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      <arglist>(vector&lt; cv::Point2f &gt; &amp;candidates)</arglist>
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      <arglist>(cv::Mat &amp;im, vector&lt; cv::KeyPoint &gt; &amp;feats, double minResponse)</arglist>
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      <arglist>(double dist, double ratio, double gradient)</arglist>
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      <arglist>(const cv::Mat &amp;im1, const cv::Mat &amp;im2, vector&lt; cv::Point2f &gt; &amp;pts1, vector&lt; cv::Point2f &gt; &amp;pts2, int distanceConstraint, double thresh, vector&lt; unsigned int &gt; &amp;lostIndices, const cv::Size patternSize, double &amp;errorThreshold)</arglist>
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      <name>findCentroid</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>ac165d75ea7028dee18b782d4e717eb16</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, cv::Point3d &amp;centroid, cv::Point3d &amp;stdDeviation)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>findCentroidAndSpread</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a56abf3017a239c3cf0e92178b1cbd9f1</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, cv::Point3d &amp;centroid, cv::Point3d &amp;deviations)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>findClusterMean</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>aa584dad8f273d8aa34f9fe5e78385b09</anchor>
      <arglist>(const vector&lt; cv::Point3d &gt; &amp;pts, cv::Point3d &amp;pt3d, int mode, int minEstimates, double maxStandardDev)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>findFeaturesForPoints</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a879dc425856665e3ad2ecf13b65427fc</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; cv::Point2f &gt; &amp;pts1, vector&lt; cv::Point2f &gt; &amp;pts2, vector&lt; cv::Point3d &gt; &amp;pts3d, int idx1, int idx2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>findFourTransformations</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a52abb491a2991517c618215a4e238f3c</anchor>
      <arglist>(cv::Mat *C, const cv::Mat &amp;E, const cv::Mat &amp;K, const vector&lt; cv::Point2f &gt; &amp;pts1, const vector&lt; cv::Point2f &gt; &amp;pts2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>findP1Matrix</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>aefdaffaeb8dbb82b6ff45d83fde822d4</anchor>
      <arglist>(cv::Mat &amp;P1, const cv::Mat &amp;R, const cv::Mat &amp;t)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>findTriangulatableTracks</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>ad1a38645d2031d7d61f3371b08481531</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;indices, vector&lt; unsigned int &gt; &amp;cameras, unsigned int min_length)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>findTriangulatableTracks3</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a94b6251a197ec722e0ff01e715483859</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;indices, int latest_index, unsigned int min_length)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getActive3dPoints</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a61fd6cc1fb4c93720bac2c265555deff</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;indices, vector&lt; cv::Point3d &gt; &amp;cloud)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getActiveTracks</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a085d1f8bdc2ca1859d72f6fbd37b737b</anchor>
      <arglist>(vector&lt; unsigned int &gt; &amp;indices, vector&lt; featureTrack &gt; &amp;tracks, int idx1, int idx2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getCorrespondingPoints</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>ace613d9a22685af7a519b51925fc6dd6</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, const vector&lt; cv::Point2f &gt; &amp;pts1, vector&lt; cv::Point2f &gt; &amp;pts2, int idx0, int idx1)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getDistanceInUnits</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>ae0625c7b344e7c96a2da6b80ea051412</anchor>
      <arglist>(const cv::Mat &amp;t)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getIndicesForTriangulation</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a3a4c640d5438885d9ff89414fadb7cce</anchor>
      <arglist>(vector&lt; unsigned int &gt; &amp;dst, vector&lt; unsigned int &gt; &amp;src, vector&lt; unsigned int &gt; &amp;already_triangulated)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getPoints3dFromTracks</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a09b732971a1c3fec67f6d286fb0dad0a</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; cv::Point3d &gt; &amp;cloud, int idx1, int idx2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getPointsFromTracks</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a624b1984c3f7430dda08467fedd78a1c</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; cv::Point2f &gt; &amp;pts1, vector&lt; cv::Point2f &gt; &amp;pts2, int idx1, int idx2)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getQuaternionAngle</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a261d125189c2027000e974471a1c3e8a</anchor>
      <arglist>(const Quaterniond &amp;q1, const Quaterniond &amp;q2)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getRotationInDegrees</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a0fd3b39fb3efcb7ebe7fe2748d817630</anchor>
      <arglist>(const cv::Mat &amp;R)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getTranslationBetweenCameras</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>af77c9ca8292a6da9417e8bc3006b6828</anchor>
      <arglist>(cv::Mat &amp;C1, cv::Mat &amp;C2, double *translations)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getTriangulatedFullSpanPoints</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a7499ab91010363d9ecaea4fcc9571c8e</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; cv::Point2f &gt; &amp;pts1, vector&lt; cv::Point2f &gt; &amp;pts2, int idx1, int idx2, vector&lt; cv::Point3f &gt; &amp;points3)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>getWandZ</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a7dc05fbe383daaad88783d7cd295f4b7</anchor>
      <arglist>(cv::Mat &amp;W, cv::Mat &amp;Winv, cv::Mat &amp;Z)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a0cee942e1ca80165fcdc8d9037cda41e</anchor>
      <arglist>(cv::Mat &amp;P)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>initialTrackTriangulation</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a598cb88eb33760a71b04142afb5f11e1</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;indices, cameraParameters &amp;cameraData, geometry_msgs::PoseStamped *keyframePoses, unsigned int keyframeCount, double minSeparation, double maxSeparation, int minEstimates, double maxStandardDev, double maxReprojectionDisparity)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>initialTrackTriangulationDummy</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>aec1e7b96fe8d4b7e78462a3f94b0c6c0</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;indices, cameraParameters &amp;cameraData, geometry_msgs::PoseStamped *keyframePoses, unsigned int keyframeCount, double minSeparation, double maxSeparation, int minEstimates, double maxStandardDev, bool handedness, int xCode)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>IterativeLinearLSTriangulation</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>ab405cc3812a4a322d6b661c68414960b</anchor>
      <arglist>(cv::Mat &amp;dst, const cv::Point3d &amp;u1, const cv::Mat &amp;P1, const cv::Point3d &amp;u2, const cv::Mat &amp;P2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>LinearLSTriangulation</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a0efdede0adb8700193fe950b27fa18e1</anchor>
      <arglist>(cv::Mat &amp;dst, const cv::Point3d &amp;u1, const cv::Mat &amp;P1, const cv::Point3d &amp;u2, const cv::Mat &amp;P2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>obtainAppropriateBaseTransformation</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>aed09ddc4040f89eda5b718d34f3bee40</anchor>
      <arglist>(cv::Mat &amp;C0, vector&lt; featureTrack &gt; &amp;tracks)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>pointIsInFront</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a04091265e41bb6eb2dc5a0d77a5ef06d</anchor>
      <arglist>(const cv::Mat &amp;C, const cv::Point3d &amp;pt)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>pointsInFront</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>ae540dc46fc5020f426d45e678a0bdf45</anchor>
      <arglist>(const cv::Mat &amp;C1, const cv::Mat &amp;C2, const vector&lt; cv::Point3d &gt; &amp;pts)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>pointsInFront</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a2ebfca008fa75ea8e4e8d9d9ecab0a7b</anchor>
      <arglist>(const cv::Mat &amp;C1, const cv::Mat &amp;K, const vector&lt; cv::Point2f &gt; &amp;pts1, const vector&lt; cv::Point2f &gt; &amp;pts2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>printSystemSummary</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a95b53779ff82f6ca9560f0e7c5c3f00a</anchor>
      <arglist>(SysSBA &amp;sys)</arglist>
    </member>
    <member kind="function">
      <type>unsigned int</type>
      <name>putativelyTriangulateNewTracks</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>aec73aeb810f7878176d831e00bd2273a</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;indices, cameraParameters &amp;cameraData, cv::Mat *cameras, unsigned int earliest_index, unsigned int latest_index)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>ReciprocalSqrt</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>af56ddfbd1286e13c71528b1ec3db9acd</anchor>
      <arglist>(float x)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>reconstructSubsequence</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a570df2081038d00ddf01313516d0b865</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; cv::Point3d &gt; &amp;ptCloud, int idx1, int idx2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reduceActiveToTriangulated</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>ae507db9ece1358d6d6e017e61b8fe976</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;indices, vector&lt; unsigned int &gt; &amp;untriangulated)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reduceVectorsToTrackedPoints</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>af7f7f90a2848e2b6d19fe1511009cf30</anchor>
      <arglist>(const vector&lt; cv::Point2f &gt; &amp;points1, vector&lt; cv::Point2f &gt; &amp;trackedPoints1, const vector&lt; cv::Point2f &gt; &amp;points2, vector&lt; cv::Point2f &gt; &amp;trackedPoints2, vector&lt; uchar &gt; &amp;statusVec)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>removeShortTracks</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a00705ec4ec787427ab7fd078186de133</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, int idx1, int idx2)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>retrieveAllCameras</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a6444ce9b245c87d6d2348e8c7e273f4b</anchor>
      <arglist>(cv::Mat *allCameraPoses, const SysSBA &amp;sys)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>retrieveAllPoints</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>ae659181b8dd433696cbe8971ac68740d</anchor>
      <arglist>(vector&lt; cv::Point3d &gt; &amp;pts, const SysSBA &amp;sys)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>retrieveCameraPose</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a5eef51d574f076329ea3970b05421ba4</anchor>
      <arglist>(const SysSBA &amp;sys, unsigned int idx, cv::Mat &amp;camera)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>retrieveCameraPose</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a33aa5eec8cc7e9594c858d1b6a9b4e70</anchor>
      <arglist>(const SysSBA &amp;sys, unsigned int idx, geometry_msgs::Pose &amp;pose)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>reverseTranslation</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a0de2211e3b862084ddceaac07db5f8b0</anchor>
      <arglist>(cv::Mat &amp;C)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>summarizeTransformation</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a3d569b7b6312d0115a082b36ff4cafca</anchor>
      <arglist>(const cv::Mat &amp;C, char *summary)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a59909375ca5c42489b570da38490fe81</anchor>
      <arglist>(const cv::Point3d &amp;src, cv::Point3d &amp;dst, const cv::Mat &amp;C)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>ad827475dd49fd536e06eb29180e43fe8</anchor>
      <arglist>(const vector&lt; cv::Point3d &gt; &amp;src, vector&lt; cv::Point3d &gt; &amp;dst, const cv::Mat &amp;C)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>Triangulate</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a8108d6db6eef701b2f53d352ae95c887</anchor>
      <arglist>(const cv::Point2f &amp;pt1, const cv::Point2f &amp;pt2, const cv::Mat &amp;K, const cv::Mat &amp;Kinv, const cv::Mat &amp;P1, const cv::Mat &amp;P2, cv::Point3d &amp;xyzPoint, bool debug)</arglist>
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      <type>void</type>
      <name>Triangulate_1</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>aae300be14f8006974e09e70165dd40de</anchor>
      <arglist>(const cv::Point2d &amp;pt1, const cv::Point2d &amp;pt2, const cv::Mat &amp;K, const cv::Mat &amp;Kinv, const cv::Mat &amp;P1, const cv::Mat &amp;P2, cv::Point3d &amp;xyzPoint, bool iterate)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>TriangulateNewTracks</name>
      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a847be85d2a64e988c571cf68ef726424</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;trackVector, const int index1, const int index2, const cv::Mat &amp;K, const cv::Mat &amp;K_inv, const cv::Mat &amp;P0, const cv::Mat &amp;P1, bool initializeOnFocalPlane)</arglist>
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    <member kind="function">
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      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>af2c73da5ddf80eddd62336b213f6910a</anchor>
      <arglist>(const vector&lt; cv::Point2f &gt; &amp;pt_set1, const vector&lt; cv::Point2f &gt; &amp;pt_set2, const cv::Mat &amp;K, const cv::Mat &amp;Kinv, const cv::Mat &amp;P, const cv::Mat &amp;P1, vector&lt; cv::Point3d &gt; &amp;pointcloud, vector&lt; cv::Point2f &gt; &amp;correspImg1Pt)</arglist>
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      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>aac085de93ab59647766b9a2b7dd20fc3</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;indices, cameraParameters &amp;cameraData, cv::Mat *cameras, unsigned int earliest_index, unsigned int latest_index)</arglist>
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      <anchor>a0fe414fbc5a00163a53bdef1b45dedad</anchor>
      <arglist>(SysSBA &amp;sys, cv::Mat R, cv::Mat t, int img1, int img2)</arglist>
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      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a779f6873b3556ac6d2378f306ed5336d</anchor>
      <arglist>(SysSBA &amp;sys, const cv::Mat &amp;C, int image_index)</arglist>
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      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a36ed7f39aed11ab53ffca1dcd0292e71</anchor>
      <arglist>(SysSBA &amp;sys, const cv::Mat &amp;R, const cv::Mat &amp;t, int image_index)</arglist>
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      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a5f621a51e53e1fe6182cbbdafe3d0c52</anchor>
      <arglist>(SysSBA &amp;sys, vector&lt; featureTrack &gt; &amp;tracks, unsigned int start_index)</arglist>
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      <anchor>aad19ad126f09f0b49e198358428201bf</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;trackVector, const SysSBA &amp;sys)</arglist>
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      <anchorfile>reconstruction_8cpp.html</anchorfile>
      <anchor>a868716f34960d3a0f673d2d37648cbb0</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;indices, vector&lt; cv::Point3d &gt; &amp;cloud)</arglist>
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    <includes id="opencv__resources_8hpp" name="opencv_resources.hpp" local="yes" imported="no">opencv_resources.hpp</includes>
    <includes id="ros__resources_8hpp" name="ros_resources.hpp" local="yes" imported="no">ros_resources.hpp</includes>
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      <arglist></arglist>
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    <member kind="define">
      <type>#define</type>
      <name>DEFAULT_NEAR_RADIUS</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>aa6299f0c1428ab38aa6912edec61a7f2</anchor>
      <arglist></arglist>
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    <member kind="define">
      <type>#define</type>
      <name>EPSILON</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a002b2f4894492820fe708b1b7e7c5e70</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>MAX_REPROJECTION_DISPARITY</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a27cd9488c5a3e5f68f8a0598b92cc55c</anchor>
      <arglist></arglist>
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      <type>#define</type>
      <name>POSITION_LIMIT</name>
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      <anchor>a26000d7b307360209f3201464028f981</anchor>
      <arglist></arglist>
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    <member kind="function">
      <type>void</type>
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      <anchor>ad4c9d9200ac554a0ba7ce414b222fde2</anchor>
      <arglist>(SysSBA &amp;sys, cameraParameters &amp;cameraData, bool isFixed=false)</arglist>
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      <arglist>(SysSBA &amp;sys, cameraParameters &amp;cameraData, const cv::Mat &amp;C)</arglist>
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      <anchor>a4ef15529c52f13bb698546286cc1287f</anchor>
      <arglist>(SysSBA &amp;sys, cameraParameters &amp;cameraData, const cv::Mat &amp;C)</arglist>
    </member>
    <member kind="function">
      <type>unsigned int</type>
      <name>addNewPoints</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a500d72511da42b316b4cab77431a4e26</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;indices, cameraParameters &amp;cameraData, cv::Mat *cameras, unsigned int earliest_index, unsigned int latest_index)</arglist>
    </member>
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      <type>void</type>
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      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a8f6507d128d858b3ced23c7c029ce94f</anchor>
      <arglist>(SysSBA &amp;sys, const vector&lt; cv::Point3d &gt; &amp;pc)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>addToTracks</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a19b44e0970e3cfa04de93f9d2c0e9870</anchor>
      <arglist>(SysSBA &amp;sys, int im1, vector&lt; cv::Point2f &gt; &amp;pts1, int im2, vector&lt; cv::Point2f &gt; &amp;pts2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>assignIntrinsicsToP0</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a929e29143fe2fc63adb9de4d68d68b1b</anchor>
      <arglist>(cv::Mat &amp;P0, const cv::Mat &amp;K)</arglist>
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      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>aec9a9a16922052830a0b87f0b9c02cbc</anchor>
      <arglist>(SysSBA &amp;sys, vector&lt; featureTrack &gt; &amp;trackVector, int maxIndex)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>calcFrameScore</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a46ff14082aa8f5acc34c22fb6e5b13e4</anchor>
      <arglist>(double geomScore, int numFeatures, int numTracks)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>calcGeometryScore</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a2f39c3eea0d9e544378de7aa3c079b84</anchor>
      <arglist>(int numInliers_H, int numInliers_F, double sampsonError_H, double sampsonError_F)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>calcInlierGeometryDistance</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a64a67022a8970a977e8d0adb614d0933</anchor>
      <arglist>(vector&lt; cv::Point2f &gt; &amp;points1, vector&lt; cv::Point2f &gt; &amp;points2, cv::Mat &amp;mat, cv::Mat &amp;mask, int distMethod=SAMPSON_DISTANCE)</arglist>
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      <type>double</type>
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      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a620e78a0d74e7653eab682391b462c0f</anchor>
      <arglist>(cv::Point2f &amp;pt1, cv::Point2f &amp;pt2, cv::Mat &amp;F)</arglist>
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      <type>double</type>
      <name>calcSampsonError</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>adcdac3356392f79de7a5c22ccda2c287</anchor>
      <arglist>(vector&lt; cv::Point2f &gt; &amp;points1, vector&lt; cv::Point2f &gt; &amp;points2, cv::Mat &amp;H, cv::Mat &amp;Hmask)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>combineTransforms</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a0c75201229eadf417b1338e398874c40</anchor>
      <arglist>(cv::Mat &amp;CN, const cv::Mat &amp;C0, const cv::Mat &amp;C1)</arglist>
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      <type>void</type>
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      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a06627f9ba5efa8840084068ed1a0a7a1</anchor>
      <arglist>(cv::Mat &amp;c, const cv::Mat &amp;R, const cv::Mat &amp;t)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a40fa66c1c10e0352158c70b30634582e</anchor>
      <arglist>(SysSBA &amp;sys)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>aba2a5769f7bcd0dfed49b4e1e541d16b</anchor>
      <arglist>(const cv::Point3d &amp;src, cv::Mat &amp;dst)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a948d16fa7335284a0601e3e4b220d3ea</anchor>
      <arglist>(const cv::Mat &amp;mat, Eigen::Matrix&lt; double, 3, 4 &gt; m)</arglist>
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      <type>void</type>
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      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>ab8f5de7d6203fcc35e63ba55a02000a4</anchor>
      <arglist>(const Eigen::Matrix&lt; double, 3, 4 &gt; m, cv::Mat &amp;mat)</arglist>
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      <type>void</type>
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      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a677890126737220b446f4123e428ce1c</anchor>
      <arglist>(const Vector4d &amp;vec4, cv::Mat &amp;mat)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>countActiveTriangulatedTracks</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a0b9347b602e51774853af56dda1e0e46</anchor>
      <arglist>(vector&lt; unsigned int &gt; &amp;indices, vector&lt; featureTrack &gt; &amp;tracks)</arglist>
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      <type>int</type>
      <name>countTriangulatedTracks</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a50ebe63f9ae60d72c038336f1df7fe51</anchor>
      <arglist>(const vector&lt; featureTrack &gt; &amp;tracks)</arglist>
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      <type>void</type>
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      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a3cba04829204ada37143915d0c7dfe3d</anchor>
      <arglist>(const cv::Mat &amp;c, cv::Mat &amp;R, cv::Mat &amp;t)</arglist>
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    <member kind="function">
      <type>Quaterniond</type>
      <name>defaultQuaternion</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>aebaeb2eb5ced034cfd45d74553958d03</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>double</type>
      <name>dotProduct</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a86d3cad3620616bb78ddca58f8bfd3e0</anchor>
      <arglist>(const cv::Mat &amp;vec1, const cv::Mat &amp;vec2)</arglist>
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      <type>double</type>
      <name>dotProduct</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a559c072216551914144505cbb906e78b</anchor>
      <arglist>(const Quaterniond &amp;q1, const Quaterniond &amp;q2)</arglist>
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      <type>void</type>
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      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a4e9fb399ffd19dcf01f969228b6bb7a9</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, cv::Mat &amp;K, int idx, cv::Mat &amp;pose)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>estimatePoseFromKnownPoints</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a0aa6d65ce4dfded0f35a3bb1fb7dc334</anchor>
      <arglist>(cv::Mat &amp;dst, cameraParameters camData, vector&lt; featureTrack &gt; &amp;tracks, unsigned int index, const cv::Mat &amp;guide, unsigned minAppearances=1, unsigned int iterCount=100, double maxReprojErr=4.0, double inliersPercentage=0.9, double *reprojError=0, double *pnpInlierProp=0, bool debug=false)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>ExtractPointCloud</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>ab859978f6ecec93e95a64fafba0b69b2</anchor>
      <arglist>(vector&lt; cv::Point3d &gt; &amp;cloud, vector&lt; featureTrack &gt; &amp;trackVector)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>filterNearPoints</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a8f9448f6e50566de76deefc00933e4d4</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;featureTrackVector, double x, double y, double z, double limit=DEFAULT_NEAR_RADIUS)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>filterToActivePoints</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a32ef52fced917b3d8420b5cf5f023bce</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; cv::Point2f &gt; &amp;pts1, vector&lt; cv::Point2f &gt; &amp;pts2, vector&lt; unsigned int &gt; &amp;indices, int idx1, int idx2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>filterToCompleteTracks</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a68456aa17c757f086ec37f7ad85b8248</anchor>
      <arglist>(vector&lt; unsigned int &gt; &amp;dst, vector&lt; unsigned int &gt; &amp;src, vector&lt; featureTrack &gt; &amp;tracks, int idx1, int idx2)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>findBestCandidate</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a656855bb246df76fda971ea05dd573c4</anchor>
      <arglist>(const cv::Mat *CX, const cv::Mat &amp;K, const vector&lt; cv::Point2f &gt; &amp;pts1, const vector&lt; cv::Point2f &gt; &amp;pts2, cv::Mat &amp;C)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>findBestReconstruction</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>aa96664db2daf593beacac6dfa263cd66</anchor>
      <arglist>(const cv::Mat &amp;P0, cv::Mat &amp;P1, cv::Mat &amp;R, cv::Mat &amp;t, const cv::SVD &amp;svd, const cv::Mat &amp;K, const vector&lt; cv::Point2f &gt; &amp;pts1, const vector&lt; cv::Point2f &gt; &amp;pts2, bool useDefault=false)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>findCentroid</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>ac165d75ea7028dee18b782d4e717eb16</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, cv::Point3d &amp;centroid, cv::Point3d &amp;stdDeviation)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>findCentroidAndSpread</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a56abf3017a239c3cf0e92178b1cbd9f1</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, cv::Point3d &amp;centroid, cv::Point3d &amp;deviations)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>findClusterMean</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>af80089d8c8b3566fd53e8b523ea886db</anchor>
      <arglist>(const vector&lt; cv::Point3d &gt; &amp;estimatedLocations, cv::Point3d &amp;pt3d, int mode=DEFAULT_MEAN_MODE, int minEstimates=3, double maxStandardDev=0.1)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>findFeaturesForPoints</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a879dc425856665e3ad2ecf13b65427fc</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; cv::Point2f &gt; &amp;pts1, vector&lt; cv::Point2f &gt; &amp;pts2, vector&lt; cv::Point3d &gt; &amp;pts3d, int idx1, int idx2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>findFourTransformations</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a52abb491a2991517c618215a4e238f3c</anchor>
      <arglist>(cv::Mat *C, const cv::Mat &amp;E, const cv::Mat &amp;K, const vector&lt; cv::Point2f &gt; &amp;pts1, const vector&lt; cv::Point2f &gt; &amp;pts2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>findP1Matrix</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>aefdaffaeb8dbb82b6ff45d83fde822d4</anchor>
      <arglist>(cv::Mat &amp;P1, const cv::Mat &amp;R, const cv::Mat &amp;t)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>findTriangulatableTracks</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a1cd9b7c5e26a74f176cc510bfcda5152</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;indices, vector&lt; unsigned int &gt; &amp;cameras, unsigned int min_length=10)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>findTriangulatableTracks3</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>aaec076dba6f5d15ed6e9d1f84f3531aa</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;indices, int latest_index=-1, unsigned int min_length=10)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getActive3dPoints</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a61fd6cc1fb4c93720bac2c265555deff</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;indices, vector&lt; cv::Point3d &gt; &amp;cloud)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getActiveTracks</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a085d1f8bdc2ca1859d72f6fbd37b737b</anchor>
      <arglist>(vector&lt; unsigned int &gt; &amp;indices, vector&lt; featureTrack &gt; &amp;tracks, int idx1, int idx2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getCorrespondingPoints</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>ace613d9a22685af7a519b51925fc6dd6</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, const vector&lt; cv::Point2f &gt; &amp;pts1, vector&lt; cv::Point2f &gt; &amp;pts2, int idx0, int idx1)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getDistanceInUnits</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>ae0625c7b344e7c96a2da6b80ea051412</anchor>
      <arglist>(const cv::Mat &amp;t)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getIndicesForTriangulation</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a3a4c640d5438885d9ff89414fadb7cce</anchor>
      <arglist>(vector&lt; unsigned int &gt; &amp;dst, vector&lt; unsigned int &gt; &amp;src, vector&lt; unsigned int &gt; &amp;already_triangulated)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getPoints3dFromTracks</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>aed8468474281b133d227f3ecc44a53de</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; cv::Point3d &gt; &amp;cloud, int idx1=-1, int idx2=-1)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getPointsFromTracks</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a624b1984c3f7430dda08467fedd78a1c</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; cv::Point2f &gt; &amp;pts1, vector&lt; cv::Point2f &gt; &amp;pts2, int idx1, int idx2)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getQuaternionAngle</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a261d125189c2027000e974471a1c3e8a</anchor>
      <arglist>(const Quaterniond &amp;q1, const Quaterniond &amp;q2)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getRotationInDegrees</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a0fd3b39fb3efcb7ebe7fe2748d817630</anchor>
      <arglist>(const cv::Mat &amp;R)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getTranslationBetweenCameras</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>af77c9ca8292a6da9417e8bc3006b6828</anchor>
      <arglist>(cv::Mat &amp;C1, cv::Mat &amp;C2, double *translations)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getTriangulatedFullSpanPoints</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a7499ab91010363d9ecaea4fcc9571c8e</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; cv::Point2f &gt; &amp;pts1, vector&lt; cv::Point2f &gt; &amp;pts2, int idx1, int idx2, vector&lt; cv::Point3f &gt; &amp;points3)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getWandZ</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a7dc05fbe383daaad88783d7cd295f4b7</anchor>
      <arglist>(cv::Mat &amp;W, cv::Mat &amp;Winv, cv::Mat &amp;Z)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>initializeP0</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a0cee942e1ca80165fcdc8d9037cda41e</anchor>
      <arglist>(cv::Mat &amp;P)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>initialTrackTriangulation</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>ace3b40a46151f4ddacebf602c559fc43</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;indices, cameraParameters &amp;cameraData, geometry_msgs::PoseStamped *keyframePoses, unsigned int keyframeCount, double minSeparation=0.2, double maxSeparation=1.0, int minEstimates=3, double maxStandardDev=0.1, double maxReprojectionDisparity=MAX_REPROJECTION_DISPARITY)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>initialTrackTriangulationDummy</name>
      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>ab788d77155016eada3c6190f26fac5b6</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;indices, cameraParameters &amp;cameraData, geometry_msgs::PoseStamped *keyframePoses, unsigned int keyframeCount, double minSeparation=0.2, double maxSeparation=1.0, int minEstimates=3, double maxStandardDev=0.1, bool handedness=false, int xCode=0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>IterativeLinearLSTriangulation</name>
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      <arglist>(cv::Mat &amp;dst, const cv::Point3d &amp;u1, const cv::Mat &amp;P1, const cv::Point3d &amp;u2, const cv::Mat &amp;P2)</arglist>
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      <type>void</type>
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      <arglist>(cv::Mat &amp;dst, const cv::Point3d &amp;u1, const cv::Mat &amp;P1, const cv::Point3d &amp;u2, const cv::Mat &amp;P2)</arglist>
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      <anchorfile>reconstruction_8hpp.html</anchorfile>
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      <arglist>(cv::Mat &amp;C0, vector&lt; featureTrack &gt; &amp;tracks)</arglist>
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      <arglist>(const cv::Mat &amp;C, const cv::Point3d &amp;pt)</arglist>
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      <anchorfile>reconstruction_8hpp.html</anchorfile>
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      <arglist>(const cv::Mat &amp;C1, const cv::Mat &amp;C2, const vector&lt; cv::Point3d &gt; &amp;pts)</arglist>
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      <anchorfile>reconstruction_8hpp.html</anchorfile>
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      <arglist>(const cv::Mat &amp;C1, const cv::Mat &amp;K, const vector&lt; cv::Point2f &gt; &amp;pts1, const vector&lt; cv::Point2f &gt; &amp;pts2)</arglist>
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      <anchorfile>reconstruction_8hpp.html</anchorfile>
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      <arglist>(SysSBA &amp;sys)</arglist>
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      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;indices, cameraParameters &amp;cameraData, cv::Mat *cameras, unsigned int earliest_index, unsigned int latest_index)</arglist>
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      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; cv::Point3d &gt; &amp;ptCloud, int idx1, int idx2)</arglist>
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      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;indices, vector&lt; unsigned int &gt; &amp;untriangulated)</arglist>
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      <arglist>(const vector&lt; cv::Point2f &gt; &amp;points1, vector&lt; cv::Point2f &gt; &amp;trackedPoints1, const vector&lt; cv::Point2f &gt; &amp;points2, vector&lt; cv::Point2f &gt; &amp;trackedPoints2, vector&lt; uchar &gt; &amp;statusVec)</arglist>
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      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, int idx1, int idx2)</arglist>
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      <arglist>(cv::Mat *allCameraPoses, const SysSBA &amp;sys)</arglist>
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      <arglist>(vector&lt; cv::Point3d &gt; &amp;pts, const SysSBA &amp;sys)</arglist>
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      <arglist>(const SysSBA &amp;sys, unsigned int idx, geometry_msgs::Pose &amp;pose)</arglist>
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      <arglist>(const SysSBA &amp;sys, unsigned int idx, cv::Mat &amp;camera)</arglist>
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      <arglist>(cv::Mat &amp;C)</arglist>
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      <arglist>(const cv::Mat &amp;C, char *summary)</arglist>
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      <arglist>(const cv::Point3d &amp;src, cv::Point3d &amp;dst, const cv::Mat &amp;C)</arglist>
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      <arglist>(const vector&lt; cv::Point3d &gt; &amp;src, vector&lt; cv::Point3d &gt; &amp;dst, const cv::Mat &amp;C)</arglist>
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      <anchor>a1f7fd1114bd2711294099d3eb527294e</anchor>
      <arglist>(const cv::Point2f &amp;pt1, const cv::Point2f &amp;pt2, const cv::Mat &amp;K, const cv::Mat &amp;Kinv, const cv::Mat &amp;P1, const cv::Mat &amp;P2, cv::Point3d &amp;xyzPoint, bool debug=false)</arglist>
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      <arglist>(const cv::Point2d &amp;pt1, const cv::Point2d &amp;pt2, const cv::Mat &amp;K, const cv::Mat &amp;Kinv, const cv::Mat &amp;P1, const cv::Mat &amp;P2, cv::Point3d &amp;xyzPoint, bool iterate=true)</arglist>
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      <anchor>ae3c850a7ec5137ed090892fef33125bc</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;trackVector, const int index1, const int index2, const cv::Mat &amp;K, const cv::Mat &amp;K_inv, const cv::Mat &amp;P0, const cv::Mat &amp;P1, bool initializeOnFocalPlane=false)</arglist>
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      <arglist>(const vector&lt; cv::Point2f &gt; &amp;pt_set1, const vector&lt; cv::Point2f &gt; &amp;pt_set2, const cv::Mat &amp;K, const cv::Mat &amp;Kinv, const cv::Mat &amp;P, const cv::Mat &amp;P1, vector&lt; cv::Point3d &gt; &amp;pointcloud, vector&lt; cv::Point2f &gt; &amp;correspImg1Pt)</arglist>
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      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;indices, cameraParameters &amp;cameraData, cv::Mat *cameras, unsigned int earliest_index, unsigned int latest_index)</arglist>
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      <arglist>(SysSBA &amp;sys, cv::Mat R, cv::Mat t, int img1, int img2)</arglist>
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      <arglist>(SysSBA &amp;sys, const cv::Mat &amp;R, const cv::Mat &amp;t, int image_index)</arglist>
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      <arglist>(SysSBA &amp;sys, const cv::Mat &amp;C, int image_index)</arglist>
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      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a5f621a51e53e1fe6182cbbdafe3d0c52</anchor>
      <arglist>(SysSBA &amp;sys, vector&lt; featureTrack &gt; &amp;tracks, unsigned int start_index)</arglist>
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      <anchor>aad19ad126f09f0b49e198358428201bf</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;trackVector, const SysSBA &amp;sys)</arglist>
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      <anchorfile>reconstruction_8hpp.html</anchorfile>
      <anchor>a868716f34960d3a0f673d2d37648cbb0</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;indices, vector&lt; cv::Point3d &gt; &amp;cloud)</arglist>
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      <arglist>(ros::Time time1, ros::Time time2)</arglist>
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      <arglist>(ros::Time time1, ros::Time time2)</arglist>
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      <arglist>(ros::Time time1, ros::Time time2)</arglist>
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      <arglist>(SysSBA &amp;sba, vector&lt; cv::Point3d &gt; &amp;cloud)</arglist>
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      <arglist>(SysSBA &amp;sba, vector&lt; cv::Point2f &gt; &amp;loc, int idx)</arglist>
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      <arglist>(SysSBA &amp;sba, cv::Point2f &amp;loc, unsigned int trackNo, unsigned int camNo)</arglist>
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      <anchor>a1e0c979575c7c0ae001ada0ce331af29</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, cameraParameters &amp;camData, cv::Mat *cameras, unsigned int min_index, unsigned int max_index, unsigned int its)</arglist>
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      <arglist>(SysSBA &amp;sba, vector&lt; featureTrack &gt; &amp;tracks, cameraParameters &amp;camData, cv::Mat *cameras, unsigned int start_index, unsigned int finish_index, bool dummy)</arglist>
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      <arglist>(SysSBA &amp;sba, vector&lt; featureTrack &gt; &amp;tracks, cameraParameters &amp;camData, cv::Mat *cameras, vector&lt; unsigned int &gt; &amp;indices, bool assignProjections)</arglist>
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      <arglist>(SysSBA &amp;sba, vector&lt; featureTrack &gt; &amp;tracks, cameraParameters &amp;camData, cv::Mat *cameras, vector&lt; unsigned int &gt; &amp;camera_indices, vector&lt; unsigned int &gt; &amp;track_indices)</arglist>
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      <arglist>(const SysSBA &amp;src, SysSBA &amp;dst)</arglist>
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      <arglist>(SysSBA &amp;sys)</arglist>
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      <arglist>(Eigen::Matrix&lt; double, 4, 1 &gt; &amp;pt1, Eigen::Matrix&lt; double, 4, 1 &gt; &amp;pt2)</arglist>
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      <anchor>a137dd19ef4939402e4580e9188eb3353</anchor>
      <arglist>(const SysSBA &amp;sba, const ros::Publisher &amp;camera_pub, const ros::Publisher &amp;point_pub, const ros::Publisher &amp;path_pub, int decimation, int bicolor, double scale)</arglist>
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      <arglist>(const ros::Publisher &amp;camera_pub, const geometry_msgs::PoseStamped *keyframePoses, unsigned int keyframeCount)</arglist>
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      <arglist>(cameraParameters &amp;camData, vector&lt; cv::Point2f &gt; &amp;pts1, vector&lt; cv::Point2f &gt; &amp;pts2, cv::Mat &amp;C)</arglist>
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      <arglist>(const SysSBA &amp;sba, visualization_msgs::MarkerArray &amp;cameraArray, visualization_msgs::Marker &amp;marker_path)</arglist>
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      <arglist>(const SysSBA &amp;sba, pcl::PointCloud&lt; pcl::PointXYZ &gt; &amp;point_cloud)</arglist>
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      <anchor>a4739ee1880d77fea00c65595a1ddb3dd</anchor>
      <arglist>(SysSBA &amp;sba, cv::Point3d &amp;centroid, cv::Point3d &amp;stdDeviation)</arglist>
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      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, cameraParameters &amp;camData, cv::Mat *cameras, unsigned int image_idx_1, unsigned int image_idx_2, bool fixBothEnds)</arglist>
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      <anchorfile>sba_8cpp.html</anchorfile>
      <anchor>a92c1d2c0de3bc7ffa79bb4dac858f03a</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;triangulated, vector&lt; unsigned int &gt; &amp;untriangulated, unsigned int last_index, unsigned int new_index)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>finishTracks</name>
      <anchorfile>sba_8cpp.html</anchorfile>
      <anchor>a23bc3e1f609321cc82871957992351e7</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; cv::Point2f &gt; &amp;pts, double retainProp, unsigned int maxOccurrences)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getActiveCameras</name>
      <anchorfile>sba_8cpp.html</anchorfile>
      <anchor>a43608b69dcefdd8e2821036aecd346d1</anchor>
      <arglist>(cv::Mat *C, vector&lt; unsigned int &gt; &amp;indices, unsigned int min_index, unsigned int max_index)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getActiveTracks</name>
      <anchorfile>sba_8cpp.html</anchorfile>
      <anchor>aad4999a592ac987faf43623ba612e819</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;cameras, vector&lt; unsigned int &gt; &amp;indices)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getFeatureMotion</name>
      <anchorfile>sba_8cpp.html</anchorfile>
      <anchor>a291883405cba91d045ad7b24b621079e</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;indices, unsigned int idx_1, unsigned int idx_2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>initializeFrameCamera</name>
      <anchorfile>sba_8cpp.html</anchorfile>
      <anchor>ae4b1964e313fa3d31e6d9a42579ebd58</anchor>
      <arglist>(frame_common::CamParams &amp;cam_params, const cv::Mat &amp;newCamMat, int &amp;maxx, int &amp;maxy, const cv::Size &amp;cameraSize)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>keyframeBundleAdjustment</name>
      <anchorfile>sba_8cpp.html</anchorfile>
      <anchor>a5f2f44afb447b2b2670d72b9ff7d5510</anchor>
      <arglist>(cameraParameters &amp;camData, vector&lt; featureTrack &gt; &amp;tracks, cv::Mat *cameras, vector&lt; unsigned int &gt; &amp;indices, unsigned int iterations, bool allFree, bool allFixedExceptLast, unsigned int fixed_cams)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>keyframeBundleAdjustment</name>
      <anchorfile>sba_8cpp.html</anchorfile>
      <anchor>a50f124f3c01cccf1a4122e9ec4f82d5e</anchor>
      <arglist>(cameraParameters &amp;camData, vector&lt; featureTrack &gt; &amp;tracks, keyframeStore &amp;kf_store, cv::Mat *cameras, unsigned int kfIndex, unsigned int iterations)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalizeSystem</name>
      <anchorfile>sba_8cpp.html</anchorfile>
      <anchor>a7bdf0a2beee6ee3553638bcb653d5017</anchor>
      <arglist>(SysSBA &amp;sys, double factor)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
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      <anchorfile>sba_8cpp.html</anchorfile>
      <anchor>a282832bc2ed11bdfbb97a02f9ca18dbc</anchor>
      <arglist>(cameraParameters &amp;camData, vector&lt; featureTrack &gt; &amp;tracks, geometry_msgs::PoseStamped *keyframePoses, unsigned int keyframeCount, unsigned int iterations, bool debug)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
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      <anchorfile>sba_8cpp.html</anchorfile>
      <anchor>a934c835e300d095886c0db7a031307ad</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, cameraParameters &amp;camData, cv::Mat *cameras, unsigned int last_index)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
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      <anchorfile>sba_8cpp.html</anchorfile>
      <anchor>a9a75f402bdf9c2ce904b60d54ca18818</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, cameraParameters &amp;camData, int idx1, int idx2, cv::Mat *cameras)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
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      <anchorfile>sba_8cpp.html</anchorfile>
      <anchor>a800747b31520712acc46e955587f29aa</anchor>
      <arglist>(cameraParameters &amp;camData, cv::Mat *C, vector&lt; unsigned int &gt; &amp;c_i, vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;t_i, unsigned int iterations)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
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      <anchorfile>sba_8cpp.html</anchorfile>
      <anchor>a947619d5f015bdb94445c2fbd821b22e</anchor>
      <arglist>(SysSBA &amp;sba, double err, int iterations, bool debug, int mode)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>overwritePoints</name>
      <anchorfile>sba_8cpp.html</anchorfile>
      <anchor>a17a4821dac9925203ea170941670cc6f</anchor>
      <arglist>(const SysSBA &amp;sys, const vector&lt; int &gt; &amp;track_indices, vector&lt; featureTrack &gt; &amp;tracks, double maxDisplacement, double *averagePointShift, bool debug)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>predictiveBundleAdjustment</name>
      <anchorfile>sba_8cpp.html</anchorfile>
      <anchor>afb077f34e46659beac406369e49ad88b</anchor>
      <arglist>(cameraParameters &amp;camData, vector&lt; featureTrack &gt; &amp;tracks, geometry_msgs::PoseStamped *keyframePoses, bool *keyframeTypes, unsigned int keyframeCount, geometry_msgs::PoseStamped &amp;newPose, unsigned int iterations, bool debug, int mode, double err, int *triangulations, double *averagePointShift)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>reconstructFreshSubsequencePair</name>
      <anchorfile>sba_8cpp.html</anchorfile>
      <anchor>aa2a5ab0e35ec5e6414365ef3b4bcf903</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; cv::Point3d &gt; &amp;ptCloud, vector&lt; unsigned int &gt; &amp;triangulatedIndices, cv::Mat &amp;real_C0, cv::Mat &amp;real_C1, cameraParameters camData, int idx1, int idx2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
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      <anchorfile>sba_8cpp.html</anchorfile>
      <anchor>a952019997a20cc40f01a58c7a372e21b</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, cameraParameters &amp;camData, cv::Mat *cameras, unsigned int start_cam, unsigned int finish_cam)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>renormalizeSBA</name>
      <anchorfile>sba_8cpp.html</anchorfile>
      <anchor>a486b0bc0247d431778bcb7062b5edfea</anchor>
      <arglist>(SysSBA &amp;sba, cv::Point3d &amp;desiredCenter)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>rescaleSBA</name>
      <anchorfile>sba_8cpp.html</anchorfile>
      <anchor>aaf6772ed71496aa1f9bcef07a5f2eabd</anchor>
      <arglist>(SysSBA &amp;sba, unsigned int idx1, unsigned int idx2)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>retrieveFullSystem</name>
      <anchorfile>sba_8cpp.html</anchorfile>
      <anchor>a5f2e6bd78c7c5178c89d637d991479f5</anchor>
      <arglist>(SysSBA &amp;sys, cv::Mat *C, vector&lt; featureTrack &gt; &amp;tracks, unsigned int start_cam, unsigned int final_cam)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>sba_8cpp.html</anchorfile>
      <anchor>a3deefddadf300b313050c82daec1bb3b</anchor>
      <arglist>(SysSBA &amp;sys, cv::Mat *C, vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;indices)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>sba_8cpp.html</anchorfile>
      <anchor>a29e78b34d39c2254b1326806496df005</anchor>
      <arglist>(SysSBA &amp;sba, vector&lt; featureTrack &gt; &amp;tracks, cameraParameters &amp;camData, cv::Mat *cameras, vector&lt; unsigned int &gt; &amp;camera_indices, vector&lt; unsigned int &gt; &amp;track_indices)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>subselectPoints</name>
      <anchorfile>sba_8cpp.html</anchorfile>
      <anchor>ae0073e686ddf1110f6f9991ec693473e</anchor>
      <arglist>(const vector&lt; cv::Point2f &gt; &amp;src1, vector&lt; cv::Point2f &gt; &amp;dst1, const vector&lt; cv::Point2f &gt; &amp;src2, vector&lt; cv::Point2f &gt; &amp;dst2)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>testKeyframePair</name>
      <anchorfile>sba_8cpp.html</anchorfile>
      <anchor>a31b7d508ac80d6fd1bd7427114b57262</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, cameraParameters &amp;camData, double *scorecard[], int idx1, int idx2, double *score, cv::Mat &amp;pose, bool evaluate, bool debug)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>twoViewBundleAdjustment</name>
      <anchorfile>sba_8cpp.html</anchorfile>
      <anchor>a6a5debbd6409771d1019dbd4185b4f05</anchor>
      <arglist>(cameraParameters cam_data, cv::Mat &amp;cam1, cv::Mat &amp;cam2, vector&lt; cv::Point3d &gt; &amp;cloud, vector&lt; cv::Point2f &gt; &amp;pts1, vector&lt; cv::Point2f &gt; &amp;pts2, int iterations)</arglist>
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    <includes id="general__resources_8hpp" name="general_resources.hpp" local="yes" imported="no">general_resources.hpp</includes>
    <includes id="opencv__resources_8hpp" name="opencv_resources.hpp" local="yes" imported="no">opencv_resources.hpp</includes>
    <includes id="ros__resources_8hpp" name="ros_resources.hpp" local="yes" imported="no">ros_resources.hpp</includes>
    <includes id="reconstruction_8hpp" name="reconstruction.hpp" local="yes" imported="no">reconstruction.hpp</includes>
    <includes id="keyframes_8hpp" name="keyframes.hpp" local="yes" imported="no">keyframes.hpp</includes>
    <includes id="tracks_8hpp" name="tracks.hpp" local="yes" imported="no">tracks.hpp</includes>
    <member kind="define">
      <type>#define</type>
      <name>DEFAULT_MAX_DISPLACEMENT</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>a46f6f8458ddcb4374d6d7adb6baef401</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addPointsToSBA</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>a550a8b1e1d2c7eea8d260c1ceb421455</anchor>
      <arglist>(SysSBA &amp;sba, vector&lt; cv::Point3d &gt; &amp;cloud)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addProjectionsToSBA</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>acb60da6cfbb72ecc4d13b18c262e06e1</anchor>
      <arglist>(SysSBA &amp;sba, vector&lt; cv::Point2f &gt; &amp;loc, int idx)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addProjectionToSBA</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>afb2140786e40aa492a25a9c01a37d55f</anchor>
      <arglist>(SysSBA &amp;sba, cv::Point2f &amp;loc, unsigned int trackNo, unsigned int camNo)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>adjustFullSystem</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>a6549094c53ae65fb1526cd640f8c2c59</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, cameraParameters &amp;camData, cv::Mat *cameras, unsigned int min_index, unsigned int max_index, unsigned int its=1)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
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      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>abb7a6085fb4e11bf50a2f41f6ba84955</anchor>
      <arglist>(SysSBA &amp;sba, vector&lt; featureTrack &gt; &amp;tracks, cameraParameters &amp;camData, cv::Mat *cameras, unsigned int start_index, unsigned int finish_index, bool dummy=false)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>assignPartialSystem</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>ac1356b62b6bad2018b53fbeadb3048d0</anchor>
      <arglist>(SysSBA &amp;sba, vector&lt; featureTrack &gt; &amp;tracks, cameraParameters &amp;camData, cv::Mat *cameras, vector&lt; unsigned int &gt; &amp;indices, bool assignProjections=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>assignSystem</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>af39a490db7b1b93cf7973677e1fe6c25</anchor>
      <arglist>(SysSBA &amp;sba, vector&lt; featureTrack &gt; &amp;tracks, cameraParameters &amp;camData, cv::Mat *cameras, vector&lt; unsigned int &gt; &amp;camera_indices, vector&lt; unsigned int &gt; &amp;track_indices)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>copySys</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>aa8616e3ddc713e7ce074122655368b6c</anchor>
      <arglist>(const SysSBA &amp;src, SysSBA &amp;dst)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>determineSystemSize</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>a97b50e10b3165b03d001062b5dcabe85</anchor>
      <arglist>(SysSBA &amp;sys)</arglist>
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    <member kind="function">
      <type>double</type>
      <name>distanceBetweenPoints</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>a0ee3b3c9cafb4c34de26a7f765be5397</anchor>
      <arglist>(Eigen::Matrix&lt; double, 4, 1 &gt; &amp;pt1, Eigen::Matrix&lt; double, 4, 1 &gt; &amp;pt2)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>drawGraph2</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>a58c62201ebbe6082fe6f62c8161357d5</anchor>
      <arglist>(const SysSBA &amp;sba, const ros::Publisher &amp;camera_pub, const ros::Publisher &amp;point_pub, const ros::Publisher &amp;path_pub, int decimation=1, int bicolor=0, double scale=0.1)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>drawKeyframes</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>a6a36e4c3e00f5c29b4d921a4cfdb0df6</anchor>
      <arglist>(const ros::Publisher &amp;camera_pub, const geometry_msgs::PoseStamped *keyframePoses, unsigned int keyframeCount)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>estimatePoseBetweenCameras</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>a6129d2f8a1137a801977d44a4b1b48fd</anchor>
      <arglist>(cameraParameters &amp;camData, vector&lt; cv::Point2f &gt; &amp;pts1, vector&lt; cv::Point2f &gt; &amp;pts2, cv::Mat &amp;C)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>extractCameras</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>a7f3e8f3a0298db07c3b327a283d0ea7d</anchor>
      <arglist>(const SysSBA &amp;sba, visualization_msgs::MarkerArray &amp;cameraArray, visualization_msgs::Marker &amp;marker_path)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>extractPointCloud</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>a7fb2d0a35882fc68f389714782f4b3ca</anchor>
      <arglist>(const SysSBA &amp;sba, pcl::PointCloud&lt; pcl::PointXYZ &gt; &amp;point_cloud)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>findCentroid</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>a4739ee1880d77fea00c65595a1ddb3dd</anchor>
      <arglist>(SysSBA &amp;sba, cv::Point3d &amp;centroid, cv::Point3d &amp;stdDeviation)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>findIntermediatePoses</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>aa0106e6001755bbcb23836a462ab895b</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, cameraParameters &amp;camData, cv::Mat *cameras, unsigned int image_idx_1, unsigned int image_idx_2, bool fixBothEnds=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>findRelevantIndices</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>a92c1d2c0de3bc7ffa79bb4dac858f03a</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;triangulated, vector&lt; unsigned int &gt; &amp;untriangulated, unsigned int last_index, unsigned int new_index)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>finishTracks</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>a545c4229fd6edd5eab6ed3b8dd044c03</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; cv::Point2f &gt; &amp;pts, double retainProp=0.80, unsigned int maxOccurrences=0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getActiveCameras</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>a43608b69dcefdd8e2821036aecd346d1</anchor>
      <arglist>(cv::Mat *C, vector&lt; unsigned int &gt; &amp;indices, unsigned int min_index, unsigned int max_index)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>getActiveTracks</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>aad4999a592ac987faf43623ba612e819</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;cameras, vector&lt; unsigned int &gt; &amp;indices)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getFeatureMotion</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>a291883405cba91d045ad7b24b621079e</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, vector&lt; unsigned int &gt; &amp;indices, unsigned int idx_1, unsigned int idx_2)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>initializeFrameCamera</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>ae4b1964e313fa3d31e6d9a42579ebd58</anchor>
      <arglist>(frame_common::CamParams &amp;cam_params, const cv::Mat &amp;newCamMat, int &amp;maxx, int &amp;maxy, const cv::Size &amp;cameraSize)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>keyframeBundleAdjustment</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>afba1bbe026058032febece7c3aa7cb58</anchor>
      <arglist>(cameraParameters &amp;camData, vector&lt; featureTrack &gt; &amp;tracks, cv::Mat *cameras, vector&lt; unsigned int &gt; &amp;indices, unsigned int iterations=100, bool allFree=false, bool allFixedExceptLast=false, unsigned fixed_cams=0)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>keyframeBundleAdjustment</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>a629e5350272e26c54f66cafa80873c1a</anchor>
      <arglist>(cameraParameters &amp;camData, vector&lt; featureTrack &gt; &amp;tracks, keyframeStore &amp;kf_store, cv::Mat *cameras, unsigned int kfIndex, unsigned int iterations=100)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalizeSystem</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>a3576f8ca32a8c0de861ed855d6c62541</anchor>
      <arglist>(SysSBA &amp;sys, double factor=1.0)</arglist>
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    <member kind="function">
      <type>double</type>
      <name>odometryBundleAdjustment</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>af05f01308c612ce01177554b8f465c48</anchor>
      <arglist>(cameraParameters &amp;camData, vector&lt; featureTrack &gt; &amp;tracks, geometry_msgs::PoseStamped *keyframePoses, unsigned int keyframeCount, unsigned int iterations=100, bool debug=false)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>optimizeFullSystem</name>
      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>a934c835e300d095886c0db7a031307ad</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, cameraParameters &amp;camData, cv::Mat *cameras, unsigned int last_index)</arglist>
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    <member kind="function">
      <type>double</type>
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      <anchorfile>sba_8hpp.html</anchorfile>
      <anchor>a9a75f402bdf9c2ce904b60d54ca18818</anchor>
      <arglist>(vector&lt; featureTrack &gt; &amp;tracks, cameraParameters &amp;camData, int idx1, int idx2, cv::Mat *cameras)</arglist>
    </member>
    <member kind="function">
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      <arglist>(const sensor_msgs::ImageConstPtr &amp;msg_ptr, const sensor_msgs::CameraInfoConstPtr &amp;info_msg)</arglist>
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      <arglist>(thermalvis::depthConfig &amp;config, uint32_t level)</arglist>
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      <arglist>(ros::NodeHandle &amp;nh, stereoData startupData)</arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>[256]</arglist>
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      <arglist>[256]</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
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      <arglist></arglist>
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      <name>configData</name>
      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>a1d9061d0057e943546c4ec559ada27b0</anchor>
      <arglist></arglist>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>struct timeval</type>
      <name>cycle_timer</name>
      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>a441d1eabd205421e1b1376b70ce2af24</anchor>
      <arglist></arglist>
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      <name>debug_camera_info</name>
      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>aac10bd2b817162f33765047107ab5dc7</anchor>
      <arglist></arglist>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>afaaaefda2e07c78a99cd8c1788373dd7</anchor>
      <arglist></arglist>
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      <type>char</type>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
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      <arglist>[256]</arglist>
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      <type>Mat</type>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>a797559c3f355363f8bb9336cc034bae7</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Mat</type>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>a8e809f9e9d3524a84db88dbb1d3b0827</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Mat</type>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Mat</type>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>adb0229200ec786d3d7d35a79f2bd9e05</anchor>
      <arglist></arglist>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Mat</type>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>a6ce4c49d2530ee3fe9312b021d8bfc68</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
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      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>adae7f4fa5b9d111c9153a0ddf354b3fb</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Mat</type>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>afd635ef1dec94ba6a2d1bd23110aafc9</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>elapsedTime</name>
      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>a1cb8f8e4bbcfa47c28d86107f8ea2a29</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Mat</type>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>a1046f7298b42205e3b1dd113d255dd05</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>dynamic_reconfigure::Server&lt; thermalvis::depthConfig &gt;::CallbackType</type>
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      <anchor>aa8f1593ba12ef46dad85daf19ca6949d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>bool</type>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
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      <arglist></arglist>
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      <type>bool</type>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>bool</type>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>frameCount</name>
      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>a5f31d3ce6d73cd8e4b9db11fdab9213b</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
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      <name>frameCount_1</name>
      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>a9264c8a524a213ee32374f5fcfbea671</anchor>
      <arglist></arglist>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Mat</type>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>a4b8a25e7f641182766f0659048b8a262</anchor>
      <arglist></arglist>
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      <type>Mat</type>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>a32fd1cd31437c40397b859db50c6bebc</anchor>
      <arglist>[MAXIMUM_FRAMES_TO_STORE]</arglist>
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    <member kind="variable" protection="private">
      <type>Mat</type>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
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      <arglist>[MAXIMUM_FRAMES_TO_STORE]</arglist>
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      <type>bool</type>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>bool</type>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Mat</type>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Mat</type>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>a5c4aaf92bc4e8d1b2bc33396c90c7aaf</anchor>
      <arglist></arglist>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>a6b1062ad8fad62c3072a64995c464e25</anchor>
      <arglist></arglist>
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      <type>Mat</type>
      <name>map12</name>
      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>a8d8fbd128fde1cc6e244359088fbefd7</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Mat</type>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>acd9ef1e21360100987eaa94b5e979b2e</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Mat</type>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>aa4a35d6490fc42c87e848004c216d744</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Mat</type>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>aea0378048f6822d413770245158a616c</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
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      <name>msg_1</name>
      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>a2ddf9c1d47bfd5861951e2f93b6a4fbe</anchor>
      <arglist></arglist>
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      <anchor>a0a84e892da15a6cd32120f62f86bb763</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
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      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>a1701cc46310a86bcda0ce123c9788788</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>string</type>
      <name>nodeName</name>
      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>a8542312ac16b3f2ac4ff53a22cb00ddf</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Mat</type>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>a811a032ff5c43cc43dd1de7fb09f86d2</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>int</type>
      <name>numberOfDisparities</name>
      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>af17c745a27c104737dd7e84af454449b</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Mat</type>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>ac31cfe1446f3871f81b869e87cff4faa</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Mat</type>
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      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>a0e9e2f2db27a986ea2d9fa7cb1ee6844</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Mat</type>
      <name>P0</name>
      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>ad70fc6f2eb35cf45ac6dd91647c2aac7</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Mat</type>
      <name>P1</name>
      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>a2b65b2652c39630bbb5def782fbc7a3c</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>pairsProcessed</name>
      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>a03289c6b4000f88553b717bdaa74afde</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::NodeHandle</type>
      <name>private_node_handle</name>
      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>a9f8503b8baabc94e2a5a3dbc8cc77129</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Mat</type>
      <name>Q1</name>
      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>a4c219c21cc52725f80d1e0f7a3dc01a8</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Mat</type>
      <name>Q2</name>
      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>a0a23c48b13b814d9d69989ccddf863a8</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Mat</type>
      <name>R0</name>
      <anchorfile>classstereoDepthNode.html</anchorfile>
      <anchor>a373d31def3207b55878f36702152e8e5</anchor>
      <arglist></arglist>
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