver for Ax = b which has to reimplemented for different linear algebra libraries More...
class	LinearSolverCholmodOnline
	linear solver which allows to update the cholesky factor More...
class	LinearSolverCholmodOnlineInterface
	generic interface for the online solver More...
class	LinearSolverCSparse
	linear solver which uses CSparse More...
class	LinearSolverDense
	linear solver using PCG, pre-conditioner is block Jacobi More...
class	LinearSolverPCG
	linear solver using PCG, pre-conditioner is block Jacobi More...
class	MarginalCovarianceCholesky
	computing the marginal covariance given a cholesky factor (lower triangle of the factor) More...
struct	MatrixElem
class	MatrixStructure
	representing the structure of a matrix in column compressed structure (only the upper triangular part of the matrix) More...
class	OnlineEdgeSE2
class	OnlineEdgeSE3
class	OnlineVertexSE2
class	OnlineVertexSE3
struct	OpenMPMutex
struct	OptimizableGraph
class	PCGSolverCreator
class	SBACam
class	ScopeTime
	Class to measure the time spent in a scope. More...
class	SE2
class	SE3Quat
struct	Sim3
class	Slam2DViewer
class	Solver
	Generic interface for a sparse solver operating on a graph. More...
class	SolverFactory
	create solvers based on their short name More...
struct	SolverProperty
	describe the properties of a solver More...
class	SparseBlockMatrix
	Sparse matrix which using blocks. More...
struct	SparseMatrixEntry
struct	SparseMatrixEntryColSort
struct	SparseOptimizer
class	SparseOptimizerIncremental
class	SparseOptimizerOnline
class	StructureOnlySolver
	This is a solver for "structure-only" optimization". More...
struct	UniformCostFunction
class	VertexCam
	SBACam Vertex, (x,y,z,qw,qx,qy,qz) the parameterization for the increments constructed is a 6d vector (x,y,z,qx,qy,qz) (note that we leave out the w part of the quaternion. qw is assumed to be positive, otherwise there is an ambiguity in qx,qy,qz as a rotation. More...
class	VertexIntrinsics
	Vertex encoding the intrinsics of the camera fx, fy, cx, xy, baseline;. More...
class	VertexPointXY
class	VertexPointXYWriteGnuplotAction
class	VertexPointXYZ
	Point vertex, XYZ. More...
class	VertexSCam
	Stereo camera vertex, derived from SE3 class. Note that we use the actual pose of the vertex as its parameterization, rather than the transform from RW to camera coords. Uses static vars for camera params, so there is a single camera setup. More...
class	VertexSE2
	2D pose Vertex, (x,y,theta) More...
class	VertexSE2WriteGnuplotAction
class	VertexSE3
	3D pose Vertex, (x,y,z,qw,qx,qy,qz) the parameterization for the increments constructed is a 6d vector (x,y,z,qx,qy,qz) (note that we leave out the w part of the quaternion. More...
class	VertexSE3AxisAngle
class	VertexSE3Expmap
	SE3 Vertex parameterized internally with a transformation matrix and externally with its exponential map. More...
class	VertexSE3WriteGnuplotAction
class	VertexSim3Expmap
	Sim3 Vertex, (x,y,z,qw,qx,qy,qz) the parameterization for the increments constructed is a 7d vector (x,y,z,qx,qy,qz) (note that we leave out the w part of the quaternion. More...
class	WriteGnuplotAction
Typedefs
typedef BlockSolver < BlockSolverTraits< 3, 2 > >	BlockSolver_3_2
typedef BlockSolver < BlockSolverTraits< 6, 3 > >	BlockSolver_6_3
typedef BlockSolver < BlockSolverTraits< 7, 3 > >	BlockSolver_7_3
typedef BlockSolver < BlockSolverTraits<-1,-1 > >	BlockSolverX
typedef Matrix< double, 6, 6 >	Matrix6d
typedef Matrix< double, 7, 7 >	Matrix7d
typedef SparseBlockMatrix < MatrixXd >	SparseBlockMatrixXd
typedef Matrix< double, 4, 1 >	Vector4d
typedef Matrix< double, 6, 1 >	Vector6d
typedef Matrix< double, 7, 1 >	Vector7d
Enumerations
enum	CommandArgumentType { CAT_DOUBLE, CAT_FLOAT, CAT_INT, CAT_STRING, CAT_BOOL }
Functions
void	__attribute__ ((constructor)) init_solver_cholmod()
void	applyAction (HyperGraph graph, HyperGraphElementAction action, HyperGraphElementAction::Parameters *params, const std::string &typeName)
template<typename MatrixType >
void	atxpy (const MatrixType &A, Map< const VectorXd > &x, int xoff, Map< VectorXd > &y, int yoff)
template<>
void	atxpy (const MatrixXd &A, Map< const VectorXd > &x, int xoff, Map< VectorXd > &y, int yoff)
double	average_angle (double theta1, double theta2)
template<typename MatrixType >
void	axpy (const MatrixType &A, const Map< VectorXd > &x, int xoff, Map< VectorXd > &y, int yoff)
template<>
void	axpy (const MatrixXd &A, const Map< VectorXd > &x, int xoff, Map< VectorXd > &y, int yoff)
std::string	changeFileExtension (const std::string &filename, const std::string &newExt, bool stripDot)
template<typename T >
T	clamp (T l, T x, T u)
void	connectedSubset (HyperGraph::VertexSet &connected, HyperGraph::VertexSet &visited, HyperGraph::VertexSet &startingSet, HyperGraph g, HyperGraph::Vertex v, HyperDijkstra::CostFunction *cost, double distance, double comparisonConditioner, double maxEdgeCost)
template<typename T >
void	convertString (const std::string &s, T &x, bool failIfLeftoverChars=true)
static Solver *	createSolver (SparseOptimizer *opt, const std::string &solverName)
csn *	cs_chol_workspace (const cs A, const css S, int cin, double xin)
int	cs_cholsolsymb (const cs A, double b, const css S, double x, int *work)
double	deg2rad (double degree)
Vector3d	deltaR (const Matrix3d &R)
void	drawArrow (float length, float radius, int nbSubdivisions)
void	drawArrow2D (float len, float head_width, float head_len)
void	drawAxis (float length)
void	drawBox (GLfloat l, GLfloat w, GLfloat h)
void	drawCircle (GLfloat radius, int segments)
void	drawCone (GLfloat radius, GLfloat height)
void	drawCylinder (GLfloat radius, GLfloat height)
void	drawDisk (GLfloat radius)
void	drawEllipsoid (GLfloat r1, GLfloat r2, GLfloat r3)
void	drawGrid (float size, int nbSubdivisions)
void	drawPlane (GLfloat l, GLfloat w)
void	drawPoseBox ()
void	drawPyramid (GLfloat length, GLfloat height)
void	drawRangeRing (GLfloat range, GLfloat fov, GLfloat range_width)
void	drawSlice (GLfloat radius, GLfloat height, GLfloat fov, int slices_per_circle)
void	drawSphere (GLfloat radius)
bool	dumpEdges (std::ostream &os, const OptimizableGraph &optimizer)
bool	edgeAllVertsSameDim (OptimizableGraph::Edge *e, int dim)
Eigen::Quaterniond	euler_to_quat (double yaw, double pitch, double roll)
bool	fileExists (const char *filename)
void	findArguments (const std::string &option, vector< string > &args, int argc, char **argv)
std::string	formatString (const char *fmt,...)
double	get_time ()
std::string	getBasename (const std::string &filename)
std::string	getDirname (const std::string &filename)
std::string	getFileExtension (const std::string &filename)
std::vector< std::string >	getFilesByPattern (const char *pattern)
std::string	getPureFilename (const std::string &filename)
template<typename T >
T	hypot (T x, T y)
template<typename T >
T	hypot_sqr (T x, T y)
void G2O_ATTRIBUTE_CONSTRUCTOR	init_solver_csparse ()
void G2O_ATTRIBUTE_CONSTRUCTOR	init_types_slam2d (void)
double	inverse_theta (double th)
void	jac_quat3_euler3 (Eigen::Matrix< double, 6, 6 > &J, const SE3Quat &t)
void	jacobian_3d_qman (Matrix< double, 6, 6 > &Ji, Matrix< double, 6, 6 > &Jj, const double &z11, const double &z12, const double &z13, const double &z14, const double &z21, const double &z22, const double &z23, const double &z24, const double &z31, const double &z32, const double &z33, const double &z34, const double &xab11, const double &xab12, const double &xab13, const double &xab14, const double &xab21, const double &xab22, const double &xab23, const double &xab24, const double &xab31, const double &xab32, const double &xab33, const double &xab34)
void	loadStandardSolver (DlWrapper &dlSolverWrapper, int argc, char **argv)
void	loadStandardTypes (DlWrapper &dlTypesWrapper, int argc, char **argv)
double	normalize_theta (double theta)
bool	operator< (const HyperDijkstra::AdjacencyMapEntry &a, const HyperDijkstra::AdjacencyMapEntry &b)
std::ostream &	operator<< (std::ostream &os, const G2OBatchStatistics &st)
std::ostream &	operator<< (std::ostream &out_str, const SBACam &cam)
template<class MatrixType >
std::ostream &	operator<< (std::ostream &, const SparseBlockMatrix< MatrixType > &m)
std::ostream &	operator<< (std::ostream &out_str, const SE3Quat &se3)
std::ostream &	operator<< (std::ostream &out_str, const Sim3 &sim3)
Vector2d	project (const Vector3d &)
Vector3d	project (const Vector4d &)
void	quat_to_euler (Eigen::Quaterniond q, double &yaw, double &pitch, double &roll)
double	rad2deg (double rad)
template<typename OutputIterator >
OutputIterator	readFloats (const char *str, OutputIterator out)
template<typename OutputIterator >
OutputIterator	readInts (const char *str, OutputIterator out)
int	readLine (std::istream &is, std::stringstream &currentLine)
bool	saveGnuplot (const std::string &gnudump, const OptimizableGraph &optimizer)
bool	saveGnuplot (const std::string &gnudump, const HyperGraph::VertexSet &vertices, const HyperGraph::EdgeSet &edges)
template<typename T >
int	sign (T x)
Matrix3d	skew (const Vector3d &v)
template<typename T >
T	square (T x)
bool	strEndsWith (const std::string &s, const std::string &end)
std::string	strExpandFilename (const std::string &filename)
template<typename T >
T	stringToType (const std::string &s, bool failIfLeftoverChars=true)
int	strPrintf (std::string &str, const char *fmt,...)
std::vector< std::string >	strSplit (const std::string &str, const std::string &delimiters)
bool	strStartsWith (const std::string &s, const std::string &start)
std::string	strToLower (const std::string &s)
std::string	strToUpper (const std::string &s)
std::string	trim (const std::string &s)
std::string	trimLeft (const std::string &s)
std::string	trimRight (const std::string &s)
Vector3d	unproject (const Vector2d &)
Vector4d	unproject (const Vector3d &)
template<typename T >
T	wrap (T l, T x, T u)
bool	writeCCSMatrix (const char filename, int rows, int cols, const int Ap, const int Ai, const double Ax, bool upperTriangleSymmetric)
bool	writeCs2Octave (const char filename, const cs A, bool upperTriangular)
bool	writeVector (const char filename, const double v, int n)
Variables
G2OBatchStatistics *	globalStats = 0

Detailed Description

Executes code, only if secs are gone since last exec.

Basic types definitions for SBA translation to HChol

Camera nodes use camera pose in real world v3 position normalized quaternion rotation

Point nodes: v3 position

Executes code, only if secs are gone since last exec. extended version, in which the current time is given, e.g., timestamp of IPC message

Typedef Documentation

typedef BlockSolver< BlockSolverTraits<3, 2> > g2o::BlockSolver_3_2

Definition at line 156 of file block_solver.h.

typedef BlockSolver< BlockSolverTraits<6, 3> > g2o::BlockSolver_6_3

Definition at line 152 of file block_solver.h.

typedef BlockSolver< BlockSolverTraits<7, 3> > g2o::BlockSolver_7_3

Definition at line 154 of file block_solver.h.

typedef BlockSolver< BlockSolverTraits<-1, -1> > g2o::BlockSolverX

Definition at line 150 of file block_solver.h.

typedef Matrix<double, 6, 6> g2o::Matrix6d

Definition at line 30 of file types_six_dof_expmap.h.

typedef Matrix<double, 7, 7> g2o::Matrix7d

Definition at line 28 of file sim3.h.

typedef SparseBlockMatrix<MatrixXd> g2o::SparseBlockMatrixXd

Definition at line 234 of file sparse_block_matrix.h.

typedef Matrix<double,4,1> g2o::Vector4d

Definition at line 26 of file se3_ops.h.

typedef Matrix< double, 6, 1 > g2o::Vector6d

Definition at line 42 of file sbacam.h.

typedef Matrix< double, 7, 1 > g2o::Vector7d

Definition at line 30 of file se3quat.h.

Enumeration Type Documentation

enum g2o::CommandArgumentType

Enumerator:

CAT_DOUBLE
CAT_FLOAT
CAT_INT
CAT_STRING
CAT_BOOL

Definition at line 44 of file command_args.cpp.

Function Documentation

void g2o::__attribute__ ( (constructor) )

Definition at line 74 of file solver_cholmod.cpp.

void g2o::applyAction	(	HyperGraph *	graph,
		HyperGraphElementAction *	action,
		HyperGraphElementAction::Parameters *	parameters = `0`,
		const std::string &	typeName = `""`
	)

apply an action to all the elements of the graph.

Definition at line 169 of file hyper_graph_action.cpp.

template<typename MatrixType >

void g2o::atxpy	(	const MatrixType &	A,
		Map< const VectorXd > &	x,
		int	xoff,
		Map< VectorXd > &	y,
		int	yoff
	)		`[inline]`

Definition at line 356 of file sparse_block_matrix.hpp.

template<>

void g2o::atxpy	(	const MatrixXd &	A,
		Map< const VectorXd > &	x,
		int	xoff,
		Map< VectorXd > &	y,
		int	yoff
	)		`[inline]`

Definition at line 369 of file sparse_block_matrix.hpp.

double g2o::average_angle	(	double	theta1,
		double	theta2
	)		`[inline]`

average two angles

Definition at line 109 of file misc.h.

template<typename MatrixType >

void g2o::axpy	(	const MatrixType &	A,
		const Map< VectorXd > &	x,
		int	xoff,
		Map< VectorXd > &	y,
		int	yoff
	)		`[inline]`

Definition at line 331 of file sparse_block_matrix.hpp.

template<>

void g2o::axpy	(	const MatrixXd &	A,
		const Map< VectorXd > &	x,
		int	xoff,
		Map< VectorXd > &	y,
		int	yoff
	)		`[inline]`

Definition at line 344 of file sparse_block_matrix.hpp.

std::string g2o::changeFileExtension	(	const std::string &	filename,
		const std::string &	newExt,
		bool	stripDot = `false`
	)

change the fileextension of a given filename. Only if filename contains an extension, otherwise filename is returned.

Definition at line 90 of file filesys_tools.cpp.

template<typename T >

T g2o::clamp	(	T	l,
		T	x,
		T	u
	)		`[inline]`

clamp x to the interval [l, u]

Definition at line 140 of file misc.h.

void g2o::connectedSubset	(	HyperGraph::VertexSet &	connected,
		HyperGraph::VertexSet &	visited,
		HyperGraph::VertexSet &	startingSet,
		HyperGraph *	g,
		HyperGraph::Vertex *	v,
		HyperDijkstra::CostFunction *	cost,
		double	distance,
		double	comparisonConditioner,
		double	maxEdgeCost
	)

Definition at line 208 of file hyper_dijkstra.cpp.

static Solver * g2o::createSolver	(	SparseOptimizer *	opt,
		const std::string &	solverName
	)		`[static]`

helper function for allocating

Definition at line 440 of file graph_optimizer_sparse_incremental.cpp.

csn * g2o::cs_chol_workspace	(	const cs *	A,
		const css *	S,
		int *	cin,
		double *	xin
	)

Definition at line 88 of file csparse_helper.cpp.

int g2o::cs_cholsolsymb	(	const cs *	A,
		double *	b,
		const css *	S,
		double *	x,
		int *	work
	)

Definition at line 56 of file csparse_helper.cpp.

double g2o::deg2rad ( double degree ) [inline]

convert from degree to radian

Definition at line 67 of file misc.h.

Vector3d g2o::deltaR ( const Matrix3d & R ) [inline]

Definition at line 15 of file se3_ops.h.

void g2o::drawCircle	(	GLfloat	radius,
		int	segments = `32`
	)

draw a circle using GL_LINES

Definition at line 56 of file draw_helpers.cpp.

bool g2o::dumpEdges	(	std::ostream &	os,
		const OptimizableGraph &	optimizer
	)

dump the edges to a stream, e.g., cout and redirect to gnuplot

Definition at line 170 of file output_helper.cpp.

bool g2o::edgeAllVertsSameDim	(	OptimizableGraph::Edge *	e,
		int	dim
	)

Definition at line 33 of file output_helper.cpp.

Eigen::Quaterniond g2o::euler_to_quat	(	double	yaw,
		double	pitch,
		double	roll
	)

conversion code from Euler angles

Definition at line 32 of file g2o_slam_interface.cpp.

bool g2o::fileExists ( const char * filename )

check if file exists (note a directory is also a file)

Definition at line 102 of file filesys_tools.cpp.

void g2o::findArguments	(	const std::string &	option,
		vector< string > &	args,
		int	argc,
		char **	argv
	)

Definition at line 70 of file g2o_common.cpp.

double g2o::get_time ( ) [inline]

return the current time in seconds since 1. Jan 1970

Definition at line 80 of file timeutil.h.

std::string g2o::getBasename ( const std::string & filename )

return the basename of the given filename /etc/fstab -> fstab

Definition at line 64 of file filesys_tools.cpp.

std::string g2o::getDirname ( const std::string & filename )

return the directory of a given filename /etc/fstab -> /etc

Definition at line 77 of file filesys_tools.cpp.

std::string g2o::getFileExtension ( const std::string & filename )

get filename extension (the part after the last .), e.g. the extension of file.txt is txt

Definition at line 46 of file filesys_tools.cpp.

std::vector< std::string > g2o::getFilesByPattern ( const char * pattern )

return all files that match a given pattern, e.g., ~/blaa*.txt, /tmp/a*

Definition at line 108 of file filesys_tools.cpp.

std::string g2o::getPureFilename ( const std::string & filename )

get the filename without the extension. file.txt -> file

Definition at line 55 of file filesys_tools.cpp.

template<typename T >

T g2o::hypot	(	T	x,
		T	y
	)		`[inline]`

return the hypot of x and y

Definition at line 50 of file misc.h.

template<typename T >

T g2o::hypot_sqr	(	T	x,
		T	y
	)		`[inline]`

return the squared hypot of x and y

Definition at line 59 of file misc.h.

void G2O_ATTRIBUTE_CONSTRUCTOR g2o::init_solver_csparse ( )

Definition at line 80 of file solver_csparse.cpp.

void G2O_ATTRIBUTE_CONSTRUCTOR g2o::init_types_slam2d ( void )

Definition at line 34 of file types_slam2d.cpp.

double g2o::inverse_theta ( double th ) [inline]

inverse of an angle, i.e., +180 degree

Definition at line 101 of file misc.h.

void g2o::jac_quat3_euler3	(	Eigen::Matrix< double, 6, 6 > &	J,
		const SE3Quat &	t
	)

Definition at line 58 of file g2o_slam_interface.cpp.

void g2o::jacobian_3d_qman	(	Matrix< double, 6, 6 > &	Ji,
		Matrix< double, 6, 6 > &	Jj,
		const double &	z11,
		const double &	z12,
		const double &	z13,
		const double &	z14,
		const double &	z21,
		const double &	z22,
		const double &	z23,
		const double &	z24,
		const double &	z31,
		const double &	z32,
		const double &	z33,
		const double &	z34,
		const double &	xab11,
		const double &	xab12,
		const double &	xab13,
		const double &	xab14,
		const double &	xab21,
		const double &	xab22,
		const double &	xab23,
		const double &	xab24,
		const double &	xab31,
		const double &	xab32,
		const double &	xab33,
		const double &	xab34
	)

Definition at line 22 of file se3quat_gradients.cpp.

void g2o::loadStandardSolver	(	DlWrapper &	dlSolverWrapper,
		int	argc = `0`,
		char **	argv = `0`
	)

will also look for -solverlib in (argc, argv) and load that solver

Definition at line 117 of file g2o_common.cpp.

void g2o::loadStandardTypes	(	DlWrapper &	dlWrapper,
		int	argc = `0`,
		char **	argv = `0`
	)

will also look for -typeslib in (argc, argv) and load that types

Definition at line 80 of file g2o_common.cpp.

double g2o::normalize_theta ( double theta ) [inline]

normalize the angle

Definition at line 83 of file misc.h.

bool g2o::operator<	(	const HyperDijkstra::AdjacencyMapEntry &	a,
		const HyperDijkstra::AdjacencyMapEntry &	b
	)

Definition at line 68 of file hyper_dijkstra.cpp.

std::ostream & g2o::operator<<	(	std::ostream &	os,
		const G2OBatchStatistics &	st
	)

timings

Definition at line 35 of file batch_stats.cpp.

std::ostream& g2o::operator<<	(	std::ostream &	out_str,
		const SBACam &	cam
	)		`[inline]`

Definition at line 174 of file sbacam.h.

template<class MatrixType >

std::ostream & g2o::operator<<	(	std::ostream &	os,
		const SparseBlockMatrix< MatrixType > &	m
	)

Definition at line 557 of file sparse_block_matrix.hpp.

std::ostream& g2o::operator<<	(	std::ostream &	out_str,
		const SE3Quat &	se3
	)		`[inline]`

Definition at line 266 of file se3quat.h.

std::ostream& g2o::operator<<	(	std::ostream &	out_str,
		const Sim3 &	sim3
	)		`[inline]`

Definition at line 284 of file sim3.h.

Vector2d g2o::project ( const Vector3d & v ) [inline]

Definition at line 24 of file se3_ops.h.

Vector3d g2o::project ( const Vector4d & v ) [inline]

Definition at line 32 of file se3_ops.h.

void g2o::quat_to_euler	(	Eigen::Quaterniond	q,
		double &	yaw,
		double &	pitch,
		double &	roll
	)

Definition at line 47 of file g2o_slam_interface.cpp.

double g2o::rad2deg ( double rad ) [inline]

convert from radian to degree

Definition at line 75 of file misc.h.

bool g2o::saveGnuplot	(	const std::string &	gnudump,
		const OptimizableGraph &	optimizer
	)

save the state of the optimizer into files for visualizing using Gnuplot

Definition at line 43 of file output_helper.cpp.

bool g2o::saveGnuplot	(	const std::string &	gnudump,
		const HyperGraph::VertexSet &	vertices,
		const HyperGraph::EdgeSet &	edges
	)

Definition at line 52 of file output_helper.cpp.

template<typename T >

int g2o::sign ( T x ) [inline]

sign function.

Returns:: the sign of x. +1 for x > 0, -1 for x < 0, 0 for x == 0

Definition at line 126 of file misc.h.

Matrix3d g2o::skew ( const Vector3d & v ) [inline]

Definition at line 2 of file se3_ops.h.

template<typename T >

T g2o::square ( T x ) [inline]

return the square value

Definition at line 41 of file misc.h.

Vector3d g2o::unproject ( const Vector2d & v ) [inline]

Definition at line 41 of file se3_ops.h.

Vector4d g2o::unproject ( const Vector3d & v ) [inline]

Definition at line 50 of file se3_ops.h.

template<typename T >

T g2o::wrap	(	T	l,
		T	x,
		T	u
	)		`[inline]`

wrap x to be in the interval [l, u]

Definition at line 153 of file misc.h.

bool g2o::writeCCSMatrix	(	const char *	filename,
		int	rows,
		int	cols,
		const int *	p,
		const int *	i,
		const double *	v,
		bool	upperTriangleSymmetric = `true`
	)

write a CCS matrix given by pointer to column, row, and values

Definition at line 38 of file sparse_helper.cpp.

bool g2o::writeCs2Octave	(	const char *	filename,
		const cs *	A,
		bool	upperTriangular = `true`
	)

write the sparse matrix to a file loadable with ocatve

Definition at line 145 of file csparse_helper.cpp.

bool g2o::writeVector	(	const char *	filename,
		const double *	v,
		int	n
	)

write an array to a file, debugging

Definition at line 29 of file sparse_helper.cpp.

Variable Documentation

G2OBatchStatistics * g2o::globalStats = 0

Definition at line 23 of file batch_stats.cpp.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

Enumeration Type Documentation

Function Documentation

Variable Documentation