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1 Package:·libg2o-doc1 Package:·libg2o-doc
2 Source:·g2o2 Source:·g2o
3 Version:·0~20230806-4.13 Version:·0~20230806-4.1
4 Architecture:·all4 Architecture:·all
5 Maintainer:·Debian·Science·Maintainers·<debian-science-maintainers@lists.alioth.debian.org>5 Maintainer:·Debian·Science·Maintainers·<debian-science-maintainers@lists.alioth.debian.org>
6 Installed-Size:·3135436 Installed-Size:·313542
7 Section:·doc7 Section:·doc
8 Priority:·optional8 Priority:·optional
9 Homepage:·http://www.g2o.org9 Homepage:·http://www.g2o.org
10 Description:·C++·framework·for·optimizing·graph-based·nonlinear·error·functions10 Description:·C++·framework·for·optimizing·graph-based·nonlinear·error·functions
11 ·A·wide·range·of·problems·in·robotics·as·well·as·in·computer-vision·involve·the11 ·A·wide·range·of·problems·in·robotics·as·well·as·in·computer-vision·involve·the
12 ·minimization·of·a·non-linear·error·function·that·can·be·represented·as·a·graph.12 ·minimization·of·a·non-linear·error·function·that·can·be·represented·as·a·graph.
13 ·Typical·instances·are·simultaneous·localization·and·mapping·(SLAM)·or·bundle13 ·Typical·instances·are·simultaneous·localization·and·mapping·(SLAM)·or·bundle
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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·28,·20265 October·27,·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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110 ····['pcg_5faxpy_50',·['pcg_axpy',·['../namespaceinternal.html#ab6707cfe4719cd381047dee2cd0b4e4d',·1,·'internal::pcg_axpy(const·MatrixX·&amp;A,·const·VectorX·&amp;x,·int·xoff,·VectorX·&amp;y,·int·yoff)'],110 ····['pcg_5faxpy_50',·['pcg_axpy',·['../namespaceinternal.html#ab6707cfe4719cd381047dee2cd0b4e4d',·1,·'internal::pcg_axpy(const·MatrixX·&amp;A,·const·VectorX·&amp;x,·int·xoff,·VectorX·&amp;y,·int·yoff)'],
111 ········['../namespaceinternal.html#a4f25cb8aa86b062071471b5e0da6ba81',·1,·'internal::pcg_axpy(const·MatrixType·&amp;A,·const·VectorX·&amp;x,·int·xoff,·VectorX·&amp;y,·int·yoff)']111 ········['../namespaceinternal.html#a4f25cb8aa86b062071471b5e0da6ba81',·1,·'internal::pcg_axpy(const·MatrixType·&amp;A,·const·VectorX·&amp;x,·int·xoff,·VectorX·&amp;y,·int·yoff)']
112 ····]],112 ····]],
113 ····['pcg_5faxy_51',·['pcg_axy',·['../namespaceinternal.html#a37d49ae838de76cf56703f54febcf938',·1,·'internal::pcg_axy(const·MatrixX·&amp;A,·const·VectorX·&amp;x,·int·xoff,·VectorX·&amp;y,·int·yoff)'],113 ····['pcg_5faxy_51',·['pcg_axy',·['../namespaceinternal.html#a37d49ae838de76cf56703f54febcf938',·1,·'internal::pcg_axy(const·MatrixX·&amp;A,·const·VectorX·&amp;x,·int·xoff,·VectorX·&amp;y,·int·yoff)'],
114 ········['../namespaceinternal.html#a6a5130e68f7fc5e1adb6c132605b56db',·1,·'internal::pcg_axy(const·MatrixType·&amp;A,·const·VectorX·&amp;x,·int·xoff,·VectorX·&amp;y,·int·yoff)']114 ········['../namespaceinternal.html#a6a5130e68f7fc5e1adb6c132605b56db',·1,·'internal::pcg_axy(const·MatrixType·&amp;A,·const·VectorX·&amp;x,·int·xoff,·VectorX·&amp;y,·int·yoff)']
115 ····]],115 ····]],
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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_1cholmod_1_1Cholmod.html#ac84fb1b31af6051703b861c55b266709',·1,·'g2o::cholmod::Cholmod::pImpl'], 
128 ········['../classg2o_1_1csparse_1_1CSparse.html#a84174e73e2e97f13952bd9705a8aa219',·1,·'g2o::csparse::CSparse::pImpl']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']
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·&amp;v)'],133 ········['../classg2o_1_1Plane3D.html#ab5f4ba1c44aabec30b7abf7c405d01a2',·1,·'g2o::Plane3D::Plane3D(const·Vector4·&amp;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&lt;·g2o::ceres::Jet&lt;·T,·N·&gt;,·T,·BinaryOp·&gt;',·['../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&lt;·g2o::ceres::Jet&lt;·T,·N·&gt;,·T,·BinaryOp·&gt;',·['../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&lt;·T,·g2o::ceres::Jet&lt;·T,·N·&gt;,·BinaryOp·&gt;',·['../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&lt;·T,·g2o::ceres::Jet&lt;·T,·N·&gt;,·BinaryOp·&gt;',·['../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()'], 
75 ········['../structg2o_1_1Sim3.html#aed2d0c3bf849e6b7e8da8597ddd93fec',·1,·'g2o::Sim3::scale()'],74 ····['scale_54',·['scale',·['../structg2o_1_1Sim3.html#aed2d0c3bf849e6b7e8da8597ddd93fec',·1,·'g2o::Sim3::scale()'],
76 ········['../structg2o_1_1Sim3.html#aeb50944cf3d78166409db779b3dc0857',·1,·'g2o::Sim3::scale()·const']75 ········['../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'], 
92 ········['../classg2o_1_1ScopedOpenMPMutex.html#abb18bffae04b138447870b58ab158f56',·1,·'g2o::ScopedOpenMPMutex::ScopedOpenMPMutex(OpenMPMutex·*mutex)'],91 ····['scopedopenmpmutex_64',·['scopedopenmpmutex',·['../classg2o_1_1ScopedOpenMPMutex.html#abb18bffae04b138447870b58ab158f56',·1,·'g2o::ScopedOpenMPMutex::ScopedOpenMPMutex(OpenMPMutex·*mutex)'],
93 ········['../classg2o_1_1ScopedOpenMPMutex.html#ab293e6a549bb2a546e53ebd9a1b7c2aa',·1,·'g2o::ScopedOpenMPMutex::ScopedOpenMPMutex(const·ScopedOpenMPMutex·&amp;)']92 ········['../classg2o_1_1ScopedOpenMPMutex.html#ab293e6a549bb2a546e53ebd9a1b7c2aa',·1,·'g2o::ScopedOpenMPMutex::ScopedOpenMPMutex(const·ScopedOpenMPMutex·&amp;)'],
 93 ········['../classg2o_1_1ScopedOpenMPMutex.html',·1,·'g2o::ScopedOpenMPMutex']
94 ····]],94 ····]],
 95 ····['scopedtictoc_65',·['scopedtictoc',·['../classg2o_1_1ScopedTictoc.html',·1,·'g2o::ScopedTictoc'],
95 ····['scopedtictoc_65',·['scopedtictoc',·['../classg2o_1_1ScopedTictoc.html#acf30752a535564621b697325bde9eefd',·1,·'g2o::ScopedTictoc::ScopedTictoc()'],96 ········['../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·&amp;iso)'],
101 ····['se2_67',·['se2',·['../classg2o_1_1SE2.html#ad33ddfc2904115df762fb1c80312d1d7',·1,·'g2o::SE2::SE2(double·x,·double·y,·double·theta)'],102 ········['../classg2o_1_1SE2.html#ad33ddfc2904115df762fb1c80312d1d7',·1,·'g2o::SE2::SE2(double·x,·double·y,·double·theta)'],
102 ········['../classg2o_1_1SE2.html#a390c079017e18d64bf730d63b74626ca',·1,·'g2o::SE2::SE2(const·Vector3·&amp;v)'],103 ········['../classg2o_1_1SE2.html#a390c079017e18d64bf730d63b74626ca',·1,·'g2o::SE2::SE2(const·Vector3·&amp;v)'],
103 ········['../classg2o_1_1SE2.html#a92d3aee802b5d49b22bd7f67a6ff4ab4',·1,·'g2o::SE2::SE2(const·Isometry2·&amp;iso)'],104 ········['../classg2o_1_1SE2.html#ad5e573f9e90b1fbe96f3c4dabf3f9043',·1,·'g2o::SE2::SE2()'],
104 ········['../classg2o_1_1tutorial_1_1SE2.html#a67109ff4cf27ba7d508ca061c077fa90',·1,·'g2o::tutorial::SE2::SE2()'],105 ········['../classg2o_1_1tutorial_1_1SE2.html#a67109ff4cf27ba7d508ca061c077fa90',·1,·'g2o::tutorial::SE2::SE2(double·x,·double·y,·double·theta)'],
105 ········['../classg2o_1_1SE2.html',·1,·'g2o::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()'],106 ········['../classg2o_1_1tutorial_1_1SE2.html#a985ce2e76050d300002c0828696b7ed0',·1,·'g2o::tutorial::SE2::SE2()'],
108 ········['../classg2o_1_1SE2.html#ad5e573f9e90b1fbe96f3c4dabf3f9043',·1,·'g2o::SE2::SE2()']107 ········['../classg2o_1_1SE2.html',·1,·'g2o::SE2'],
 108 ········['../classg2o_1_1tutorial_1_1SE2.html',·1,·'g2o::tutorial::SE2']
109 ····]],109 ····]],
110 ····['se2_2eh_68',·['se2.h',·['../types_2slam2d_2se2_8h.html',·1,·'(Global·Namespace)'],110 ····['se2_2eh_68',·['se2.h',·['../examples_2tutorial__slam2d_2se2_8h.html',·1,·'(Global·Namespace)'],
111 ········['../examples_2tutorial__slam2d_2se2_8h.html',·1,·'(Global·Namespace)']111 ········['../types_2slam2d_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,·'']]],
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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 ········['../classVertexBaseline.html#ab51f1ef07d02f94e7dd9ff98f06d0cca',·1,·'VertexBaseline::VertexBaseline()']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 ········['../classg2o_1_1VertexCam.html#a831d3545bc2713f59e45b3da1ad47d77',·1,·'g2o::VertexCam::VertexCam()']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()']
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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',·['../types_2slam2d_2edge__se2_8cpp.html',·1,·'(Global·Namespace)'],52 ····['edge_5fse2_2ecpp_42',·['edge_se2.cpp',·['../examples_2tutorial__slam2d_2edge__se2_8cpp.html',·1,·'(Global·Namespace)'],
53 ········['../examples_2tutorial__slam2d_2edge__se2_8cpp.html',·1,·'(Global·Namespace)']53 ········['../types_2slam2d_2edge__se2_8cpp.html',·1,·'(Global·Namespace)']
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55 ····['edge_5fse2_2eh_43',·['edge_se2.h',·['../examples_2tutorial__slam2d_2edge__se2_8h.html',·1,·'(Global·Namespace)'],55 ····['edge_5fse2_2eh_43',·['edge_se2.h',·['../types_2slam2d_2edge__se2_8h.html',·1,·'(Global·Namespace)'],
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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,·'']]],
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141 ········['../structg2o_1_1EdgeCreator_1_1EdgeCreatorEntry.html#a36382ffaaf2daacd11df7aef13fb99e9',·1,·'g2o::EdgeCreator::EdgeCreatorEntry::EdgeCreatorEntry(const·std::string·&amp;edgeTypeName)']140 ········['../structg2o_1_1EdgeCreator_1_1EdgeCreatorEntry.html#a36382ffaaf2daacd11df7aef13fb99e9',·1,·'g2o::EdgeCreator::EdgeCreatorEntry::EdgeCreatorEntry(const·std::string·&amp;edgeTypeName)'],
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