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| 1 | g2o:·A·general·Framework·for·(Hyper)·Graph·Optimization | 1 | g2o:·A·general·Framework·for·(Hyper)·Graph·Optimization |
| 2 | Giorgio·Grisetti,·Rainer·Kümmerle,·Hauke·Strasdat,·Kurt·Konolige | 2 | Giorgio·Grisetti,·Rainer·Kümmerle,·Hauke·Strasdat,·Kurt·Konolige |
| 3 | email:·{grisetti,kuemmerl}@informatik.uni-freiburg.de | 3 | email:·{grisetti,kuemmerl}@informatik.uni-freiburg.de |
| 4 | strasdat@gmail.com·konolige@willowgarage.com | 4 | strasdat@gmail.com·konolige@willowgarage.com |
| 5 | 5 | April·1,·2024 | |
| 6 | In·this·document·we·describe·a·C++·framework·for·performing·the·optimization·of·nonlinear·least | 6 | 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·extension | 7 | 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·and | 8 | 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·naive | 11 | 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·acceptable | 12 | implementation·of·standard·methods,·like·Levenberg-Marquardt·or·Gauss-Newton·can·lead·to·acceptable |
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| 70 | ····['sbacam_2eh_50',·['sbacam.h',·['../sbacam_8h.html',·1,·'']]], | 70 | ····['sbacam_2eh_50',·['sbacam.h',·['../sbacam_8h.html',·1,·'']]], |
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| 98 | ····['vertex_5fpointxyz_2eh_51',·['vertex_pointxyz.h',·['../vertex__pointxyz_8h.html',·1,·'']]], | 98 | ····['vertex_5fpointxyz_2eh_51',·['vertex_pointxyz.h',·['../vertex__pointxyz_8h.html',·1,·'']]], |
| 99 | ····['vertex_5fse2_2ecpp_52',·['vertex_se2.cpp',·['../types_2slam2d_2vertex__se2_8cpp.html',·1,·'(Global·Namespace)'], | 99 | ····['vertex_5fse2_2ecpp_52',·['vertex_se2.cpp',·['../types_2slam2d_2vertex__se2_8cpp.html',·1,·'(Global·Namespace)'], |
| 100 | ········['../examples_2tutorial__slam2d_2vertex__se2_8cpp.html',·1,·'(Global·Namespace)'] | 100 | ········['../examples_2tutorial__slam2d_2vertex__se2_8cpp.html',·1,·'(Global·Namespace)'] |
| 101 | ····]], | 101 | ····]], |
| 102 | ····['vertex_5fse2_2eh_53',·['vertex_se2.h',·['../ | 102 | ····['vertex_5fse2_2eh_53',·['vertex_se2.h',·['../examples_2tutorial__slam2d_2vertex__se2_8h.html',·1,·'(Global·Namespace)'], |
| 103 | ········['../ | 103 | ········['../types_2slam2d_2vertex__se2_8h.html',·1,·'(Global·Namespace)'] |
| 104 | ····]], | 104 | ····]], |
| 105 | ····['vertex_5fse3_2ecpp_54',·['vertex_se3.cpp',·['../vertex__se3_8cpp.html',·1,·'']]], | 105 | ····['vertex_5fse3_2ecpp_54',·['vertex_se3.cpp',·['../vertex__se3_8cpp.html',·1,·'']]], |
| 106 | ····['vertex_5fse3_2eh_55',·['vertex_se3.h',·['../vertex__se3_8h.html',·1,·'']]], | 106 | ····['vertex_5fse3_2eh_55',·['vertex_se3.h',·['../vertex__se3_8h.html',·1,·'']]], |
| 107 | ····['vertex_5fse3_5feuler_2ecpp_56',·['vertex_se3_euler.cpp',·['../vertex__se3__euler_8cpp.html',·1,·'']]], | 107 | ····['vertex_5fse3_5feuler_2ecpp_56',·['vertex_se3_euler.cpp',·['../vertex__se3__euler_8cpp.html',·1,·'']]], |
| 108 | ····['vertex_5fse3_5feuler_2eh_57',·['vertex_se3_euler.h',·['../vertex__se3__euler_8h.html',·1,·'']]], | 108 | ····['vertex_5fse3_5feuler_2eh_57',·['vertex_se3_euler.h',·['../vertex__se3__euler_8h.html',·1,·'']]], |
| 109 | ····['vertex_5fse3_5fexpmap_2ecpp_58',·['vertex_se3_expmap.cpp',·['../vertex__se3__expmap_8cpp.html',·1,·'']]], | 109 | ····['vertex_5fse3_5fexpmap_2ecpp_58',·['vertex_se3_expmap.cpp',·['../vertex__se3__expmap_8cpp.html',·1,·'']]], |
| 110 | ····['vertex_5fse3_5fexpmap_2eh_59',·['vertex_se3_expmap.h',·['../vertex__se3__expmap_8h.html',·1,·'']]], | 110 | ····['vertex_5fse3_5fexpmap_2eh_59',·['vertex_se3_expmap.h',·['../vertex__se3__expmap_8h.html',·1,·'']]], |
| 111 | ····['vertex_5fsegment2d_2ecpp_60',·['vertex_segment2d.cpp',·['../vertex__segment2d_8cpp.html',·1,·'']]], | 111 | ····['vertex_5fsegment2d_2ecpp_60',·['vertex_segment2d.cpp',·['../vertex__segment2d_8cpp.html',·1,·'']]], |
| 112 | ····['vertex_5fsegment2d_2eh_61',·['vertex_segment2d.h',·['../vertex__segment2d_8h.html',·1,·'']]], | 112 | ····['vertex_5fsegment2d_2eh_61',·['vertex_segment2d.h',·['../vertex__segment2d_8h.html',·1,·'']]], |
| 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,·'']]], |
| 114 | ····['vertex_5ftag_2eh_63',·['vertex_tag.h',·['../vertex__tag_8h.html',·1,·'']]], | 114 | ····['vertex_5ftag_2eh_63',·['vertex_tag.h',·['../vertex__tag_8h.html',·1,·'']]], |
| 115 | ····['vertexbaseline_64',·['vertexbaseline',·['../classVertexBaseline.html',·1,·'VertexBaseline'], | ||
| 116 | ····· | 115 | ····['vertexbaseline_64',·['vertexbaseline',·['../classVertexBaseline.html#ab51f1ef07d02f94e7dd9ff98f06d0cca',·1,·'VertexBaseline::VertexBaseline()'], |
| 116 | ········['../classVertexBaseline.html',·1,·'VertexBaseline'] | ||
| 117 | ····]], | 117 | ····]], |
| 118 | ····['vertexcam_65',·['vertexcam',·['../classg2o_1_1VertexCam.html',·1,·'g2o::VertexCam'], | ||
| 119 | ····· | 118 | ····['vertexcam_65',·['vertexcam',·['../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()'] |
| 123 | ····]], | 123 | ····]], |
| 124 | ····['vertexcircle_67',·['vertexcircle',·['../classVertexCircle.html',·1,·'VertexCircle'], | 124 | ····['vertexcircle_67',·['vertexcircle',·['../classVertexCircle.html',·1,·'VertexCircle'], |
| 125 | ········['../classVertexCircle.html#a5ede13f80380282d16696c32ce716692',·1,·'VertexCircle::VertexCircle()'] | 125 | ········['../classVertexCircle.html#a5ede13f80380282d16696c32ce716692',·1,·'VertexCircle::VertexCircle()'] |
| 126 | ····]], | 126 | ····]], |
| Offset 45, 33 lines modified | Offset 45, 33 lines modified | ||
| 45 | ····['edge_5fproject_5fxyz2uvu_2eh_35',·['edge_project_xyz2uvu.h',·['../edge__project__xyz2uvu_8h.html',·1,·'']]], | 45 | ····['edge_5fproject_5fxyz2uvu_2eh_35',·['edge_project_xyz2uvu.h',·['../edge__project__xyz2uvu_8h.html',·1,·'']]], |
| 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,·'']]], |
| 47 | ····['edge_5fproject_5fxyz_5fonlypose_2eh_37',·['edge_project_xyz_onlypose.h',·['../edge__project__xyz__onlypose_8h.html',·1,·'']]], | 47 | ····['edge_5fproject_5fxyz_5fonlypose_2eh_37',·['edge_project_xyz_onlypose.h',·['../edge__project__xyz__onlypose_8h.html',·1,·'']]], |
| 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,·'']]], |
| 49 | ····['edge_5fsba_5fcam_2eh_39',·['edge_sba_cam.h',·['../edge__sba__cam_8h.html',·1,·'']]], | 49 | ····['edge_5fsba_5fcam_2eh_39',·['edge_sba_cam.h',·['../edge__sba__cam_8h.html',·1,·'']]], |
| 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,·'']]], |
| 51 | ····['edge_5fsba_5fscale_2eh_41',·['edge_sba_scale.h',·['../edge__sba__scale_8h.html',·1,·'']]], | 51 | ····['edge_5fsba_5fscale_2eh_41',·['edge_sba_scale.h',·['../edge__sba__scale_8h.html',·1,·'']]], |
| 52 | ····['edge_5fse2_2ecpp_42',·['edge_se2.cpp',·['../ | 52 | ····['edge_5fse2_2ecpp_42',·['edge_se2.cpp',·['../examples_2tutorial__slam2d_2edge__se2_8cpp.html',·1,·'(Global·Namespace)'], |
| 53 | ········['../ | 53 | ········['../types_2slam2d_2edge__se2_8cpp.html',·1,·'(Global·Namespace)'] |
| 54 | ····]], | 54 | ····]], |
| 55 | ····['edge_5fse2_2eh_43',·['edge_se2.h',·['../ | 55 | ····['edge_5fse2_2eh_43',·['edge_se2.h',·['../types_2slam2d_2edge__se2_8h.html',·1,·'(Global·Namespace)'], |
| 56 | ········['../ | 56 | ········['../examples_2tutorial__slam2d_2edge__se2_8h.html',·1,·'(Global·Namespace)'] |
| 57 | ····]], | 57 | ····]], |
| 58 | ····['edge_5fse2_5fline2d_2ecpp_44',·['edge_se2_line2d.cpp',·['../edge__se2__line2d_8cpp.html',·1,·'']]], | 58 | ····['edge_5fse2_5fline2d_2ecpp_44',·['edge_se2_line2d.cpp',·['../edge__se2__line2d_8cpp.html',·1,·'']]], |
| 59 | ····['edge_5fse2_5fline2d_2eh_45',·['edge_se2_line2d.h',·['../edge__se2__line2d_8h.html',·1,·'']]], | 59 | ····['edge_5fse2_5fline2d_2eh_45',·['edge_se2_line2d.h',·['../edge__se2__line2d_8h.html',·1,·'']]], |
| 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,·'']]], |
| 61 | ····['edge_5fse2_5flotsofxy_2eh_47',·['edge_se2_lotsofxy.h',·['../edge__se2__lotsofxy_8h.html',·1,·'']]], | 61 | ····['edge_5fse2_5flotsofxy_2eh_47',·['edge_se2_lotsofxy.h',·['../edge__se2__lotsofxy_8h.html',·1,·'']]], |
| 62 | ····['edge_5fse2_5fodom_5fdifferential_5fcalib_2ecpp_48',·['edge_se2_odom_differential_calib.cpp',·['../edge__se2__odom__differential__calib_8cpp.html',·1,·'']]], | 62 | ····['edge_5fse2_5fodom_5fdifferential_5fcalib_2ecpp_48',·['edge_se2_odom_differential_calib.cpp',·['../edge__se2__odom__differential__calib_8cpp.html',·1,·'']]], |
| 63 | ····['edge_5fse2_5fodom_5fdifferential_5fcalib_2eh_49',·['edge_se2_odom_differential_calib.h',·['../edge__se2__odom__differential__calib_8h.html',·1,·'']]], | 63 | ····['edge_5fse2_5fodom_5fdifferential_5fcalib_2eh_49',·['edge_se2_odom_differential_calib.h',·['../edge__se2__odom__differential__calib_8h.html',·1,·'']]], |
| 64 | ····['edge_5fse2_5foffset_2ecpp_50',·['edge_se2_offset.cpp',·['../edge__se2__offset_8cpp.html',·1,·'']]], | 64 | ····['edge_5fse2_5foffset_2ecpp_50',·['edge_se2_offset.cpp',·['../edge__se2__offset_8cpp.html',·1,·'']]], |
| 65 | ····['edge_5fse2_5foffset_2eh_51',·['edge_se2_offset.h',·['../edge__se2__offset_8h.html',·1,·'']]], | 65 | ····['edge_5fse2_5foffset_2eh_51',·['edge_se2_offset.h',·['../edge__se2__offset_8h.html',·1,·'']]], |
| 66 | ····['edge_5fse2_5fpointxy_2ecpp_52',·['edge_se2_pointxy.cpp',·['../examples_2tutorial__slam2d_2edge__se2__pointxy_8cpp.html',·1,·'(Global·Namespace)'], | 66 | ····['edge_5fse2_5fpointxy_2ecpp_52',·['edge_se2_pointxy.cpp',·['../examples_2tutorial__slam2d_2edge__se2__pointxy_8cpp.html',·1,·'(Global·Namespace)'], |
| 67 | ········['../types_2slam2d_2edge__se2__pointxy_8cpp.html',·1,·'(Global·Namespace)'] | 67 | ········['../types_2slam2d_2edge__se2__pointxy_8cpp.html',·1,·'(Global·Namespace)'] |
| 68 | ····]], | 68 | ····]], |
| 69 | ····['edge_5fse2_5fpointxy_2eh_53',·['edge_se2_pointxy.h',·['../ | 69 | ····['edge_5fse2_5fpointxy_2eh_53',·['edge_se2_pointxy.h',·['../types_2slam2d_2edge__se2__pointxy_8h.html',·1,·'(Global·Namespace)'], |
| 70 | ········['../ | 70 | ········['../examples_2tutorial__slam2d_2edge__se2__pointxy_8h.html',·1,·'(Global·Namespace)'] |
| 71 | ····]], | 71 | ····]], |
| 72 | ····['edge_5fse2_5fpointxy_5fbearing_2ecpp_54',·['edge_se2_pointxy_bearing.cpp',·['../edge__se2__pointxy__bearing_8cpp.html',·1,·'']]], | 72 | ····['edge_5fse2_5fpointxy_5fbearing_2ecpp_54',·['edge_se2_pointxy_bearing.cpp',·['../edge__se2__pointxy__bearing_8cpp.html',·1,·'']]], |
| 73 | ····['edge_5fse2_5fpointxy_5fbearing_2eh_55',·['edge_se2_pointxy_bearing.h',·['../edge__se2__pointxy__bearing_8h.html',·1,·'']]], | 73 | ····['edge_5fse2_5fpointxy_5fbearing_2eh_55',·['edge_se2_pointxy_bearing.h',·['../edge__se2__pointxy__bearing_8h.html',·1,·'']]], |
| 74 | ····['edge_5fse2_5fpointxy_5fcalib_2ecpp_56',·['edge_se2_pointxy_calib.cpp',·['../edge__se2__pointxy__calib_8cpp.html',·1,·'']]], | 74 | ····['edge_5fse2_5fpointxy_5fcalib_2ecpp_56',·['edge_se2_pointxy_calib.cpp',·['../edge__se2__pointxy__calib_8cpp.html',·1,·'']]], |
| 75 | ····['edge_5fse2_5fpointxy_5fcalib_2eh_57',·['edge_se2_pointxy_calib.h',·['../edge__se2__pointxy__calib_8h.html',·1,·'']]], | 75 | ····['edge_5fse2_5fpointxy_5fcalib_2eh_57',·['edge_se2_pointxy_calib.h',·['../edge__se2__pointxy__calib_8h.html',·1,·'']]], |
| 76 | ····['edge_5fse2_5fpointxy_5foffset_2ecpp_58',·['edge_se2_pointxy_offset.cpp',·['../edge__se2__pointxy__offset_8cpp.html',·1,·'']]], | 76 | ····['edge_5fse2_5fpointxy_5foffset_2ecpp_58',·['edge_se2_pointxy_offset.cpp',·['../edge__se2__pointxy__offset_8cpp.html',·1,·'']]], |
| 77 | ····['edge_5fse2_5fpointxy_5foffset_2eh_59',·['edge_se2_pointxy_offset.h',·['../edge__se2__pointxy__offset_8h.html',·1,·'']]], | 77 | ····['edge_5fse2_5fpointxy_5foffset_2eh_59',·['edge_se2_pointxy_offset.h',·['../edge__se2__pointxy__offset_8h.html',·1,·'']]], |
| Offset 10, 27 lines modified | Offset 10, 27 lines modified | ||
| 10 | ····['vertex_5fline2d_2eh_8',·['vertex_line2d.h',·['../vertex__line2d_8h.html',·1,·'']]], | 10 | ····['vertex_5fline2d_2eh_8',·['vertex_line2d.h',·['../vertex__line2d_8h.html',·1,·'']]], |
| 11 | ····['vertex_5fline3d_2ecpp_9',·['vertex_line3d.cpp',·['../vertex__line3d_8cpp.html',·1,·'']]], | 11 | ····['vertex_5fline3d_2ecpp_9',·['vertex_line3d.cpp',·['../vertex__line3d_8cpp.html',·1,·'']]], |
| 12 | ····['vertex_5fline3d_2eh_10',·['vertex_line3d.h',·['../vertex__line3d_8h.html',·1,·'']]], | 12 | ····['vertex_5fline3d_2eh_10',·['vertex_line3d.h',·['../vertex__line3d_8h.html',·1,·'']]], |
| 13 | ····['vertex_5fodom_5fdifferential_5fparams_2ecpp_11',·['vertex_odom_differential_params.cpp',·['../vertex__odom__differential__params_8cpp.html',·1,·'']]], | 13 | ····['vertex_5fodom_5fdifferential_5fparams_2ecpp_11',·['vertex_odom_differential_params.cpp',·['../vertex__odom__differential__params_8cpp.html',·1,·'']]], |
| 14 | ····['vertex_5fodom_5fdifferential_5fparams_2eh_12',·['vertex_odom_differential_params.h',·['../vertex__odom__differential__params_8h.html',·1,·'']]], | 14 | ····['vertex_5fodom_5fdifferential_5fparams_2eh_12',·['vertex_odom_differential_params.h',·['../vertex__odom__differential__params_8h.html',·1,·'']]], |
| 15 | ····['vertex_5fplane_2ecpp_13',·['vertex_plane.cpp',·['../vertex__plane_8cpp.html',·1,·'']]], | 15 | ····['vertex_5fplane_2ecpp_13',·['vertex_plane.cpp',·['../vertex__plane_8cpp.html',·1,·'']]], |
| 16 | ····['vertex_5fplane_2eh_14',·['vertex_plane.h',·['../vertex__plane_8h.html',·1,·'']]], | 16 | ····['vertex_5fplane_2eh_14',·['vertex_plane.h',·['../vertex__plane_8h.html',·1,·'']]], |
| 17 | ····['vertex_5fpoint_5fxy_2ecpp_15',·['vertex_point_xy.cpp',·['../ | 17 | ····['vertex_5fpoint_5fxy_2ecpp_15',·['vertex_point_xy.cpp',·['../examples_2tutorial__slam2d_2vertex__point__xy_8cpp.html',·1,·'(Global·Namespace)'], |
| 18 | ········['../ | 18 | ········['../types_2slam2d_2vertex__point__xy_8cpp.html',·1,·'(Global·Namespace)'] |
| 19 | ····]], | 19 | ····]], |
| 20 | ····['vertex_5fpoint_5fxy_2eh_16',·['vertex_point_xy.h',·['../ | 20 | ····['vertex_5fpoint_5fxy_2eh_16',·['vertex_point_xy.h',·['../examples_2tutorial__slam2d_2vertex__point__xy_8h.html',·1,·'(Global·Namespace)'], |
| 21 | ········['../ | 21 | ········['../types_2slam2d_2vertex__point__xy_8h.html',·1,·'(Global·Namespace)'] |
| 22 | ····]], | 22 | ····]], |
| 23 | ····['vertex_5fpointxyz_2ecpp_17',·['vertex_pointxyz.cpp',·['../vertex__pointxyz_8cpp.html',·1,·'']]], | 23 | ····['vertex_5fpointxyz_2ecpp_17',·['vertex_pointxyz.cpp',·['../vertex__pointxyz_8cpp.html',·1,·'']]], |
| 24 | ····['vertex_5fpointxyz_2eh_18',·['vertex_pointxyz.h',·['../vertex__pointxyz_8h.html',·1,·'']]], | 24 | ····['vertex_5fpointxyz_2eh_18',·['vertex_pointxyz.h',·['../vertex__pointxyz_8h.html',·1,·'']]], |
| 25 | ····['vertex_5fse2_2ecpp_19',·['vertex_se2.cpp',·['../types_2slam2d_2vertex__se2_8cpp.html',·1,·'(Global·Namespace)'], | 25 | ····['vertex_5fse2_2ecpp_19',·['vertex_se2.cpp',·['../types_2slam2d_2vertex__se2_8cpp.html',·1,·'(Global·Namespace)'], |
| 26 | ········['../examples_2tutorial__slam2d_2vertex__se2_8cpp.html',·1,·'(Global·Namespace)'] | 26 | ········['../examples_2tutorial__slam2d_2vertex__se2_8cpp.html',·1,·'(Global·Namespace)'] |
| 27 | ····]], | 27 | ····]], |
| 28 | ····['vertex_5fse2_2eh_20',·['vertex_se2.h',·['../ | 28 | ····['vertex_5fse2_2eh_20',·['vertex_se2.h',·['../examples_2tutorial__slam2d_2vertex__se2_8h.html',·1,·'(Global·Namespace)'], |
| 29 | ········['../ | 29 | ········['../types_2slam2d_2vertex__se2_8h.html',·1,·'(Global·Namespace)'] |
| 30 | ····]], | 30 | ····]], |
| 31 | ····['vertex_5fse3_2ecpp_21',·['vertex_se3.cpp',·['../vertex__se3_8cpp.html',·1,·'']]], | 31 | ····['vertex_5fse3_2ecpp_21',·['vertex_se3.cpp',·['../vertex__se3_8cpp.html',·1,·'']]], |
| 32 | ····['vertex_5fse3_2eh_22',·['vertex_se3.h',·['../vertex__se3_8h.html',·1,·'']]], | 32 | ····['vertex_5fse3_2eh_22',·['vertex_se3.h',·['../vertex__se3_8h.html',·1,·'']]], |
| 33 | ····['vertex_5fse3_5feuler_2ecpp_23',·['vertex_se3_euler.cpp',·['../vertex__se3__euler_8cpp.html',·1,·'']]], | 33 | ····['vertex_5fse3_5feuler_2ecpp_23',·['vertex_se3_euler.cpp',·['../vertex__se3__euler_8cpp.html',·1,·'']]], |
| 34 | ····['vertex_5fse3_5feuler_2eh_24',·['vertex_se3_euler.h',·['../vertex__se3__euler_8h.html',·1,·'']]], | 34 | ····['vertex_5fse3_5feuler_2eh_24',·['vertex_se3_euler.h',·['../vertex__se3__euler_8h.html',·1,·'']]], |
| 35 | ····['vertex_5fse3_5fexpmap_2ecpp_25',·['vertex_se3_expmap.cpp',·['../vertex__se3__expmap_8cpp.html',·1,·'']]], | 35 | ····['vertex_5fse3_5fexpmap_2ecpp_25',·['vertex_se3_expmap.cpp',·['../vertex__se3__expmap_8cpp.html',·1,·'']]], |
| 36 | ····['vertex_5fse3_5fexpmap_2eh_26',·['vertex_se3_expmap.h',·['../vertex__se3__expmap_8h.html',·1,·'']]], | 36 | ····['vertex_5fse3_5fexpmap_2eh_26',·['vertex_se3_expmap.h',·['../vertex__se3__expmap_8h.html',·1,·'']]], |
| Offset 31, 30 lines modified | Offset 31, 30 lines modified | ||
| 31 | ····['edge_5fproject_5fxyz2uvu_2eh_29',·['edge_project_xyz2uvu.h',·['../edge__project__xyz2uvu_8h.html',·1,·'']]], | 31 | ····['edge_5fproject_5fxyz2uvu_2eh_29',·['edge_project_xyz2uvu.h',·['../edge__project__xyz2uvu_8h.html',·1,·'']]], |
| 32 | ····['edge_5fproject_5fxyz_5fonlypose_2ecpp_30',·['edge_project_xyz_onlypose.cpp',·['../edge__project__xyz__onlypose_8cpp.html',·1,·'']]], | 32 | ····['edge_5fproject_5fxyz_5fonlypose_2ecpp_30',·['edge_project_xyz_onlypose.cpp',·['../edge__project__xyz__onlypose_8cpp.html',·1,·'']]], |
| 33 | ····['edge_5fproject_5fxyz_5fonlypose_2eh_31',·['edge_project_xyz_onlypose.h',·['../edge__project__xyz__onlypose_8h.html',·1,·'']]], | 33 | ····['edge_5fproject_5fxyz_5fonlypose_2eh_31',·['edge_project_xyz_onlypose.h',·['../edge__project__xyz__onlypose_8h.html',·1,·'']]], |
| 34 | ····['edge_5fsba_5fcam_2ecpp_32',·['edge_sba_cam.cpp',·['../edge__sba__cam_8cpp.html',·1,·'']]], | 34 | ····['edge_5fsba_5fcam_2ecpp_32',·['edge_sba_cam.cpp',·['../edge__sba__cam_8cpp.html',·1,·'']]], |
| 35 | ····['edge_5fsba_5fcam_2eh_33',·['edge_sba_cam.h',·['../edge__sba__cam_8h.html',·1,·'']]], | 35 | ····['edge_5fsba_5fcam_2eh_33',·['edge_sba_cam.h',·['../edge__sba__cam_8h.html',·1,·'']]], |
| 36 | ····['edge_5fsba_5fscale_2ecpp_34',·['edge_sba_scale.cpp',·['../edge__sba__scale_8cpp.html',·1,·'']]], | 36 | ····['edge_5fsba_5fscale_2ecpp_34',·['edge_sba_scale.cpp',·['../edge__sba__scale_8cpp.html',·1,·'']]], |
| 37 | ····['edge_5fsba_5fscale_2eh_35',·['edge_sba_scale.h',·['../edge__sba__scale_8h.html',·1,·'']]], | 37 | ····['edge_5fsba_5fscale_2eh_35',·['edge_sba_scale.h',·['../edge__sba__scale_8h.html',·1,·'']]], |
| 38 | ····['edge_5fse2_2ecpp_36',·['edge_se2.cpp',·['../ | 38 | ····['edge_5fse2_2ecpp_36',·['edge_se2.cpp',·['../examples_2tutorial__slam2d_2edge__se2_8cpp.html',·1,·'(Global·Namespace)'], |
| 39 | ········['../ | 39 | ········['../types_2slam2d_2edge__se2_8cpp.html',·1,·'(Global·Namespace)'] |
| 40 | ····]], | 40 | ····]], |
| 41 | ····['edge_5fse2_2eh_37',·['edge_se2.h',·['../types_2slam2d_2edge__se2_8h.html',·1,·'(Global·Namespace)'], | 41 | ····['edge_5fse2_2eh_37',·['edge_se2.h',·['../types_2slam2d_2edge__se2_8h.html',·1,·'(Global·Namespace)'], |
| 42 | ········['../examples_2tutorial__slam2d_2edge__se2_8h.html',·1,·'(Global·Namespace)'] | 42 | ········['../examples_2tutorial__slam2d_2edge__se2_8h.html',·1,·'(Global·Namespace)'] |
| 43 | ····]], | 43 | ····]], |
| 44 | ····['edge_5fse2_5fline2d_2ecpp_38',·['edge_se2_line2d.cpp',·['../edge__se2__line2d_8cpp.html',·1,·'']]], | 44 | ····['edge_5fse2_5fline2d_2ecpp_38',·['edge_se2_line2d.cpp',·['../edge__se2__line2d_8cpp.html',·1,·'']]], |
| 45 | ····['edge_5fse2_5fline2d_2eh_39',·['edge_se2_line2d.h',·['../edge__se2__line2d_8h.html',·1,·'']]], | 45 | ····['edge_5fse2_5fline2d_2eh_39',·['edge_se2_line2d.h',·['../edge__se2__line2d_8h.html',·1,·'']]], |
| 46 | ····['edge_5fse2_5flotsofxy_2ecpp_40',·['edge_se2_lotsofxy.cpp',·['../edge__se2__lotsofxy_8cpp.html',·1,·'']]], | 46 | ····['edge_5fse2_5flotsofxy_2ecpp_40',·['edge_se2_lotsofxy.cpp',·['../edge__se2__lotsofxy_8cpp.html',·1,·'']]], |
| 47 | ····['edge_5fse2_5flotsofxy_2eh_41',·['edge_se2_lotsofxy.h',·['../edge__se2__lotsofxy_8h.html',·1,·'']]], | 47 | ····['edge_5fse2_5flotsofxy_2eh_41',·['edge_se2_lotsofxy.h',·['../edge__se2__lotsofxy_8h.html',·1,·'']]], |
| 48 | ····['edge_5fse2_5fodom_5fdifferential_5fcalib_2ecpp_42',·['edge_se2_odom_differential_calib.cpp',·['../edge__se2__odom__differential__calib_8cpp.html',·1,·'']]], | 48 | ····['edge_5fse2_5fodom_5fdifferential_5fcalib_2ecpp_42',·['edge_se2_odom_differential_calib.cpp',·['../edge__se2__odom__differential__calib_8cpp.html',·1,·'']]], |
| 49 | ····['edge_5fse2_5fodom_5fdifferential_5fcalib_2eh_43',·['edge_se2_odom_differential_calib.h',·['../edge__se2__odom__differential__calib_8h.html',·1,·'']]], | 49 | ····['edge_5fse2_5fodom_5fdifferential_5fcalib_2eh_43',·['edge_se2_odom_differential_calib.h',·['../edge__se2__odom__differential__calib_8h.html',·1,·'']]], |
| 50 | ····['edge_5fse2_5foffset_2ecpp_44',·['edge_se2_offset.cpp',·['../edge__se2__offset_8cpp.html',·1,·'']]], | 50 | ····['edge_5fse2_5foffset_2ecpp_44',·['edge_se2_offset.cpp',·['../edge__se2__offset_8cpp.html',·1,·'']]], |
| 51 | ····['edge_5fse2_5foffset_2eh_45',·['edge_se2_offset.h',·['../edge__se2__offset_8h.html',·1,·'']]], | 51 | ····['edge_5fse2_5foffset_2eh_45',·['edge_se2_offset.h',·['../edge__se2__offset_8h.html',·1,·'']]], |
| 52 | ····['edge_5fse2_5fpointxy_2ecpp_46',·['edge_se2_pointxy.cpp',·['../ | 52 | ····['edge_5fse2_5fpointxy_2ecpp_46',·['edge_se2_pointxy.cpp',·['../examples_2tutorial__slam2d_2edge__se2__pointxy_8cpp.html',·1,·'(Global·Namespace)'], |
| 53 | ········['../ | 53 | ········['../types_2slam2d_2edge__se2__pointxy_8cpp.html',·1,·'(Global·Namespace)'] |
| 54 | ····]], | 54 | ····]], |
| 55 | ····['edge_5fse2_5fpointxy_2eh_47',·['edge_se2_pointxy.h',·['../examples_2tutorial__slam2d_2edge__se2__pointxy_8h.html',·1,·'(Global·Namespace)'], | 55 | ····['edge_5fse2_5fpointxy_2eh_47',·['edge_se2_pointxy.h',·['../examples_2tutorial__slam2d_2edge__se2__pointxy_8h.html',·1,·'(Global·Namespace)'], |
| 56 | ········['../types_2slam2d_2edge__se2__pointxy_8h.html',·1,·'(Global·Namespace)'] | 56 | ········['../types_2slam2d_2edge__se2__pointxy_8h.html',·1,·'(Global·Namespace)'] |
| 57 | ····]], | 57 | ····]], |
| 58 | ····['edge_5fse2_5fpointxy_5fbearing_2ecpp_48',·['edge_se2_pointxy_bearing.cpp',·['../edge__se2__pointxy__bearing_8cpp.html',·1,·'']]], | 58 | ····['edge_5fse2_5fpointxy_5fbearing_2ecpp_48',·['edge_se2_pointxy_bearing.cpp',·['../edge__se2__pointxy__bearing_8cpp.html',·1,·'']]], |
| 59 | ····['edge_5fse2_5fpointxy_5fbearing_2eh_49',·['edge_se2_pointxy_bearing.h',·['../edge__se2__pointxy__bearing_8h.html',·1,·'']]], | 59 | ····['edge_5fse2_5fpointxy_5fbearing_2eh_49',·['edge_se2_pointxy_bearing.h',·['../edge__se2__pointxy__bearing_8h.html',·1,·'']]], |
| 60 | ····['edge_5fse2_5fpointxy_5fcalib_2ecpp_50',·['edge_se2_pointxy_calib.cpp',·['../edge__se2__pointxy__calib_8cpp.html',·1,·'']]], | 60 | ····['edge_5fse2_5fpointxy_5fcalib_2ecpp_50',·['edge_se2_pointxy_calib.cpp',·['../edge__se2__pointxy__calib_8cpp.html',·1,·'']]], |
| Offset 7, 16 lines modified | Offset 7, 16 lines modified | ||
| 7 | ····['parameter_5fcameraparameters_2eh_5',·['parameter_cameraparameters.h',·['../parameter__cameraparameters_8h.html',·1,·'']]], | 7 | ····['parameter_5fcameraparameters_2eh_5',·['parameter_cameraparameters.h',·['../parameter__cameraparameters_8h.html',·1,·'']]], |
| 8 | ····['parameter_5fcontainer_2ecpp_6',·['parameter_container.cpp',·['../parameter__container_8cpp.html',·1,·'']]], | 8 | ····['parameter_5fcontainer_2ecpp_6',·['parameter_container.cpp',·['../parameter__container_8cpp.html',·1,·'']]], |
| 9 | ····['parameter_5fcontainer_2eh_7',·['parameter_container.h',·['../parameter__container_8h.html',·1,·'']]], | 9 | ····['parameter_5fcontainer_2eh_7',·['parameter_container.h',·['../parameter__container_8h.html',·1,·'']]], |
| 10 | ····['parameter_5fdims_2eh_8',·['parameter_dims.h',·['../parameter__dims_8h.html',·1,·'']]], | 10 | ····['parameter_5fdims_2eh_8',·['parameter_dims.h',·['../parameter__dims_8h.html',·1,·'']]], |
| 11 | ····['parameter_5fse2_5foffset_2ecpp_9',·['parameter_se2_offset.cpp',·['../examples_2tutorial__slam2d_2parameter__se2__offset_8cpp.html',·1,·'(Global·Namespace)'], | 11 | ····['parameter_5fse2_5foffset_2ecpp_9',·['parameter_se2_offset.cpp',·['../examples_2tutorial__slam2d_2parameter__se2__offset_8cpp.html',·1,·'(Global·Namespace)'], |
| 12 | ········['../types_2slam2d_2parameter__se2__offset_8cpp.html',·1,·'(Global·Namespace)'] | 12 | ········['../types_2slam2d_2parameter__se2__offset_8cpp.html',·1,·'(Global·Namespace)'] |
| 13 | ····]], | 13 | ····]], |
| 14 | ····['parameter_5fse2_5foffset_2eh_10',·['parameter_se2_offset.h',·['../ | 14 | ····['parameter_5fse2_5foffset_2eh_10',·['parameter_se2_offset.h',·['../examples_2tutorial__slam2d_2parameter__se2__offset_8h.html',·1,·'(Global·Namespace)'], |
| 15 | ········['../ | 15 | ········['../types_2slam2d_2parameter__se2__offset_8h.html',·1,·'(Global·Namespace)'] |
| 16 | ····]], | 16 | ····]], |
| 17 | ····['parameter_5fse3_5foffset_2ecpp_11',·['parameter_se3_offset.cpp',·['../parameter__se3__offset_8cpp.html',·1,·'']]], | 17 | ····['parameter_5fse3_5foffset_2ecpp_11',·['parameter_se3_offset.cpp',·['../parameter__se3__offset_8cpp.html',·1,·'']]], |
| 18 | ····['parameter_5fse3_5foffset_2eh_12',·['parameter_se3_offset.h',·['../parameter__se3__offset_8h.html',·1,·'']]], | 18 | ····['parameter_5fse3_5foffset_2eh_12',·['parameter_se3_offset.h',·['../parameter__se3__offset_8h.html',·1,·'']]], |
| 19 | ····['parameter_5fstereo_5fcamera_2ecpp_13',·['parameter_stereo_camera.cpp',·['../parameter__stereo__camera_8cpp.html',·1,·'']]], | 19 | ····['parameter_5fstereo_5fcamera_2ecpp_13',·['parameter_stereo_camera.cpp',·['../parameter__stereo__camera_8cpp.html',·1,·'']]], |
| 20 | ····['parameter_5fstereo_5fcamera_2eh_14',·['parameter_stereo_camera.h',·['../parameter__stereo__camera_8h.html',·1,·'']]], | 20 | ····['parameter_5fstereo_5fcamera_2eh_14',·['parameter_stereo_camera.h',·['../parameter__stereo__camera_8h.html',·1,·'']]], |
| 21 | ····['parser_5finterface_2ecpp_15',·['parser_interface.cpp',·['../parser__interface_8cpp.html',·1,·'']]], | 21 | ····['parser_5finterface_2ecpp_15',·['parser_interface.cpp',·['../parser__interface_8cpp.html',·1,·'']]], |
| 22 | ····['parser_5finterface_2eh_16',·['parser_interface.h',·['../parser__interface_8h.html',·1,·'']]], | 22 | ····['parser_5finterface_2eh_16',·['parser_interface.h',·['../parser__interface_8h.html',·1,·'']]], |
| Offset 8, 16 lines modified | Offset 8, 16 lines modified | ||
| 8 | ····['scanner_2eh_6',·['scanner.h',·['../scanner_8h.html',·1,·'']]], | 8 | ····['scanner_2eh_6',·['scanner.h',·['../scanner_8h.html',·1,·'']]], |
| 9 | ····['scanner_2el_7',·['scanner.l',·['../scanner_8l.html',·1,·'']]], | 9 | ····['scanner_2el_7',·['scanner.l',·['../scanner_8l.html',·1,·'']]], |
| 10 | ····['sclam_5fhelpers_2ecpp_8',·['sclam_helpers.cpp',·['../sclam__helpers_8cpp.html',·1,·'']]], | 10 | ····['sclam_5fhelpers_2ecpp_8',·['sclam_helpers.cpp',·['../sclam__helpers_8cpp.html',·1,·'']]], |
| 11 | ····['sclam_5fhelpers_2eh_9',·['sclam_helpers.h',·['../sclam__helpers_8h.html',·1,·'']]], | 11 | ····['sclam_5fhelpers_2eh_9',·['sclam_helpers.h',·['../sclam__helpers_8h.html',·1,·'']]], |
| 12 | ····['sclam_5flaser_5fcalib_2ecpp_10',·['sclam_laser_calib.cpp',·['../sclam__laser__calib_8cpp.html',·1,·'']]], | 12 | ····['sclam_5flaser_5fcalib_2ecpp_10',·['sclam_laser_calib.cpp',·['../sclam__laser__calib_8cpp.html',·1,·'']]], |
| 13 | ····['sclam_5fodom_5flaser_2ecpp_11',·['sclam_odom_laser.cpp',·['../sclam__odom__laser_8cpp.html',·1,·'']]], | 13 | ····['sclam_5fodom_5flaser_2ecpp_11',·['sclam_odom_laser.cpp',·['../sclam__odom__laser_8cpp.html',·1,·'']]], |
| 14 | ····['sclam_5fpure_5fcalibration_2ecpp_12',·['sclam_pure_calibration.cpp',·['../sclam__pure__calibration_8cpp.html',·1,·'']]], | 14 | ····['sclam_5fpure_5fcalibration_2ecpp_12',·['sclam_pure_calibration.cpp',·['../sclam__pure__calibration_8cpp.html',·1,·'']]], |
| 15 | ····['se2_2eh_13',·['se2.h',·['../ | 15 | ····['se2_2eh_13',·['se2.h',·['../examples_2tutorial__slam2d_2se2_8h.html',·1,·'(Global·Namespace)'], |
| 16 | ········['../ | 16 | ········['../types_2slam2d_2se2_8h.html',·1,·'(Global·Namespace)'] |
| 17 | ····]], | 17 | ····]], |
| 18 | ····['se3_5fops_2eh_14',·['se3_ops.h',·['../se3__ops_8h.html',·1,·'']]], | 18 | ····['se3_5fops_2eh_14',·['se3_ops.h',·['../se3__ops_8h.html',·1,·'']]], |
| 19 | ····['se3_5fops_2ehpp_15',·['se3_ops.hpp',·['../se3__ops_8hpp.html',·1,·'']]], | 19 | ····['se3_5fops_2ehpp_15',·['se3_ops.hpp',·['../se3__ops_8hpp.html',·1,·'']]], |
| 20 | ····['se3quat_2eh_16',·['se3quat.h',·['../se3quat_8h.html',·1,·'']]], | 20 | ····['se3quat_2eh_16',·['se3quat.h',·['../se3quat_8h.html',·1,·'']]], |
| 21 | ····['sensor_5fline3d_2ecpp_17',·['sensor_line3d.cpp',·['../sensor__line3d_8cpp.html',·1,·'']]], | 21 | ····['sensor_5fline3d_2ecpp_17',·['sensor_line3d.cpp',·['../sensor__line3d_8cpp.html',·1,·'']]], |
| 22 | ····['sensor_5fline3d_2eh_18',·['sensor_line3d.h',·['../sensor__line3d_8h.html',·1,·'']]], | 22 | ····['sensor_5fline3d_2eh_18',·['sensor_line3d.h',·['../sensor__line3d_8h.html',·1,·'']]], |
| 23 | ····['sensor_5fodometry_2eh_19',·['sensor_odometry.h',·['../sensor__odometry_8h.html',·1,·'']]], | 23 | ····['sensor_5fodometry_2eh_19',·['sensor_odometry.h',·['../sensor__odometry_8h.html',·1,·'']]], |