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1 g2o:·A·general·Framework·for·(Hyper)·Graph·Optimization1 g2o:·A·general·Framework·for·(Hyper)·Graph·Optimization
2 Giorgio·Grisetti,·Rainer·Kümmerle,·Hauke·Strasdat,·Kurt·Konolige2 Giorgio·Grisetti,·Rainer·Kümmerle,·Hauke·Strasdat,·Kurt·Konolige
3 email:·{grisetti,kuemmerl}@informatik.uni-freiburg.de3 email:·{grisetti,kuemmerl}@informatik.uni-freiburg.de
4 strasdat@gmail.com·konolige@willowgarage.com4 strasdat@gmail.com·konolige@willowgarage.com
5 November·6,·20245 December·10,·2025
6 In·this·document·we·describe·a·C++·framework·for·performing·the·optimization·of·nonlinear·least6 In·this·document·we·describe·a·C++·framework·for·performing·the·optimization·of·nonlinear·least
7 squares·problems·that·can·be·embedded·as·a·graph·or·in·a·hyper-graph.·A·hyper-graph·is·an·extension7 squares·problems·that·can·be·embedded·as·a·graph·or·in·a·hyper-graph.·A·hyper-graph·is·an·extension
8 of·a·graph·where·an·edge·can·connect·multiple·nodes·and·not·only·two.·Several·problems·in·robotics·and8 of·a·graph·where·an·edge·can·connect·multiple·nodes·and·not·only·two.·Several·problems·in·robotics·and
9 in·computer·vision·require·to·find·the·optimum·of·an·error·function·with·respect·of·a·set·of·parameters.9 in·computer·vision·require·to·find·the·optimum·of·an·error·function·with·respect·of·a·set·of·parameters.
10 Examples·include,·popular·applications·like·SLAM·and·Bundle·adjustment.10 Examples·include,·popular·applications·like·SLAM·and·Bundle·adjustment.
11 In·the·literature,·many·approaches·have·been·proposed·to·address·this·class·of·problems.·The·naive11 In·the·literature,·many·approaches·have·been·proposed·to·address·this·class·of·problems.·The·naive
12 implementation·of·standard·methods,·like·Levenberg-Marquardt·or·Gauss-Newton·can·lead·to·acceptable12 implementation·of·standard·methods,·like·Levenberg-Marquardt·or·Gauss-Newton·can·lead·to·acceptable
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114 ········['../namespaceinternal.html#a6a5130e68f7fc5e1adb6c132605b56db',·1,·'internal::pcg_axy(const·MatrixType·&A,·const·VectorX·&x,·int·xoff,·VectorX·&y,·int·yoff)']114 ········['../namespaceinternal.html#a6a5130e68f7fc5e1adb6c132605b56db',·1,·'internal::pcg_axy(const·MatrixType·&A,·const·VectorX·&x,·int·xoff,·VectorX·&y,·int·yoff)']
115 ····]],115 ····]],
Offset 120, 16 lines modifiedOffset 120, 16 lines modified
120 ········['../structg2o_1_1HyperDijkstra_1_1TreeAction.html#a2f78bac199af9afea7105f3dd9f2e963',·1,·'g2o::HyperDijkstra::TreeAction::perform(HyperGraph::Vertex·*v,·HyperGraph::Vertex·*vParent,·HyperGraph::Edge·*e,·double·distance)'],120 ········['../structg2o_1_1HyperDijkstra_1_1TreeAction.html#a2f78bac199af9afea7105f3dd9f2e963',·1,·'g2o::HyperDijkstra::TreeAction::perform(HyperGraph::Vertex·*v,·HyperGraph::Vertex·*vParent,·HyperGraph::Edge·*e,·double·distance)'],
121 ········['../structg2o_1_1BackBoneTreeAction.html#a8fb3556794afbe533cf3fde76079e21a',·1,·'g2o::BackBoneTreeAction::perform()'],121 ········['../structg2o_1_1BackBoneTreeAction.html#a8fb3556794afbe533cf3fde76079e21a',·1,·'g2o::BackBoneTreeAction::perform()'],
122 ········['../classg2o_1_1ThetaTreeAction.html#a726610b9bf52b44f03222156e3245f92',·1,·'g2o::ThetaTreeAction::perform()']122 ········['../classg2o_1_1ThetaTreeAction.html#a726610b9bf52b44f03222156e3245f92',·1,·'g2o::ThetaTreeAction::perform()']
123 ····]],123 ····]],
124 ····['performactions_54',·['performActions',·['../structg2o_1_1OptimizableGraph.html#a8acf263f548fd53115b9ab770c57d121',·1,·'g2o::OptimizableGraph']]],124 ····['performactions_54',·['performActions',·['../structg2o_1_1OptimizableGraph.html#a8acf263f548fd53115b9ab770c57d121',·1,·'g2o::OptimizableGraph']]],
125 ····['perm_55',·['perm',·['../structg2o_1_1cholmod_1_1Cholmod_1_1FactorView.html#a685c90a8f113df34e4d5741e06df0a21',·1,·'g2o::cholmod::Cholmod::FactorView']]],125 ····['perm_55',·['perm',·['../structg2o_1_1cholmod_1_1Cholmod_1_1FactorView.html#a685c90a8f113df34e4d5741e06df0a21',·1,·'g2o::cholmod::Cholmod::FactorView']]],
126 ····['permutationmatrix_56',·['PermutationMatrix',·['../classg2o_1_1LinearSolverEigen.html#a8bd78b067016f2864fd734b679261357',·1,·'g2o::LinearSolverEigen']]],126 ····['permutationmatrix_56',·['PermutationMatrix',·['../classg2o_1_1LinearSolverEigen.html#a8bd78b067016f2864fd734b679261357',·1,·'g2o::LinearSolverEigen']]],
127 ····['pimpl_57',·['pimpl',·['../classg2o_1_1csparse_1_1CSparse.html#a84174e73e2e97f13952bd9705a8aa219',·1,·'g2o::csparse::CSparse::pImpl'], 
128 ········['../classg2o_1_1cholmod_1_1Cholmod.html#ac84fb1b31af6051703b861c55b266709',·1,·'g2o::cholmod::Cholmod::pImpl']127 ····['pimpl_57',·['pimpl',·['../classg2o_1_1cholmod_1_1Cholmod.html#ac84fb1b31af6051703b861c55b266709',·1,·'g2o::cholmod::Cholmod::pImpl'],
 128 ········['../classg2o_1_1csparse_1_1CSparse.html#a84174e73e2e97f13952bd9705a8aa219',·1,·'g2o::csparse::CSparse::pImpl']
129 ····]],129 ····]],
130 ····['pinv_58',·['pinv',·['../structg2o_1_1csparse_1_1CSparse_1_1FactorView.html#a187d4151366a7129fb07a655edde584e',·1,·'g2o::csparse::CSparse::FactorView']]],130 ····['pinv_58',·['pinv',·['../structg2o_1_1csparse_1_1CSparse_1_1FactorView.html#a187d4151366a7129fb07a655edde584e',·1,·'g2o::csparse::CSparse::FactorView']]],
131 ····['pl_5fpl_59',·['pl_pl',·['../classg2o_1_1Edge__V__V__GICP.html#a1f94b8235c4406b236a8f02fb518b072',·1,·'g2o::Edge_V_V_GICP']]],131 ····['pl_5fpl_59',·['pl_pl',·['../classg2o_1_1Edge__V__V__GICP.html#a1f94b8235c4406b236a8f02fb518b072',·1,·'g2o::Edge_V_V_GICP']]],
132 ····['plane3d_60',·['plane3d',·['../classg2o_1_1Plane3D.html',·1,·'g2o::Plane3D'],132 ····['plane3d_60',·['plane3d',·['../classg2o_1_1Plane3D.html',·1,·'g2o::Plane3D'],
133 ········['../classg2o_1_1Plane3D.html#ab5f4ba1c44aabec30b7abf7c405d01a2',·1,·'g2o::Plane3D::Plane3D(const·Vector4·&v)'],133 ········['../classg2o_1_1Plane3D.html#ab5f4ba1c44aabec30b7abf7c405d01a2',·1,·'g2o::Plane3D::Plane3D(const·Vector4·&v)'],
134 ········['../classg2o_1_1Plane3D.html#a14f1370787d86001d43306f97f74d4cc',·1,·'g2o::Plane3D::Plane3D()']134 ········['../classg2o_1_1Plane3D.html#a14f1370787d86001d43306f97f74d4cc',·1,·'g2o::Plane3D::Plane3D()']
135 ····]],135 ····]],
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Offset 67, 82 lines modifiedOffset 67, 82 lines modified
67 ········['../classg2o_1_1SBACam.html',·1,·'g2o::SBACam']67 ········['../classg2o_1_1SBACam.html',·1,·'g2o::SBACam']
68 ····]],68 ····]],
69 ····['sbacam_2ecpp_49',·['sbacam.cpp',·['../sbacam_8cpp.html',·1,·'']]],69 ····['sbacam_2ecpp_49',·['sbacam.cpp',·['../sbacam_8cpp.html',·1,·'']]],
70 ····['sbacam_2eh_50',·['sbacam.h',·['../sbacam_8h.html',·1,·'']]],70 ····['sbacam_2eh_50',·['sbacam.h',·['../sbacam_8h.html',·1,·'']]],
71 ····['scalar_51',·['Scalar',·['../structg2o_1_1ceres_1_1Jet.html#a31a2663907ac3f26c38e1ce778ad27da',·1,·'g2o::ceres::Jet']]],71 ····['scalar_51',·['Scalar',·['../structg2o_1_1ceres_1_1Jet.html#a31a2663907ac3f26c38e1ce778ad27da',·1,·'g2o::ceres::Jet']]],
72 ····['scalarbinaryoptraits_3c_20g2o_3a_3aceres_3a_3ajet_3c_20t_2c_20n_20_3e_2c_20t_2c_20binaryop_20_3e_52',·['ScalarBinaryOpTraits<·g2o::ceres::Jet<·T,·N·>,·T,·BinaryOp·>',·['../structEigen_1_1ScalarBinaryOpTraits_3_01g2o_1_1ceres_1_1Jet_3_01T_00_01N_01_4_00_01T_00_01BinaryOp_01_4.html',·1,·'Eigen']]],72 ····['scalarbinaryoptraits_3c_20g2o_3a_3aceres_3a_3ajet_3c_20t_2c_20n_20_3e_2c_20t_2c_20binaryop_20_3e_52',·['ScalarBinaryOpTraits<·g2o::ceres::Jet<·T,·N·>,·T,·BinaryOp·>',·['../structEigen_1_1ScalarBinaryOpTraits_3_01g2o_1_1ceres_1_1Jet_3_01T_00_01N_01_4_00_01T_00_01BinaryOp_01_4.html',·1,·'Eigen']]],
73 ····['scalarbinaryoptraits_3c_20t_2c_20g2o_3a_3aceres_3a_3ajet_3c_20t_2c_20n_20_3e_2c_20binaryop_20_3e_53',·['ScalarBinaryOpTraits<·T,·g2o::ceres::Jet<·T,·N·>,·BinaryOp·>',·['../structEigen_1_1ScalarBinaryOpTraits_3_01T_00_01g2o_1_1ceres_1_1Jet_3_01T_00_01N_01_4_00_01BinaryOp_01_4.html',·1,·'Eigen']]],73 ····['scalarbinaryoptraits_3c_20t_2c_20g2o_3a_3aceres_3a_3ajet_3c_20t_2c_20n_20_3e_2c_20binaryop_20_3e_53',·['ScalarBinaryOpTraits<·T,·g2o::ceres::Jet<·T,·N·>,·BinaryOp·>',·['../structEigen_1_1ScalarBinaryOpTraits_3_01T_00_01g2o_1_1ceres_1_1Jet_3_01T_00_01N_01_4_00_01BinaryOp_01_4.html',·1,·'Eigen']]],
 74 ····['scale_54',·['scale',·['../classg2o_1_1SparseBlockMatrix.html#afbccb3c0404beeba566e21429089e288',·1,·'g2o::SparseBlockMatrix::scale()'],
74 ····['scale_54',·['scale',·['../structg2o_1_1Sim3.html#aed2d0c3bf849e6b7e8da8597ddd93fec',·1,·'g2o::Sim3::scale()'],75 ········['../structg2o_1_1Sim3.html#aed2d0c3bf849e6b7e8da8597ddd93fec',·1,·'g2o::Sim3::scale()'],
75 ········['../structg2o_1_1Sim3.html#aeb50944cf3d78166409db779b3dc0857',·1,·'g2o::Sim3::scale()·const'],76 ········['../structg2o_1_1Sim3.html#aeb50944cf3d78166409db779b3dc0857',·1,·'g2o::Sim3::scale()·const']
76 ········['../classg2o_1_1SparseBlockMatrix.html#afbccb3c0404beeba566e21429089e288',·1,·'g2o::SparseBlockMatrix::scale()'] 
77 ····]],77 ····]],
78 ····['scanner_55',·['scanner',·['../classSlamParser_1_1Scanner.html#a38e363abbf130757a58a21685ff3cf78',·1,·'SlamParser::Scanner::Scanner()'],78 ····['scanner_55',·['scanner',·['../classSlamParser_1_1Scanner.html#a38e363abbf130757a58a21685ff3cf78',·1,·'SlamParser::Scanner::Scanner()'],
79 ········['../classSlamParser_1_1Scanner.html',·1,·'SlamParser::Scanner']79 ········['../classSlamParser_1_1Scanner.html',·1,·'SlamParser::Scanner']
80 ····]],80 ····]],
81 ····['scanner_2eh_56',·['scanner.h',·['../scanner_8h.html',·1,·'']]],81 ····['scanner_2eh_56',·['scanner.h',·['../scanner_8h.html',·1,·'']]],
82 ····['scanner_2el_57',·['scanner.l',·['../scanner_8l.html',·1,·'']]],82 ····['scanner_2el_57',·['scanner.l',·['../scanner_8l.html',·1,·'']]],
83 ····['schur_58',·['schur',·['../classg2o_1_1Solver.html#acc8d6a8ae7847a157d4a2f44aea14c74',·1,·'g2o::Solver::schur()'],83 ····['schur_58',·['schur',·['../classg2o_1_1Solver.html#acc8d6a8ae7847a157d4a2f44aea14c74',·1,·'g2o::Solver::schur()'],
84 ········['../classg2o_1_1BlockSolver.html#a382173946f1dd929a625e3708c959883',·1,·'g2o::BlockSolver::schur()']84 ········['../classg2o_1_1BlockSolver.html#a382173946f1dd929a625e3708c959883',·1,·'g2o::BlockSolver::schur()']
85 ····]],85 ····]],
86 ····['sclam_5fhelpers_2ecpp_59',·['sclam_helpers.cpp',·['../sclam__helpers_8cpp.html',·1,·'']]],86 ····['sclam_5fhelpers_2ecpp_59',·['sclam_helpers.cpp',·['../sclam__helpers_8cpp.html',·1,·'']]],
87 ····['sclam_5fhelpers_2eh_60',·['sclam_helpers.h',·['../sclam__helpers_8h.html',·1,·'']]],87 ····['sclam_5fhelpers_2eh_60',·['sclam_helpers.h',·['../sclam__helpers_8h.html',·1,·'']]],
88 ····['sclam_5flaser_5fcalib_2ecpp_61',·['sclam_laser_calib.cpp',·['../sclam__laser__calib_8cpp.html',·1,·'']]],88 ····['sclam_5flaser_5fcalib_2ecpp_61',·['sclam_laser_calib.cpp',·['../sclam__laser__calib_8cpp.html',·1,·'']]],
89 ····['sclam_5fodom_5flaser_2ecpp_62',·['sclam_odom_laser.cpp',·['../sclam__odom__laser_8cpp.html',·1,·'']]],89 ····['sclam_5fodom_5flaser_2ecpp_62',·['sclam_odom_laser.cpp',·['../sclam__odom__laser_8cpp.html',·1,·'']]],
90 ····['sclam_5fpure_5fcalibration_2ecpp_63',·['sclam_pure_calibration.cpp',·['../sclam__pure__calibration_8cpp.html',·1,·'']]],90 ····['sclam_5fpure_5fcalibration_2ecpp_63',·['sclam_pure_calibration.cpp',·['../sclam__pure__calibration_8cpp.html',·1,·'']]],
 91 ····['scopedopenmpmutex_64',·['scopedopenmpmutex',·['../classg2o_1_1ScopedOpenMPMutex.html',·1,·'g2o::ScopedOpenMPMutex'],
91 ····['scopedopenmpmutex_64',·['scopedopenmpmutex',·['../classg2o_1_1ScopedOpenMPMutex.html#abb18bffae04b138447870b58ab158f56',·1,·'g2o::ScopedOpenMPMutex::ScopedOpenMPMutex(OpenMPMutex·*mutex)'],92 ········['../classg2o_1_1ScopedOpenMPMutex.html#abb18bffae04b138447870b58ab158f56',·1,·'g2o::ScopedOpenMPMutex::ScopedOpenMPMutex(OpenMPMutex·*mutex)'],
92 ········['../classg2o_1_1ScopedOpenMPMutex.html#ab293e6a549bb2a546e53ebd9a1b7c2aa',·1,·'g2o::ScopedOpenMPMutex::ScopedOpenMPMutex(const·ScopedOpenMPMutex·&)'],93 ········['../classg2o_1_1ScopedOpenMPMutex.html#ab293e6a549bb2a546e53ebd9a1b7c2aa',·1,·'g2o::ScopedOpenMPMutex::ScopedOpenMPMutex(const·ScopedOpenMPMutex·&)']
93 ········['../classg2o_1_1ScopedOpenMPMutex.html',·1,·'g2o::ScopedOpenMPMutex'] 
94 ····]],94 ····]],
95 ····['scopedtictoc_65',·['scopedtictoc',·['../classg2o_1_1ScopedTictoc.html',·1,·'g2o::ScopedTictoc'], 
96 ········['../classg2o_1_1ScopedTictoc.html#acf30752a535564621b697325bde9eefd',·1,·'g2o::ScopedTictoc::ScopedTictoc()']95 ····['scopedtictoc_65',·['scopedtictoc',·['../classg2o_1_1ScopedTictoc.html#acf30752a535564621b697325bde9eefd',·1,·'g2o::ScopedTictoc::ScopedTictoc()'],
 96 ········['../classg2o_1_1ScopedTictoc.html',·1,·'g2o::ScopedTictoc']
97 ····]],97 ····]],
98 ····['scopetime_66',·['scopetime',·['../classg2o_1_1ScopeTime.html',·1,·'g2o::ScopeTime'],98 ····['scopetime_66',·['scopetime',·['../classg2o_1_1ScopeTime.html',·1,·'g2o::ScopeTime'],
99 ········['../classg2o_1_1ScopeTime.html#ae9178f069977b767d21e314aab0c3bf2',·1,·'g2o::ScopeTime::ScopeTime()']99 ········['../classg2o_1_1ScopeTime.html#ae9178f069977b767d21e314aab0c3bf2',·1,·'g2o::ScopeTime::ScopeTime()']
100 ····]],100 ····]],
101 ····['se2_67',·['se2',·['../classg2o_1_1SE2.html#a92d3aee802b5d49b22bd7f67a6ff4ab4',·1,·'g2o::SE2::SE2(const·Isometry2·&iso)'], 
102 ········['../classg2o_1_1SE2.html#ad33ddfc2904115df762fb1c80312d1d7',·1,·'g2o::SE2::SE2(double·x,·double·y,·double·theta)'],101 ····['se2_67',·['se2',·['../classg2o_1_1SE2.html#ad33ddfc2904115df762fb1c80312d1d7',·1,·'g2o::SE2::SE2(double·x,·double·y,·double·theta)'],
103 ········['../classg2o_1_1SE2.html#a390c079017e18d64bf730d63b74626ca',·1,·'g2o::SE2::SE2(const·Vector3·&v)'],102 ········['../classg2o_1_1SE2.html#a390c079017e18d64bf730d63b74626ca',·1,·'g2o::SE2::SE2(const·Vector3·&v)'],
104 ········['../classg2o_1_1SE2.html#ad5e573f9e90b1fbe96f3c4dabf3f9043',·1,·'g2o::SE2::SE2()'],103 ········['../classg2o_1_1SE2.html#a92d3aee802b5d49b22bd7f67a6ff4ab4',·1,·'g2o::SE2::SE2(const·Isometry2·&iso)'],
105 ········['../classg2o_1_1tutorial_1_1SE2.html#a67109ff4cf27ba7d508ca061c077fa90',·1,·'g2o::tutorial::SE2::SE2(double·x,·double·y,·double·theta)'],104 ········['../classg2o_1_1tutorial_1_1SE2.html#a67109ff4cf27ba7d508ca061c077fa90',·1,·'g2o::tutorial::SE2::SE2()'],
106 ········['../classg2o_1_1tutorial_1_1SE2.html#a985ce2e76050d300002c0828696b7ed0',·1,·'g2o::tutorial::SE2::SE2()'], 
107 ········['../classg2o_1_1SE2.html',·1,·'g2o::SE2'],105 ········['../classg2o_1_1SE2.html',·1,·'g2o::SE2'],
108 ········['../classg2o_1_1tutorial_1_1SE2.html',·1,·'g2o::tutorial::SE2']106 ········['../classg2o_1_1tutorial_1_1SE2.html',·1,·'g2o::tutorial::SE2'],
 107 ········['../classg2o_1_1tutorial_1_1SE2.html#a985ce2e76050d300002c0828696b7ed0',·1,·'g2o::tutorial::SE2::SE2()'],
 108 ········['../classg2o_1_1SE2.html#ad5e573f9e90b1fbe96f3c4dabf3f9043',·1,·'g2o::SE2::SE2()']
109 ····]],109 ····]],
110 ····['se2_2eh_68',·['se2.h',·['../examples_2tutorial__slam2d_2se2_8h.html',·1,·'(Global·Namespace)'],110 ····['se2_2eh_68',·['se2.h',·['../types_2slam2d_2se2_8h.html',·1,·'(Global·Namespace)'],
111 ········['../types_2slam2d_2se2_8h.html',·1,·'(Global·Namespace)']111 ········['../examples_2tutorial__slam2d_2se2_8h.html',·1,·'(Global·Namespace)']
112 ····]],112 ····]],
113 ····['se3_5fops_2eh_69',·['se3_ops.h',·['../se3__ops_8h.html',·1,·'']]],113 ····['se3_5fops_2eh_69',·['se3_ops.h',·['../se3__ops_8h.html',·1,·'']]],
114 ····['se3_5fops_2ehpp_70',·['se3_ops.hpp',·['../se3__ops_8hpp.html',·1,·'']]],114 ····['se3_5fops_2ehpp_70',·['se3_ops.hpp',·['../se3__ops_8hpp.html',·1,·'']]],
115 ····['se3quat_71',·['se3quat',·['../classg2o_1_1SE3Quat.html#a685de01e417e01f84d5b8389e5f5f333',·1,·'g2o::SE3Quat::SE3Quat()'],115 ····['se3quat_71',·['se3quat',·['../classg2o_1_1SE3Quat.html#a685de01e417e01f84d5b8389e5f5f333',·1,·'g2o::SE3Quat::SE3Quat()'],
116 ········['../classg2o_1_1SE3Quat.html#a953991e88bc4e42fb77b6cfe70b57344',·1,·'g2o::SE3Quat::SE3Quat(const·Matrix3·&R,·const·Vector3·&t)'],116 ········['../classg2o_1_1SE3Quat.html#a953991e88bc4e42fb77b6cfe70b57344',·1,·'g2o::SE3Quat::SE3Quat(const·Matrix3·&R,·const·Vector3·&t)'],
117 ········['../classg2o_1_1SE3Quat.html#a30038f537c9edff568d75d7bc5eb45b7',·1,·'g2o::SE3Quat::SE3Quat(const·Quaternion·&q,·const·Vector3·&t)'],117 ········['../classg2o_1_1SE3Quat.html#a30038f537c9edff568d75d7bc5eb45b7',·1,·'g2o::SE3Quat::SE3Quat(const·Quaternion·&q,·const·Vector3·&t)'],
118 ········['../classg2o_1_1SE3Quat.html#aa7b8537dd6080fb928bb9e551dcbbdc7',·1,·'g2o::SE3Quat::SE3Quat(const·Eigen::MatrixBase<·Derived·>·&v)'],118 ········['../classg2o_1_1SE3Quat.html#aa7b8537dd6080fb928bb9e551dcbbdc7',·1,·'g2o::SE3Quat::SE3Quat(const·Eigen::MatrixBase<·Derived·>·&v)'],
119 ········['../classg2o_1_1SE3Quat.html',·1,·'g2o::SE3Quat']119 ········['../classg2o_1_1SE3Quat.html',·1,·'g2o::SE3Quat']
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113 ····['vertex_5ftag_2ecpp_62',·['vertex_tag.cpp',·['../vertex__tag_8cpp.html',·1,·'']]],113 ····['vertex_5ftag_2ecpp_62',·['vertex_tag.cpp',·['../vertex__tag_8cpp.html',·1,·'']]],
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115 ····['vertexbaseline_64',·['vertexbaseline',·['../classVertexBaseline.html#ab51f1ef07d02f94e7dd9ff98f06d0cca',·1,·'VertexBaseline::VertexBaseline()'],116 ········['../classVertexBaseline.html#ab51f1ef07d02f94e7dd9ff98f06d0cca',·1,·'VertexBaseline::VertexBaseline()']
116 ········['../classVertexBaseline.html',·1,·'VertexBaseline'] 
117 ····]],117 ····]],
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118 ····['vertexcam_65',·['vertexcam',·['../classg2o_1_1VertexCam.html#a831d3545bc2713f59e45b3da1ad47d77',·1,·'g2o::VertexCam::VertexCam()'],119 ········['../classg2o_1_1VertexCam.html#a831d3545bc2713f59e45b3da1ad47d77',·1,·'g2o::VertexCam::VertexCam()']
119 ········['../classg2o_1_1VertexCam.html',·1,·'g2o::VertexCam'] 
120 ····]],120 ····]],
121 ····['vertexcamerabal_66',·['vertexcamerabal',·['../classVertexCameraBAL.html',·1,·'VertexCameraBAL'],121 ····['vertexcamerabal_66',·['vertexcamerabal',·['../classVertexCameraBAL.html',·1,·'VertexCameraBAL'],
122 ········['../classVertexCameraBAL.html#aa3b8e01335af054a13f0834d9a389cea',·1,·'VertexCameraBAL::VertexCameraBAL()']122 ········['../classVertexCameraBAL.html#aa3b8e01335af054a13f0834d9a389cea',·1,·'VertexCameraBAL::VertexCameraBAL()']
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124 ····['vertexcircle_67',·['vertexcircle',·['../classVertexCircle.html',·1,·'VertexCircle'],124 ····['vertexcircle_67',·['vertexcircle',·['../classVertexCircle.html',·1,·'VertexCircle'],
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46 ····['edge_5fproject_5fxyz_5fonlypose_2ecpp_36',·['edge_project_xyz_onlypose.cpp',·['../edge__project__xyz__onlypose_8cpp.html',·1,·'']]],46 ····['edge_5fproject_5fxyz_5fonlypose_2ecpp_36',·['edge_project_xyz_onlypose.cpp',·['../edge__project__xyz__onlypose_8cpp.html',·1,·'']]],
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48 ····['edge_5fsba_5fcam_2ecpp_38',·['edge_sba_cam.cpp',·['../edge__sba__cam_8cpp.html',·1,·'']]],48 ····['edge_5fsba_5fcam_2ecpp_38',·['edge_sba_cam.cpp',·['../edge__sba__cam_8cpp.html',·1,·'']]],
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50 ····['edge_5fsba_5fscale_2ecpp_40',·['edge_sba_scale.cpp',·['../edge__sba__scale_8cpp.html',·1,·'']]],50 ····['edge_5fsba_5fscale_2ecpp_40',·['edge_sba_scale.cpp',·['../edge__sba__scale_8cpp.html',·1,·'']]],
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60 ····['edge_5fse2_5flotsofxy_2ecpp_46',·['edge_se2_lotsofxy.cpp',·['../edge__se2__lotsofxy_8cpp.html',·1,·'']]],60 ····['edge_5fse2_5flotsofxy_2ecpp_46',·['edge_se2_lotsofxy.cpp',·['../edge__se2__lotsofxy_8cpp.html',·1,·'']]],
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