Namespaces | Classes | Typedefs | Functions
g2o Namespace Reference

Namespaces

 internal
 
 types_six_dof_expmap
 

Classes

class  AbstractHyperGraphElementCreator
 Abstract interface for allocating HyperGraphElement. More...
 
class  AbstractOptimizationAlgorithmCreator
 base for allocating an optimization algorithm More...
 
class  AbstractRobustKernelCreator
 Abstract interface for allocating a robust kernel. More...
 
class  BaseBinaryEdge
 
class  BaseEdge
 
class  BaseMultiEdge
 base class to represent an edge connecting an arbitrary number of nodes More...
 
class  BaseProperty
 
class  BaseUnaryEdge
 
class  BaseVertex
 Templatized BaseVertex. More...
 
class  BlockSolver
 Implementation of a solver operating on the blocks of the Hessian. More...
 
class  BlockSolverBase
 base for the block solvers with some basic function interfaces More...
 
struct  BlockSolverTraits
 traits to summarize the properties of the fixed size optimization problem More...
 
struct  BlockSolverTraits< Eigen::Dynamic, Eigen::Dynamic >
 traits to summarize the properties of the dynamic size optimization problem More...
 
class  Cache
 
class  CacheContainer
 
struct  ColSort
 
class  DrawAction
 draw actions More...
 
class  EdgeInverseSim3ProjectXYZ
 
class  EdgeSE3ProjectXYZ
 
class  EdgeSE3ProjectXYZOnlyPose
 
class  EdgeSim3
 7D edge between two Vertex7 More...
 
class  EdgeSim3ProjectXYZ
 
class  EdgeStereoSE3ProjectXYZ
 
class  EdgeStereoSE3ProjectXYZOnlyPose
 
class  EstimatePropagator
 propagation of an initial guess More...
 
class  EstimatePropagatorCost
 cost for traversing along active edges in the optimizer More...
 
class  EstimatePropagatorCostOdometry
 cost for traversing only odometry edges. More...
 
class  Factory
 create vertices and edges based on TAGs in, for example, a file More...
 
struct  ForceLinker
 
struct  G2OBatchStatistics
 statistics about the optimization 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  JacobianWorkspace
 provide memory workspace for computing the Jacobians More...
 
class  LinearSolver
 basic solver for Ax = b More...
 
class  LinearSolverCCS
 Solver with faster iterating structure for the linear matrix. More...
 
class  LinearSolverDense
 linear solver using dense cholesky decomposition More...
 
class  LinearSolverEigen
 linear solver which uses the sparse Cholesky solver from Eigen 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  OpenMPMutex
 
struct  OptimizableGraph
 
class  OptimizationAlgorithm
 Generic interface for a non-linear solver operating on a graph. More...
 
class  OptimizationAlgorithmDogleg
 Implementation of Powell's Dogleg Algorithm. More...
 
class  OptimizationAlgorithmFactory
 create solvers based on their short name More...
 
class  OptimizationAlgorithmGaussNewton
 Implementation of the Gauss Newton Algorithm. More...
 
class  OptimizationAlgorithmLevenberg
 Implementation of the Levenberg Algorithm. More...
 
struct  OptimizationAlgorithmProperty
 describe the properties of a solver More...
 
class  OptimizationAlgorithmWithHessian
 Base for solvers operating on the approximated Hessian, e.g., Gauss-Newton, Levenberg. More...
 
class  Parameter
 
class  ParameterContainer
 map id to parameters More...
 
class  Property
 
class  PropertyMap
 a collection of properties mapping from name to the property itself More...
 
class  RegisterActionProxy
 
class  RegisterOptimizationAlgorithmProxy
 
class  RegisterRobustKernelProxy
 
class  RegisterTypeProxy
 
class  RobustKernel
 base for all robust cost functions More...
 
class  RobustKernelCauchy
 Cauchy cost function. More...
 
class  RobustKernelCreator
 templatized creator class which creates graph elements More...
 
class  RobustKernelDCS
 Dynamic covariance scaling - DCS. More...
 
class  RobustKernelFactory
 create robust kernels based on their human readable name More...
 
class  RobustKernelHuber
 Huber Cost Function. More...
 
class  RobustKernelPseudoHuber
 Pseudo Huber Cost Function. More...
 
class  RobustKernelSaturated
 Saturated cost function. More...
 
class  RobustKernelScaleDelta
 scale a robust kernel to another delta (window size) More...
 
class  RobustKernelTukey
 Tukey Cost Function. More...
 
class  ScopedOpenMPMutex
 lock a mutex within a scope More...
 
class  ScopeTime
 Class to measure the time spent in a scope. More...
 
class  SE3Quat
 
struct  Sim3
 
class  Solver
 Generic interface for a sparse solver operating on a graph which solves one iteration of the linearized objective function. More...
 
class  SparseBlockMatrix
 Sparse matrix which uses blocks. More...
 
class  SparseBlockMatrixCCS
 Sparse matrix which uses blocks. More...
 
class  SparseBlockMatrixDiagonal
 Sparse matrix which uses blocks on the diagonal. More...
 
class  SparseBlockMatrixHashMap
 Sparse matrix which uses blocks based on hash structures. More...
 
class  SparseOptimizer
 
struct  UniformCostFunction
 
class  VertexSBAPointXYZ
 Point vertex, XYZ. More...
 
class  VertexSE3Expmap
 SE3 Vertex parameterized internally with a transformation matrix and externally with its exponential map. More...
 
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 Eigen::Transform< double, 2, Eigen::Affine, Eigen::ColMajor > Affine2D
 
typedef Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > Affine3D
 
typedef std::vector< G2OBatchStatisticsBatchStatisticsContainer
 
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< Eigen::Dynamic, Eigen::Dynamic > > BlockSolverX
 
typedef Property< bool > BoolProperty
 
typedef Property< double > DoubleProperty
 
typedef Property< float > FloatProperty
 
typedef void(* ForceLinkFunction) (void)
 
typedef Property< int > IntProperty
 
typedef Eigen::Transform< double, 2, Eigen::Isometry, Eigen::ColMajor > Isometry2D
 
typedef Eigen::Transform< double, 3, Eigen::Isometry, Eigen::ColMajor > Isometry3D
 
typedef Eigen::Matrix< double, 2, 2, Eigen::ColMajor > Matrix2D
 
typedef Eigen::Matrix< float, 2, 2, Eigen::ColMajor > Matrix2F
 
typedef Eigen::Matrix< int, 2, 2, Eigen::ColMajor > Matrix2I
 
typedef Eigen::Matrix< double, 3, 3, Eigen::ColMajor > Matrix3D
 
typedef Eigen::Matrix< float, 3, 3, Eigen::ColMajor > Matrix3F
 
typedef Eigen::Matrix< int, 3, 3, Eigen::ColMajor > Matrix3I
 
typedef Eigen::Matrix< double, 4, 4, Eigen::ColMajor > Matrix4D
 
typedef Eigen::Matrix< float, 4, 4, Eigen::ColMajor > Matrix4F
 
typedef Eigen::Matrix< int, 4, 4, Eigen::ColMajor > Matrix4I
 
typedef Matrix< double, 6, 6 > Matrix6d
 
typedef Matrix< double, 7, 7 > Matrix7d
 
typedef Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::ColMajor > MatrixXD
 
typedef Eigen::Matrix< float, Eigen::Dynamic, Eigen::Dynamic, Eigen::ColMajor > MatrixXF
 
typedef Eigen::Matrix< int, Eigen::Dynamic, Eigen::Dynamic, Eigen::ColMajor > MatrixXI
 
typedef std::vector< Parameter * > ParameterVector
 
typedef std::tr1::shared_ptr< RobustKernelRobustKernelPtr
 
typedef SparseBlockMatrix< MatrixXd > SparseBlockMatrixXd
 
typedef Property< std::string > StringProperty
 
typedef Eigen::Matrix< double, 2, 1, Eigen::ColMajor > Vector2D
 
typedef Eigen::Matrix< float, 2, 1, Eigen::ColMajor > Vector2F
 
typedef Eigen::Matrix< int, 2, 1, Eigen::ColMajor > Vector2I
 
typedef Eigen::Matrix< double, 3, 1, Eigen::ColMajor > Vector3D
 
typedef Eigen::Matrix< float, 3, 1, Eigen::ColMajor > Vector3F
 
typedef Eigen::Matrix< int, 3, 1, Eigen::ColMajor > Vector3I
 
typedef Eigen::Matrix< double, 4, 1, Eigen::ColMajor > Vector4D
 
typedef Eigen::Matrix< float, 4, 1, Eigen::ColMajor > Vector4F
 
typedef Eigen::Matrix< int, 4, 1, Eigen::ColMajor > Vector4I
 
typedef Matrix< double, 6, 1 > Vector6d
 
typedef Matrix< double, 7, 1 > Vector7d
 
typedef Eigen::Matrix< double, Eigen::Dynamic, 1, Eigen::ColMajor > VectorXD
 
typedef Eigen::Matrix< float, Eigen::Dynamic, 1, Eigen::ColMajor > VectorXF
 
typedef Eigen::Matrix< int, Eigen::Dynamic, 1, Eigen::ColMajor > VectorXI
 

Functions

void applyAction (HyperGraph *graph, HyperGraphElementAction *action, HyperGraphElementAction::Parameters *params, const std::string &typeName)
 
bool arrayHasNaN (const double *array, int size, int *nanIndex=0)
 
double average_angle (double theta1, double theta2)
 
template<typename T >
clamp (T l, T x, T u)
 
template<typename T >
bool convertString (const std::string &s, T &x, bool failIfLeftoverChars=true)
 
double deg2rad (double degree)
 
Vector3d deltaR (const Matrix3d &R)
 
std::string formatString (const char *fmt,...)
 
double get_monotonic_time ()
 
double get_time ()
 
template<typename T >
hypot (T x, T y)
 
template<typename T >
hypot_sqr (T x, T y)
 
double inverse_theta (double th)
 
double normalize_theta (double theta)
 
bool operator< (const HyperDijkstra::AdjacencyMapEntry &a, const HyperDijkstra::AdjacencyMapEntry &b)
 
std::ostream & operator<< (std::ostream &os, const G2OBatchStatistics &st)
 
template<class MatrixType >
std::ostream & operator<< (std::ostream &, const SparseBlockMatrix< MatrixType > &m)
 
std::ostream & operator<< (std::ostream &out_str, const Sim3 &sim3)
 
std::ostream & operator<< (std::ostream &out_str, const SE3Quat &se3)
 
Vector2d project (const Vector3d &)
 
Vector3d project (const Vector4d &)
 
Vector2d project2d (const Vector3d &v)
 
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)
 
template<typename T >
int sign (T x)
 
Matrix3d skew (const Vector3d &v)
 
template<typename T >
square (T x)
 
bool strEndsWith (const std::string &s, const std::string &end)
 
std::string strExpandFilename (const std::string &filename)
 
template<typename 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 &)
 
Vector3d unproject2d (const Vector2d &v)
 
template<typename T >
wrap (T l, T x, T u)
 

Typedef Documentation

typedef Eigen::Transform<double,2,Eigen::Affine,Eigen::ColMajor> g2o::Affine2D

Definition at line 68 of file eigen_types.h.

typedef Eigen::Transform<double,3,Eigen::Affine,Eigen::ColMajor> g2o::Affine3D

Definition at line 69 of file eigen_types.h.

Definition at line 80 of file batch_stats.h.

Definition at line 186 of file block_solver.h.

Definition at line 182 of file block_solver.h.

Definition at line 184 of file block_solver.h.

typedef BlockSolver< BlockSolverTraits<Eigen::Dynamic, Eigen::Dynamic> > g2o::BlockSolverX

Definition at line 180 of file block_solver.h.

typedef Property<bool> g2o::BoolProperty

Definition at line 152 of file property.h.

typedef Property<double> g2o::DoubleProperty

Definition at line 154 of file property.h.

typedef Property<float> g2o::FloatProperty

Definition at line 153 of file property.h.

typedef void(* g2o::ForceLinkFunction) (void)

The following two functions are used to force linkage with static libraries.

Definition at line 193 of file misc.h.

typedef Property<int> g2o::IntProperty

Definition at line 151 of file property.h.

typedef Eigen::Transform<double,2,Eigen::Isometry,Eigen::ColMajor> g2o::Isometry2D

Definition at line 65 of file eigen_types.h.

typedef Eigen::Transform<double,3,Eigen::Isometry,Eigen::ColMajor> g2o::Isometry3D

Definition at line 66 of file eigen_types.h.

typedef Eigen::Matrix<double,2,2,Eigen::ColMajor> g2o::Matrix2D

Definition at line 60 of file eigen_types.h.

typedef Eigen::Matrix<float,2,2,Eigen::ColMajor> g2o::Matrix2F

Definition at line 55 of file eigen_types.h.

typedef Eigen::Matrix<int,2,2,Eigen::ColMajor> g2o::Matrix2I

Definition at line 50 of file eigen_types.h.

typedef Eigen::Matrix<double,3,3,Eigen::ColMajor> g2o::Matrix3D

Definition at line 61 of file eigen_types.h.

typedef Eigen::Matrix<float,3,3,Eigen::ColMajor> g2o::Matrix3F

Definition at line 56 of file eigen_types.h.

typedef Eigen::Matrix<int,3,3,Eigen::ColMajor> g2o::Matrix3I

Definition at line 51 of file eigen_types.h.

typedef Eigen::Matrix<double,4,4,Eigen::ColMajor> g2o::Matrix4D

Definition at line 62 of file eigen_types.h.

typedef Eigen::Matrix<float,4,4,Eigen::ColMajor> g2o::Matrix4F

Definition at line 57 of file eigen_types.h.

typedef Eigen::Matrix<int,4,4,Eigen::ColMajor> g2o::Matrix4I

Definition at line 52 of file eigen_types.h.

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

Definition at line 52 of file types_six_dof_expmap.h.

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

Definition at line 38 of file sim3.h.

typedef Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::ColMajor> g2o::MatrixXD

Definition at line 63 of file eigen_types.h.

typedef Eigen::Matrix<float,Eigen::Dynamic,Eigen::Dynamic,Eigen::ColMajor> g2o::MatrixXF

Definition at line 58 of file eigen_types.h.

typedef Eigen::Matrix<int,Eigen::Dynamic,Eigen::Dynamic,Eigen::ColMajor> g2o::MatrixXI

Definition at line 53 of file eigen_types.h.

typedef std::vector<Parameter*> g2o::ParameterVector

Definition at line 52 of file parameter.h.

typedef std::tr1::shared_ptr<RobustKernel> g2o::RobustKernelPtr

Definition at line 77 of file robust_kernel.h.

Definition at line 225 of file sparse_block_matrix.h.

typedef Property<std::string> g2o::StringProperty

Definition at line 155 of file property.h.

typedef Eigen::Matrix<double,2,1,Eigen::ColMajor> g2o::Vector2D

Definition at line 45 of file eigen_types.h.

typedef Eigen::Matrix<float,2,1,Eigen::ColMajor> g2o::Vector2F

Definition at line 40 of file eigen_types.h.

typedef Eigen::Matrix<int,2,1,Eigen::ColMajor> g2o::Vector2I

Definition at line 35 of file eigen_types.h.

typedef Eigen::Matrix<double,3,1,Eigen::ColMajor> g2o::Vector3D

Definition at line 46 of file eigen_types.h.

typedef Eigen::Matrix<float,3,1,Eigen::ColMajor> g2o::Vector3F

Definition at line 41 of file eigen_types.h.

typedef Eigen::Matrix<int,3,1,Eigen::ColMajor> g2o::Vector3I

Definition at line 36 of file eigen_types.h.

typedef Eigen::Matrix<double,4,1,Eigen::ColMajor> g2o::Vector4D

Definition at line 47 of file eigen_types.h.

typedef Eigen::Matrix<float,4,1,Eigen::ColMajor> g2o::Vector4F

Definition at line 42 of file eigen_types.h.

typedef Eigen::Matrix<int,4,1,Eigen::ColMajor> g2o::Vector4I

Definition at line 37 of file eigen_types.h.

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

Definition at line 38 of file se3quat.h.

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

Definition at line 39 of file se3quat.h.

typedef Eigen::Matrix<double,Eigen::Dynamic,1,Eigen::ColMajor> g2o::VectorXD

Definition at line 48 of file eigen_types.h.

typedef Eigen::Matrix<float,Eigen::Dynamic,1,Eigen::ColMajor> g2o::VectorXF

Definition at line 43 of file eigen_types.h.

typedef Eigen::Matrix<int,Eigen::Dynamic,1,Eigen::ColMajor> g2o::VectorXI

Definition at line 38 of file eigen_types.h.

Function Documentation

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 253 of file hyper_graph_action.cpp.

bool g2o::arrayHasNaN ( const double *  array,
int  size,
int *  nanIndex = 0 
)
inline

tests whether there is a NaN in the array

Definition at line 177 of file misc.h.

double g2o::average_angle ( double  theta1,
double  theta2 
)
inline

average two angles

Definition at line 120 of file misc.h.

template<typename T >
T g2o::clamp ( l,
x,
u 
)
inline

clamp x to the interval [l, u]

Definition at line 151 of file misc.h.

double g2o::deg2rad ( double  degree)
inline

convert from degree to radian

Definition at line 78 of file misc.h.

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

Definition at line 41 of file se3_ops.h.

double g2o::get_monotonic_time ( )

return a monotonic increasing time which basically does not need to have a reference point. Consider this for measuring how long some code fragments required to execute.

On Linux we call clock_gettime() on other systems we currently call get_time().

Definition at line 113 of file timeutil.cpp.

double g2o::get_time ( )
inline

return the current time in seconds since 1. Jan 1970

Definition at line 91 of file timeutil.h.

template<typename T >
T g2o::hypot ( x,
y 
)
inline

return the hypot of x and y

Definition at line 61 of file misc.h.

template<typename T >
T g2o::hypot_sqr ( x,
y 
)
inline

return the squared hypot of x and y

Definition at line 70 of file misc.h.

double g2o::inverse_theta ( double  th)
inline

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

Definition at line 112 of file misc.h.

double g2o::normalize_theta ( double  theta)
inline

normalize the angle

Definition at line 94 of file misc.h.

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

Definition at line 80 of file hyper_dijkstra.cpp.

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

timings

Definition at line 48 of file batch_stats.cpp.

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

Definition at line 379 of file sparse_block_matrix.hpp.

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

Definition at line 294 of file sim3.h.

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

Definition at line 298 of file se3quat.h.

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

Definition at line 50 of file se3_ops.h.

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

Definition at line 58 of file se3_ops.h.

Vector2d g2o::project2d ( const Vector3d &  v)

Definition at line 37 of file types_six_dof_expmap.cpp.

double g2o::rad2deg ( double  rad)
inline

convert from radian to degree

Definition at line 86 of file misc.h.

template<typename T >
int g2o::sign ( x)
inline

sign function.

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

Definition at line 137 of file misc.h.

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

Definition at line 28 of file se3_ops.h.

template<typename T >
T g2o::square ( x)
inline

return the square value

Definition at line 52 of file misc.h.

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

Definition at line 67 of file se3_ops.h.

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

Definition at line 76 of file se3_ops.h.

Vector3d g2o::unproject2d ( const Vector2d &  v)

Definition at line 44 of file types_six_dof_expmap.cpp.

template<typename T >
T g2o::wrap ( l,
x,
u 
)
inline

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

Definition at line 164 of file misc.h.



orb_slam2_with_maps_odom
Author(s): teng zhang
autogenerated on Fri Sep 25 2020 03:24:47