SYMBOL INDEX (786 symbols across 42 files)

FILE: LIO-Livox/include/Estimator/Estimator.h
  function class (line 25) | class Estimator{
  function ComputeError (line 80) | struct FeaturePlan{
  function ComputeError (line 100) | struct FeaturePlanVec{
  function ComputeError (line 118) | struct FeatureNon{

FILE: LIO-Livox/include/IMUIntegrator/IMUIntegrator.h
  function class (line 11) | class IMUIntegrator{

FILE: LIO-Livox/include/LidarFeatureExtractor/LidarFeatureExtractor.h
  function class (line 13) | class LidarFeatureExtractor{

FILE: LIO-Livox/include/MapManager/Map_Manager.h
  function class (line 8) | class MAP_MANAGER{

FILE: LIO-Livox/include/segment/segment.hpp
  class PCSeg (line 112) | class PCSeg

FILE: LIO-Livox/include/sophus/average.hpp
  type Sophus (line 17) | namespace Sophus {
    function iterativeMean (line 24) | optional<typename SequenceContainer::value_type> iterativeMean(
    function average (line 67) | enable_if_t<
    function average (line 88) | enable_if_t<
    type details (line 104) | namespace details {
      function getUnitQuaternion (line 109) | Eigen::Quaternion<Scalar> getUnitQuaternion(SO3<Scalar> const& R) {
      function getUnitQuaternion (line 114) | Eigen::Quaternion<Scalar> getUnitQuaternion(RxSO3<Scalar> const& sR) {
      function averageUnitQuaternion (line 120) | Eigen::Quaternion<Scalar> averageUnitQuaternion(
    function average (line 162) | enable_if_t<
    function average (line 172) | enable_if_t<
    function average (line 191) | enable_if_t<
    function average (line 202) | enable_if_t<
    function average (line 211) | enable_if_t<
    function average (line 220) | enable_if_t<

FILE: LIO-Livox/include/sophus/common.hpp
  type Sophus (line 77) | namespace Sophus {
    function SOPHUS_FUNC (line 92) | SOPHUS_FUNC void defaultEnsure(char const* function, char const* file,...
    type Constants (line 116) | struct Constants {
      method SOPHUS_FUNC (line 117) | SOPHUS_FUNC static Scalar epsilon() { return Scalar(1e-10); }
      method SOPHUS_FUNC (line 119) | SOPHUS_FUNC static Scalar epsilonSqrt() {
      method SOPHUS_FUNC (line 124) | SOPHUS_FUNC static Scalar pi() {
    type Constants<float> (line 130) | struct Constants<float> {
      method epsilon (line 131) | constexpr epsilon() {
      method SOPHUS_FUNC (line 135) | SOPHUS_FUNC static float epsilonSqrt() { return std::sqrt(epsilon()); }
      method pi (line 137) | constexpr pi() {
    type nullopt_t (line 143) | struct nullopt_t {
      method nullopt_t (line 144) | explicit constexpr nullopt_t() {}
    class optional (line 155) | class optional {
      method optional (line 157) | optional() : is_valid_(false) {}
      method optional (line 159) | optional(nullopt_t) : is_valid_(false) {}
      method optional (line 161) | optional(T const& type) : type_(type), is_valid_(true) {}
      method T (line 165) | T const* operator->() const {
      method T (line 170) | T* operator->() {
      method T (line 175) | T const& operator*() const {
      method T (line 180) | T& operator*() {
    type IsUniformRandomBitGenerator (line 194) | struct IsUniformRandomBitGenerator {
  type Sophus (line 90) | namespace Sophus {
    function SOPHUS_FUNC (line 92) | SOPHUS_FUNC void defaultEnsure(char const* function, char const* file,...
    type Constants (line 116) | struct Constants {
      method SOPHUS_FUNC (line 117) | SOPHUS_FUNC static Scalar epsilon() { return Scalar(1e-10); }
      method SOPHUS_FUNC (line 119) | SOPHUS_FUNC static Scalar epsilonSqrt() {
      method SOPHUS_FUNC (line 124) | SOPHUS_FUNC static Scalar pi() {
    type Constants<float> (line 130) | struct Constants<float> {
      method epsilon (line 131) | constexpr epsilon() {
      method SOPHUS_FUNC (line 135) | SOPHUS_FUNC static float epsilonSqrt() { return std::sqrt(epsilon()); }
      method pi (line 137) | constexpr pi() {
    type nullopt_t (line 143) | struct nullopt_t {
      method nullopt_t (line 144) | explicit constexpr nullopt_t() {}
    class optional (line 155) | class optional {
      method optional (line 157) | optional() : is_valid_(false) {}
      method optional (line 159) | optional(nullopt_t) : is_valid_(false) {}
      method optional (line 161) | optional(T const& type) : type_(type), is_valid_(true) {}
      method T (line 165) | T const* operator->() const {
      method T (line 170) | T* operator->() {
      method T (line 175) | T const& operator*() const {
      method T (line 180) | T& operator*() {
    type IsUniformRandomBitGenerator (line 194) | struct IsUniformRandomBitGenerator {
  type Sophus (line 113) | namespace Sophus {
    function SOPHUS_FUNC (line 92) | SOPHUS_FUNC void defaultEnsure(char const* function, char const* file,...
    type Constants (line 116) | struct Constants {
      method SOPHUS_FUNC (line 117) | SOPHUS_FUNC static Scalar epsilon() { return Scalar(1e-10); }
      method SOPHUS_FUNC (line 119) | SOPHUS_FUNC static Scalar epsilonSqrt() {
      method SOPHUS_FUNC (line 124) | SOPHUS_FUNC static Scalar pi() {
    type Constants<float> (line 130) | struct Constants<float> {
      method epsilon (line 131) | constexpr epsilon() {
      method SOPHUS_FUNC (line 135) | SOPHUS_FUNC static float epsilonSqrt() { return std::sqrt(epsilon()); }
      method pi (line 137) | constexpr pi() {
    type nullopt_t (line 143) | struct nullopt_t {
      method nullopt_t (line 144) | explicit constexpr nullopt_t() {}
    class optional (line 155) | class optional {
      method optional (line 157) | optional() : is_valid_(false) {}
      method optional (line 159) | optional(nullopt_t) : is_valid_(false) {}
      method optional (line 161) | optional(T const& type) : type_(type), is_valid_(true) {}
      method T (line 165) | T const* operator->() const {
      method T (line 170) | T* operator->() {
      method T (line 175) | T const& operator*() const {
      method T (line 180) | T& operator*() {
    type IsUniformRandomBitGenerator (line 194) | struct IsUniformRandomBitGenerator {

FILE: LIO-Livox/include/sophus/example_ensure_handler.cpp
  type Sophus (line 6) | namespace Sophus {
    function ensureFailed (line 7) | void ensureFailed(char const* function, char const* file, int line,

FILE: LIO-Livox/include/sophus/formatstring.hpp
  type Sophus (line 9) | namespace Sophus {
    type details (line 10) | namespace details {
      class IsStreamable (line 14) | class IsStreamable {
      class ArgToStream (line 29) | class ArgToStream {
        method impl (line 31) | static void impl(std::stringstream& stream, T&& arg) {
      function FormatStream (line 36) | inline void FormatStream(std::stringstream& stream, char const* text) {
      function FormatStream (line 43) | void FormatStream(std::stringstream& stream, char const* text, T&& arg,
      function FormatString (line 61) | std::string FormatString(char const* text, Args&&... args) {
      function FormatString (line 67) | inline std::string FormatString() { return std::string(); }

FILE: LIO-Livox/include/sophus/geometry.hpp
  type Sophus (line 13) | namespace Sophus {
    function normalFromSO2 (line 19) | Vector2<T> normalFromSO2(SO2<T> const& R_foo_line) {
    function SO2FromNormal (line 29) | SO2<T> SO2FromNormal(Vector2<T> normal_foo) {
    function normalFromSO3 (line 41) | Vector3<T> normalFromSO3(SO3<T> const& R_foo_plane) {
    function rotationFromNormal (line 58) | Matrix3<T> rotationFromNormal(Vector3<T> const& normal_foo,
    function SO3FromNormal (line 116) | SO3<T> SO3FromNormal(Vector3<T> const& normal_foo) {
    function lineFromSE2 (line 126) | Line2<T> lineFromSE2(SE2<T> const& T_foo_line) {
    function SE2FromLine (line 135) | SE2<T> SE2FromLine(Line2<T> const& line_foo) {
    function planeFromSE3 (line 148) | Plane3<T> planeFromSE3(SE3<T> const& T_foo_plane) {
    function SE3FromPlane (line 157) | SE3<T> SE3FromPlane(Plane3<T> const& plane_foo) {
    function makeHyperplaneUnique (line 168) | Eigen::Hyperplane<T, N> makeHyperplaneUnique(

FILE: LIO-Livox/include/sophus/interpolate.hpp
  type Sophus (line 11) | namespace Sophus {
    function interpolate (line 27) | enable_if_t<interp_details::Traits<G>::supported, G> interpolate(

FILE: LIO-Livox/include/sophus/interpolate_details.hpp
  type Sophus (line 13) | namespace Sophus {
    type interp_details (line 14) | namespace interp_details {
      type Traits (line 17) | struct Traits
      type Traits<SO2<Scalar>> (line 20) | struct Traits<SO2<Scalar>> {
        method hasShortestPathAmbiguity (line 23) | static bool hasShortestPathAmbiguity(SO2<Scalar> const& foo_T_bar) {
      type Traits<RxSO2<Scalar>> (line 32) | struct Traits<RxSO2<Scalar>> {
        method hasShortestPathAmbiguity (line 35) | static bool hasShortestPathAmbiguity(RxSO2<Scalar> const& foo_T_ba...
      type Traits<SO3<Scalar>> (line 41) | struct Traits<SO3<Scalar>> {
        method hasShortestPathAmbiguity (line 44) | static bool hasShortestPathAmbiguity(SO3<Scalar> const& foo_T_bar) {
      type Traits<RxSO3<Scalar>> (line 53) | struct Traits<RxSO3<Scalar>> {
        method hasShortestPathAmbiguity (line 56) | static bool hasShortestPathAmbiguity(RxSO3<Scalar> const& foo_T_ba...
      type Traits<SE2<Scalar>> (line 62) | struct Traits<SE2<Scalar>> {
        method hasShortestPathAmbiguity (line 65) | static bool hasShortestPathAmbiguity(SE2<Scalar> const& foo_T_bar) {
      type Traits<SE3<Scalar>> (line 71) | struct Traits<SE3<Scalar>> {
        method hasShortestPathAmbiguity (line 74) | static bool hasShortestPathAmbiguity(SE3<Scalar> const& foo_T_bar) {
      type Traits<Sim2<Scalar>> (line 80) | struct Traits<Sim2<Scalar>> {
        method hasShortestPathAmbiguity (line 83) | static bool hasShortestPathAmbiguity(Sim2<Scalar> const& foo_T_bar) {
      type Traits<Sim3<Scalar>> (line 91) | struct Traits<Sim3<Scalar>> {
        method hasShortestPathAmbiguity (line 94) | static bool hasShortestPathAmbiguity(Sim3<Scalar> const& foo_T_bar) {

FILE: LIO-Livox/include/sophus/num_diff.hpp
  type Sophus (line 13) | namespace Sophus {
    type details (line 15) | namespace details {
      class Curve (line 17) | class Curve {
        method num_diff (line 20) | static auto num_diff(Fn curve, Scalar t, Scalar h) -> decltype(cur...
      class VectorField (line 33) | class VectorField {
        method num_diff (line 35) | static Eigen::Matrix<Scalar, N, M> num_diff(
      class VectorField<Scalar, N, 1> (line 56) | class VectorField<Scalar, N, 1> {
        method num_diff (line 58) | static Eigen::Matrix<Scalar, N, 1> num_diff(
    function curveNumDiff (line 72) | auto curveNumDiff(Fn curve, Scalar t,
    function vectorFieldNumDiff (line 84) | Eigen::Matrix<Scalar, N, M> vectorFieldNumDiff(

FILE: LIO-Livox/include/sophus/rotation_matrix.hpp
  type Sophus (line 12) | namespace Sophus {
    function SOPHUS_FUNC (line 17) | SOPHUS_FUNC bool isOrthogonal(Eigen::MatrixBase<D> const& R) {
    function SOPHUS_FUNC (line 33) | SOPHUS_FUNC bool isScaledOrthogonalAndPositive(Eigen::MatrixBase<D> co...
    function SOPHUS_FUNC (line 59) | SOPHUS_FUNC enable_if_t<

FILE: LIO-Livox/include/sophus/rxso2.hpp
  type Sophus (line 9) | namespace Sophus {
    class RxSO2 (line 11) | class RxSO2
      method RxSO2 (line 398) | RxSO2() : complex_(Scalar(1), Scalar(0)) {}
      method SOPHUS_FUNC (line 402) | SOPHUS_FUNC RxSO2(RxSO2 const& other) = default;
      method SOPHUS_FUNC (line 407) | SOPHUS_FUNC RxSO2(RxSO2Base<OtherDerived> const& other)
      method SOPHUS_FUNC (line 424) | SOPHUS_FUNC RxSO2(Scalar const& scale, Transformation const& R)
      method SOPHUS_FUNC (line 431) | SOPHUS_FUNC RxSO2(Scalar const& scale, SO2<Scalar> const& so2)
      method RxSO2 (line 438) | RxSO2(Vector2<Scalar> const& z) : complex_(z) {
      method RxSO2 (line 450) | RxSO2(Scalar const& real, Scalar const& imag)
      method SOPHUS_FUNC (line 455) | SOPHUS_FUNC ComplexMember const& complex() const { return complex_; }
      method Dxi_exp_x_matrix_at_0 (line 459) | Dxi_exp_x_matrix_at_0(int i) {
      method exp (line 472) | exp(Tangent const& a) {
      method generator (line 497) | generator(int i) {
      method hat (line 519) | hat(Tangent const& a) {
      method SOPHUS_FUNC (line 537) | SOPHUS_FUNC static Tangent lieBracket(Tangent const&, Tangent const&) {
      method RxSO2 (line 549) | static RxSO2 sampleUniform(UniformRandomBitGenerator& generator) {
      method SOPHUS_FUNC (line 568) | SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
      method SOPHUS_FUNC (line 574) | SOPHUS_FUNC ComplexMember& complex_nonconst() { return complex_; }
    function setComplex (line 79) | class RxSO2Base {
    function SOPHUS_FUNC (line 310) | SOPHUS_FUNC ComplexType const& complex() const {
    function SOPHUS_FUNC (line 316) | SOPHUS_FUNC Transformation rotationMatrix() const {
    function SOPHUS_FUNC (line 324) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 329) | SOPHUS_FUNC void setAngle(Scalar const& theta) { setSO2(SO2<Scalar>(th...
    function SOPHUS_FUNC (line 335) | SOPHUS_FUNC void setRotationMatrix(Transformation const& R) {
    function SOPHUS_FUNC (line 341) | SOPHUS_FUNC void setScale(Scalar const& scale) {
    function SOPHUS_FUNC (line 352) | SOPHUS_FUNC void setScaledRotationMatrix(Transformation const& sR) {
    function SOPHUS_FUNC (line 360) | SOPHUS_FUNC void setSO2(SO2<Scalar> const& so2) {
    function SOPHUS_FUNC (line 367) | SOPHUS_FUNC SO2<Scalar> so2() const { return SO2<Scalar>(complex()); }
    class RxSO2 (line 379) | class RxSO2 : public RxSO2Base<RxSO2<Scalar_, Options>> {
      method RxSO2 (line 398) | RxSO2() : complex_(Scalar(1), Scalar(0)) {}
      method SOPHUS_FUNC (line 402) | SOPHUS_FUNC RxSO2(RxSO2 const& other) = default;
      method SOPHUS_FUNC (line 407) | SOPHUS_FUNC RxSO2(RxSO2Base<OtherDerived> const& other)
      method SOPHUS_FUNC (line 424) | SOPHUS_FUNC RxSO2(Scalar const& scale, Transformation const& R)
      method SOPHUS_FUNC (line 431) | SOPHUS_FUNC RxSO2(Scalar const& scale, SO2<Scalar> const& so2)
      method RxSO2 (line 438) | RxSO2(Vector2<Scalar> const& z) : complex_(z) {
      method RxSO2 (line 450) | RxSO2(Scalar const& real, Scalar const& imag)
      method SOPHUS_FUNC (line 455) | SOPHUS_FUNC ComplexMember const& complex() const { return complex_; }
      method Dxi_exp_x_matrix_at_0 (line 459) | Dxi_exp_x_matrix_at_0(int i) {
      method exp (line 472) | exp(Tangent const& a) {
      method generator (line 497) | generator(int i) {
      method hat (line 519) | hat(Tangent const& a) {
      method SOPHUS_FUNC (line 537) | SOPHUS_FUNC static Tangent lieBracket(Tangent const&, Tangent const&) {
      method RxSO2 (line 549) | static RxSO2 sampleUniform(UniformRandomBitGenerator& generator) {
      method SOPHUS_FUNC (line 568) | SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
      method SOPHUS_FUNC (line 574) | SOPHUS_FUNC ComplexMember& complex_nonconst() { return complex_; }
  type Eigen (line 16) | namespace Eigen {
    type internal (line 17) | namespace internal {
      type traits<Sophus::RxSO2<Scalar_, Options_>> (line 20) | struct traits<Sophus::RxSO2<Scalar_, Options_>> {
      type traits<Map<Sophus::RxSO2<Scalar_>, Options_>> (line 27) | struct traits<Map<Sophus::RxSO2<Scalar_>, Options_>>
      type traits<Map<Sophus::RxSO2<Scalar_> const, Options_>> (line 35) | struct traits<Map<Sophus::RxSO2<Scalar_> const, Options_>>
    class Map<Sophus::RxSO2<Scalar_>, Options> (line 588) | class Map<Sophus::RxSO2<Scalar_>, Options>
      method SOPHUS_FUNC (line 609) | SOPHUS_FUNC Map(Scalar* coeffs) : complex_(coeffs) {}
  type Sophus (line 44) | namespace Sophus {
    class RxSO2 (line 11) | class RxSO2
      method RxSO2 (line 398) | RxSO2() : complex_(Scalar(1), Scalar(0)) {}
      method SOPHUS_FUNC (line 402) | SOPHUS_FUNC RxSO2(RxSO2 const& other) = default;
      method SOPHUS_FUNC (line 407) | SOPHUS_FUNC RxSO2(RxSO2Base<OtherDerived> const& other)
      method SOPHUS_FUNC (line 424) | SOPHUS_FUNC RxSO2(Scalar const& scale, Transformation const& R)
      method SOPHUS_FUNC (line 431) | SOPHUS_FUNC RxSO2(Scalar const& scale, SO2<Scalar> const& so2)
      method RxSO2 (line 438) | RxSO2(Vector2<Scalar> const& z) : complex_(z) {
      method RxSO2 (line 450) | RxSO2(Scalar const& real, Scalar const& imag)
      method SOPHUS_FUNC (line 455) | SOPHUS_FUNC ComplexMember const& complex() const { return complex_; }
      method Dxi_exp_x_matrix_at_0 (line 459) | Dxi_exp_x_matrix_at_0(int i) {
      method exp (line 472) | exp(Tangent const& a) {
      method generator (line 497) | generator(int i) {
      method hat (line 519) | hat(Tangent const& a) {
      method SOPHUS_FUNC (line 537) | SOPHUS_FUNC static Tangent lieBracket(Tangent const&, Tangent const&) {
      method RxSO2 (line 549) | static RxSO2 sampleUniform(UniformRandomBitGenerator& generator) {
      method SOPHUS_FUNC (line 568) | SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
      method SOPHUS_FUNC (line 574) | SOPHUS_FUNC ComplexMember& complex_nonconst() { return complex_; }
    function setComplex (line 79) | class RxSO2Base {
    function SOPHUS_FUNC (line 310) | SOPHUS_FUNC ComplexType const& complex() const {
    function SOPHUS_FUNC (line 316) | SOPHUS_FUNC Transformation rotationMatrix() const {
    function SOPHUS_FUNC (line 324) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 329) | SOPHUS_FUNC void setAngle(Scalar const& theta) { setSO2(SO2<Scalar>(th...
    function SOPHUS_FUNC (line 335) | SOPHUS_FUNC void setRotationMatrix(Transformation const& R) {
    function SOPHUS_FUNC (line 341) | SOPHUS_FUNC void setScale(Scalar const& scale) {
    function SOPHUS_FUNC (line 352) | SOPHUS_FUNC void setScaledRotationMatrix(Transformation const& sR) {
    function SOPHUS_FUNC (line 360) | SOPHUS_FUNC void setSO2(SO2<Scalar> const& so2) {
    function SOPHUS_FUNC (line 367) | SOPHUS_FUNC SO2<Scalar> so2() const { return SO2<Scalar>(complex()); }
    class RxSO2 (line 379) | class RxSO2 : public RxSO2Base<RxSO2<Scalar_, Options>> {
      method RxSO2 (line 398) | RxSO2() : complex_(Scalar(1), Scalar(0)) {}
      method SOPHUS_FUNC (line 402) | SOPHUS_FUNC RxSO2(RxSO2 const& other) = default;
      method SOPHUS_FUNC (line 407) | SOPHUS_FUNC RxSO2(RxSO2Base<OtherDerived> const& other)
      method SOPHUS_FUNC (line 424) | SOPHUS_FUNC RxSO2(Scalar const& scale, Transformation const& R)
      method SOPHUS_FUNC (line 431) | SOPHUS_FUNC RxSO2(Scalar const& scale, SO2<Scalar> const& so2)
      method RxSO2 (line 438) | RxSO2(Vector2<Scalar> const& z) : complex_(z) {
      method RxSO2 (line 450) | RxSO2(Scalar const& real, Scalar const& imag)
      method SOPHUS_FUNC (line 455) | SOPHUS_FUNC ComplexMember const& complex() const { return complex_; }
      method Dxi_exp_x_matrix_at_0 (line 459) | Dxi_exp_x_matrix_at_0(int i) {
      method exp (line 472) | exp(Tangent const& a) {
      method generator (line 497) | generator(int i) {
      method hat (line 519) | hat(Tangent const& a) {
      method SOPHUS_FUNC (line 537) | SOPHUS_FUNC static Tangent lieBracket(Tangent const&, Tangent const&) {
      method RxSO2 (line 549) | static RxSO2 sampleUniform(UniformRandomBitGenerator& generator) {
      method SOPHUS_FUNC (line 568) | SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
      method SOPHUS_FUNC (line 574) | SOPHUS_FUNC ComplexMember& complex_nonconst() { return complex_; }
  type Eigen (line 581) | namespace Eigen {
    type internal (line 17) | namespace internal {
      type traits<Sophus::RxSO2<Scalar_, Options_>> (line 20) | struct traits<Sophus::RxSO2<Scalar_, Options_>> {
      type traits<Map<Sophus::RxSO2<Scalar_>, Options_>> (line 27) | struct traits<Map<Sophus::RxSO2<Scalar_>, Options_>>
      type traits<Map<Sophus::RxSO2<Scalar_> const, Options_>> (line 35) | struct traits<Map<Sophus::RxSO2<Scalar_> const, Options_>>
    class Map<Sophus::RxSO2<Scalar_>, Options> (line 588) | class Map<Sophus::RxSO2<Scalar_>, Options>
      method SOPHUS_FUNC (line 609) | SOPHUS_FUNC Map(Scalar* coeffs) : complex_(coeffs) {}
  class Map<Sophus::RxSO2<Scalar_> const, Options> (line 631) | class Map<Sophus::RxSO2<Scalar_> const, Options>
    method SOPHUS_FUNC (line 645) | SOPHUS_FUNC

FILE: LIO-Livox/include/sophus/rxso3.hpp
  type Sophus (line 9) | namespace Sophus {
    class RxSO3 (line 11) | class RxSO3
      method RxSO3 (line 435) | RxSO3()
      method SOPHUS_FUNC (line 440) | SOPHUS_FUNC RxSO3(RxSO3 const& other) = default;
      method SOPHUS_FUNC (line 445) | SOPHUS_FUNC RxSO3(RxSO3Base<OtherDerived> const& other)
      method SOPHUS_FUNC (line 462) | SOPHUS_FUNC RxSO3(Scalar const& scale, Transformation const& R)
      method SOPHUS_FUNC (line 474) | SOPHUS_FUNC RxSO3(Scalar const& scale, SO3<Scalar> const& so3)
      method SOPHUS_FUNC (line 487) | SOPHUS_FUNC explicit RxSO3(Eigen::QuaternionBase<D> const& quat)
      method SOPHUS_FUNC (line 497) | SOPHUS_FUNC QuaternionMember const& quaternion() const { return quat...
      method Dxi_exp_x_matrix_at_0 (line 501) | Dxi_exp_x_matrix_at_0(int i) {
      method exp (line 514) | exp(Tangent const& a) {
      method expAndTheta (line 523) | expAndTheta(Tangent const& a,
      method generator (line 562) | generator(int i) {
      method hat (line 584) | hat(Tangent const& a) {
      method SOPHUS_FUNC (line 603) | SOPHUS_FUNC static Tangent lieBracket(Tangent const& a, Tangent cons...
      method RxSO3 (line 618) | static RxSO3 sampleUniform(UniformRandomBitGenerator& generator) {
      method SOPHUS_FUNC (line 638) | SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
      method SOPHUS_FUNC (line 644) | SOPHUS_FUNC QuaternionMember& quaternion_nonconst() { return quatern...
    function setQuaternion (line 70) | class RxSO3Base {
    function SOPHUS_FUNC (line 339) | SOPHUS_FUNC QuaternionType const& quaternion() const {
    function SOPHUS_FUNC (line 345) | SOPHUS_FUNC Transformation rotationMatrix() const {
    function SOPHUS_FUNC (line 353) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 358) | SOPHUS_FUNC void setRotationMatrix(Transformation const& R) {
    function SOPHUS_FUNC (line 370) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 382) | SOPHUS_FUNC void setScaledRotationMatrix(Transformation const& sR) {
    function SOPHUS_FUNC (line 397) | SOPHUS_FUNC void setSO3(SO3<Scalar> const& so3) {
    function SOPHUS_FUNC (line 404) | SOPHUS_FUNC SO3<Scalar> so3() const { return SO3<Scalar>(quaternion()); }
    class RxSO3 (line 416) | class RxSO3 : public RxSO3Base<RxSO3<Scalar_, Options>> {
      method RxSO3 (line 435) | RxSO3()
      method SOPHUS_FUNC (line 440) | SOPHUS_FUNC RxSO3(RxSO3 const& other) = default;
      method SOPHUS_FUNC (line 445) | SOPHUS_FUNC RxSO3(RxSO3Base<OtherDerived> const& other)
      method SOPHUS_FUNC (line 462) | SOPHUS_FUNC RxSO3(Scalar const& scale, Transformation const& R)
      method SOPHUS_FUNC (line 474) | SOPHUS_FUNC RxSO3(Scalar const& scale, SO3<Scalar> const& so3)
      method SOPHUS_FUNC (line 487) | SOPHUS_FUNC explicit RxSO3(Eigen::QuaternionBase<D> const& quat)
      method SOPHUS_FUNC (line 497) | SOPHUS_FUNC QuaternionMember const& quaternion() const { return quat...
      method Dxi_exp_x_matrix_at_0 (line 501) | Dxi_exp_x_matrix_at_0(int i) {
      method exp (line 514) | exp(Tangent const& a) {
      method expAndTheta (line 523) | expAndTheta(Tangent const& a,
      method generator (line 562) | generator(int i) {
      method hat (line 584) | hat(Tangent const& a) {
      method SOPHUS_FUNC (line 603) | SOPHUS_FUNC static Tangent lieBracket(Tangent const& a, Tangent cons...
      method RxSO3 (line 618) | static RxSO3 sampleUniform(UniformRandomBitGenerator& generator) {
      method SOPHUS_FUNC (line 638) | SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
      method SOPHUS_FUNC (line 644) | SOPHUS_FUNC QuaternionMember& quaternion_nonconst() { return quatern...
  type Eigen (line 16) | namespace Eigen {
    type internal (line 17) | namespace internal {
      type traits<Sophus::RxSO3<Scalar_, Options_>> (line 20) | struct traits<Sophus::RxSO3<Scalar_, Options_>> {
      type traits<Map<Sophus::RxSO3<Scalar_>, Options_>> (line 27) | struct traits<Map<Sophus::RxSO3<Scalar_>, Options_>>
      type traits<Map<Sophus::RxSO3<Scalar_> const, Options_>> (line 35) | struct traits<Map<Sophus::RxSO3<Scalar_> const, Options_>>
    class Map<Sophus::RxSO3<Scalar_>, Options> (line 658) | class Map<Sophus::RxSO3<Scalar_>, Options>
      method SOPHUS_FUNC (line 679) | SOPHUS_FUNC Map(Scalar* coeffs) : quaternion_(coeffs) {}
  type Sophus (line 44) | namespace Sophus {
    class RxSO3 (line 11) | class RxSO3
      method RxSO3 (line 435) | RxSO3()
      method SOPHUS_FUNC (line 440) | SOPHUS_FUNC RxSO3(RxSO3 const& other) = default;
      method SOPHUS_FUNC (line 445) | SOPHUS_FUNC RxSO3(RxSO3Base<OtherDerived> const& other)
      method SOPHUS_FUNC (line 462) | SOPHUS_FUNC RxSO3(Scalar const& scale, Transformation const& R)
      method SOPHUS_FUNC (line 474) | SOPHUS_FUNC RxSO3(Scalar const& scale, SO3<Scalar> const& so3)
      method SOPHUS_FUNC (line 487) | SOPHUS_FUNC explicit RxSO3(Eigen::QuaternionBase<D> const& quat)
      method SOPHUS_FUNC (line 497) | SOPHUS_FUNC QuaternionMember const& quaternion() const { return quat...
      method Dxi_exp_x_matrix_at_0 (line 501) | Dxi_exp_x_matrix_at_0(int i) {
      method exp (line 514) | exp(Tangent const& a) {
      method expAndTheta (line 523) | expAndTheta(Tangent const& a,
      method generator (line 562) | generator(int i) {
      method hat (line 584) | hat(Tangent const& a) {
      method SOPHUS_FUNC (line 603) | SOPHUS_FUNC static Tangent lieBracket(Tangent const& a, Tangent cons...
      method RxSO3 (line 618) | static RxSO3 sampleUniform(UniformRandomBitGenerator& generator) {
      method SOPHUS_FUNC (line 638) | SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
      method SOPHUS_FUNC (line 644) | SOPHUS_FUNC QuaternionMember& quaternion_nonconst() { return quatern...
    function setQuaternion (line 70) | class RxSO3Base {
    function SOPHUS_FUNC (line 339) | SOPHUS_FUNC QuaternionType const& quaternion() const {
    function SOPHUS_FUNC (line 345) | SOPHUS_FUNC Transformation rotationMatrix() const {
    function SOPHUS_FUNC (line 353) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 358) | SOPHUS_FUNC void setRotationMatrix(Transformation const& R) {
    function SOPHUS_FUNC (line 370) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 382) | SOPHUS_FUNC void setScaledRotationMatrix(Transformation const& sR) {
    function SOPHUS_FUNC (line 397) | SOPHUS_FUNC void setSO3(SO3<Scalar> const& so3) {
    function SOPHUS_FUNC (line 404) | SOPHUS_FUNC SO3<Scalar> so3() const { return SO3<Scalar>(quaternion()); }
    class RxSO3 (line 416) | class RxSO3 : public RxSO3Base<RxSO3<Scalar_, Options>> {
      method RxSO3 (line 435) | RxSO3()
      method SOPHUS_FUNC (line 440) | SOPHUS_FUNC RxSO3(RxSO3 const& other) = default;
      method SOPHUS_FUNC (line 445) | SOPHUS_FUNC RxSO3(RxSO3Base<OtherDerived> const& other)
      method SOPHUS_FUNC (line 462) | SOPHUS_FUNC RxSO3(Scalar const& scale, Transformation const& R)
      method SOPHUS_FUNC (line 474) | SOPHUS_FUNC RxSO3(Scalar const& scale, SO3<Scalar> const& so3)
      method SOPHUS_FUNC (line 487) | SOPHUS_FUNC explicit RxSO3(Eigen::QuaternionBase<D> const& quat)
      method SOPHUS_FUNC (line 497) | SOPHUS_FUNC QuaternionMember const& quaternion() const { return quat...
      method Dxi_exp_x_matrix_at_0 (line 501) | Dxi_exp_x_matrix_at_0(int i) {
      method exp (line 514) | exp(Tangent const& a) {
      method expAndTheta (line 523) | expAndTheta(Tangent const& a,
      method generator (line 562) | generator(int i) {
      method hat (line 584) | hat(Tangent const& a) {
      method SOPHUS_FUNC (line 603) | SOPHUS_FUNC static Tangent lieBracket(Tangent const& a, Tangent cons...
      method RxSO3 (line 618) | static RxSO3 sampleUniform(UniformRandomBitGenerator& generator) {
      method SOPHUS_FUNC (line 638) | SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
      method SOPHUS_FUNC (line 644) | SOPHUS_FUNC QuaternionMember& quaternion_nonconst() { return quatern...
  type Eigen (line 651) | namespace Eigen {
    type internal (line 17) | namespace internal {
      type traits<Sophus::RxSO3<Scalar_, Options_>> (line 20) | struct traits<Sophus::RxSO3<Scalar_, Options_>> {
      type traits<Map<Sophus::RxSO3<Scalar_>, Options_>> (line 27) | struct traits<Map<Sophus::RxSO3<Scalar_>, Options_>>
      type traits<Map<Sophus::RxSO3<Scalar_> const, Options_>> (line 35) | struct traits<Map<Sophus::RxSO3<Scalar_> const, Options_>>
    class Map<Sophus::RxSO3<Scalar_>, Options> (line 658) | class Map<Sophus::RxSO3<Scalar_>, Options>
      method SOPHUS_FUNC (line 679) | SOPHUS_FUNC Map(Scalar* coeffs) : quaternion_(coeffs) {}
  class Map<Sophus::RxSO3<Scalar_> const, Options> (line 701) | class Map<Sophus::RxSO3<Scalar_> const, Options>
    method SOPHUS_FUNC (line 715) | SOPHUS_FUNC

FILE: LIO-Livox/include/sophus/se2.hpp
  type Sophus (line 9) | namespace Sophus {
    class SE2 (line 11) | class SE2
    class SE2Base (line 58) | class SE2Base {
      method SOPHUS_FUNC (line 103) | SOPHUS_FUNC Adjoint Adj() const {
      method SOPHUS_FUNC (line 116) | SOPHUS_FUNC SE2<NewScalarType> cast() const {
      method Dx_this_mul_exp_x_at_0 (line 123) | Dx_this_mul_exp_x_at_0()
      method inverse (line 145) | inverse() const {
      method SOPHUS_FUNC (line 160) | SOPHUS_FUNC Tangent log() const {
      method SOPHUS_FUNC (line 188) | SOPHUS_FUNC void normalize() { so2().normalize(); }
      method matrix (line 200) | matrix() const {
      method matrix2x3 (line 210) | matrix2x3() const {
      method SOPHUS_FUNC (line 219) | SOPHUS_FUNC SE2Base& operator=(SE2Base const& other) = default;
      method SOPHUS_FUNC (line 224) | SOPHUS_FUNC SE2Base<Derived>& operator=(SE2Base<OtherDerived> const&...
      method SOPHUS_FUNC (line 233) | SOPHUS_FUNC SE2Product<OtherDerived> operator*(
      method SOPHUS_FUNC (line 250) | SOPHUS_FUNC PointProduct<PointDerived> operator*(
      method SOPHUS_FUNC (line 260) | SOPHUS_FUNC HomogeneousPointProduct<HPointDerived> operator*(
      method SOPHUS_FUNC (line 275) | SOPHUS_FUNC Line operator*(Line const& l) const {
      method SOPHUS_FUNC (line 285) | SOPHUS_FUNC SE2Base<Derived>& operator*=(SE2Base<OtherDerived> const...
    function SOPHUS_FUNC (line 311) | SOPHUS_FUNC void setComplex(Sophus::Vector2<Scalar> const& complex) {
    function SOPHUS_FUNC (line 319) | SOPHUS_FUNC void setRotationMatrix(Matrix<Scalar, 2, 2> const& R) {
    function SOPHUS_FUNC (line 330) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 335) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 342) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 349) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 356) | SOPHUS_FUNC
  type Eigen (line 16) | namespace Eigen {
    type internal (line 17) | namespace internal {
      type traits<Sophus::SE2<Scalar_, Options>> (line 20) | struct traits<Sophus::SE2<Scalar_, Options>> {
      type traits<Map<Sophus::SE2<Scalar_>, Options>> (line 27) | struct traits<Map<Sophus::SE2<Scalar_>, Options>>
      type traits<Map<Sophus::SE2<Scalar_> const, Options>> (line 35) | struct traits<Map<Sophus::SE2<Scalar_> const, Options>>
    class Map<Sophus::SE2<Scalar_>, Options> (line 749) | class Map<Sophus::SE2<Scalar_>, Options>
      method SOPHUS_FUNC (line 774) | SOPHUS_FUNC Map<Sophus::SO2<Scalar>, Options>& so2() { return so2_; }
    function SOPHUS_FUNC (line 790) | SOPHUS_FUNC Map<Sophus::Vector2<Scalar>, Options> const& translation()...
  type Sophus (line 44) | namespace Sophus {
    class SE2 (line 11) | class SE2
    class SE2Base (line 58) | class SE2Base {
      method SOPHUS_FUNC (line 103) | SOPHUS_FUNC Adjoint Adj() const {
      method SOPHUS_FUNC (line 116) | SOPHUS_FUNC SE2<NewScalarType> cast() const {
      method Dx_this_mul_exp_x_at_0 (line 123) | Dx_this_mul_exp_x_at_0()
      method inverse (line 145) | inverse() const {
      method SOPHUS_FUNC (line 160) | SOPHUS_FUNC Tangent log() const {
      method SOPHUS_FUNC (line 188) | SOPHUS_FUNC void normalize() { so2().normalize(); }
      method matrix (line 200) | matrix() const {
      method matrix2x3 (line 210) | matrix2x3() const {
      method SOPHUS_FUNC (line 219) | SOPHUS_FUNC SE2Base& operator=(SE2Base const& other) = default;
      method SOPHUS_FUNC (line 224) | SOPHUS_FUNC SE2Base<Derived>& operator=(SE2Base<OtherDerived> const&...
      method SOPHUS_FUNC (line 233) | SOPHUS_FUNC SE2Product<OtherDerived> operator*(
      method SOPHUS_FUNC (line 250) | SOPHUS_FUNC PointProduct<PointDerived> operator*(
      method SOPHUS_FUNC (line 260) | SOPHUS_FUNC HomogeneousPointProduct<HPointDerived> operator*(
      method SOPHUS_FUNC (line 275) | SOPHUS_FUNC Line operator*(Line const& l) const {
      method SOPHUS_FUNC (line 285) | SOPHUS_FUNC SE2Base<Derived>& operator*=(SE2Base<OtherDerived> const...
    function SOPHUS_FUNC (line 311) | SOPHUS_FUNC void setComplex(Sophus::Vector2<Scalar> const& complex) {
    function SOPHUS_FUNC (line 319) | SOPHUS_FUNC void setRotationMatrix(Matrix<Scalar, 2, 2> const& R) {
    function SOPHUS_FUNC (line 330) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 335) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 342) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 349) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 356) | SOPHUS_FUNC
  function SOPHUS_FUNC (line 388) | SOPHUS_FUNC SE2(SE2 const& other) = default;
  function SOPHUS_FUNC (line 446) | SOPHUS_FUNC Scalar* data() {
  function SOPHUS_FUNC (line 453) | SOPHUS_FUNC Scalar const* data() const {
  function SOPHUS_FUNC (line 460) | SOPHUS_FUNC SO2Member& so2() { return so2_; }
  function SOPHUS_FUNC (line 464) | SOPHUS_FUNC SO2Member const& so2() const { return so2_; }
  function SOPHUS_FUNC (line 468) | SOPHUS_FUNC TranslationMember& translation() { return translation_; }
  function SOPHUS_FUNC (line 472) | SOPHUS_FUNC TranslationMember const& translation() const {
  function SOPHUS_FUNC (line 478) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF> Dx_exp_x(
  function SOPHUS_FUNC (line 530) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF>
  function SOPHUS_FUNC (line 544) | SOPHUS_FUNC static Transformation Dxi_exp_x_matrix_at_0(int i) {
  function SOPHUS_FUNC (line 560) | SOPHUS_FUNC static SE2<Scalar> exp(Tangent const& a) {
  function SOPHUS_FUNC (line 586) | static SOPHUS_FUNC enable_if_t<std::is_floating_point<S>::value, SE2>
  function SOPHUS_FUNC (line 612) | SOPHUS_FUNC static Transformation generator(int i) {
  function SOPHUS_FUNC (line 633) | SOPHUS_FUNC static Transformation hat(Tangent const& a) {
  function SOPHUS_FUNC (line 650) | SOPHUS_FUNC static Tangent lieBracket(Tangent const& a, Tangent const& b) {
  function SOPHUS_FUNC (line 662) | static SOPHUS_FUNC SE2 rot(Scalar const& x) {
  function SE2 (line 671) | static SE2 sampleUniform(UniformRandomBitGenerator& generator) {
  function SOPHUS_FUNC (line 680) | static SOPHUS_FUNC SE2 trans(T0 const& x, T1 const& y) {
  function SOPHUS_FUNC (line 684) | static SOPHUS_FUNC SE2 trans(Vector2<Scalar> const& xy) {
  function SOPHUS_FUNC (line 690) | static SOPHUS_FUNC SE2 transX(Scalar const& x) {
  function SOPHUS_FUNC (line 696) | static SOPHUS_FUNC SE2 transY(Scalar const& y) {
  function SOPHUS_FUNC (line 713) | SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
  type Eigen (line 743) | namespace Eigen {
    type internal (line 17) | namespace internal {
      type traits<Sophus::SE2<Scalar_, Options>> (line 20) | struct traits<Sophus::SE2<Scalar_, Options>> {
      type traits<Map<Sophus::SE2<Scalar_>, Options>> (line 27) | struct traits<Map<Sophus::SE2<Scalar_>, Options>>
      type traits<Map<Sophus::SE2<Scalar_> const, Options>> (line 35) | struct traits<Map<Sophus::SE2<Scalar_> const, Options>>
    class Map<Sophus::SE2<Scalar_>, Options> (line 749) | class Map<Sophus::SE2<Scalar_>, Options>
      method SOPHUS_FUNC (line 774) | SOPHUS_FUNC Map<Sophus::SO2<Scalar>, Options>& so2() { return so2_; }
    function SOPHUS_FUNC (line 790) | SOPHUS_FUNC Map<Sophus::Vector2<Scalar>, Options> const& translation()...
  class Map<Sophus::SE2<Scalar_> const, Options> (line 803) | class Map<Sophus::SE2<Scalar_> const, Options>

FILE: LIO-Livox/include/sophus/se3.hpp
  type Sophus (line 9) | namespace Sophus {
    class SE3 (line 11) | class SE3
    class SE3Base (line 58) | class SE3Base {
      method SOPHUS_FUNC (line 103) | SOPHUS_FUNC Adjoint Adj() const {
      method Scalar (line 115) | Scalar angleX() const { return so3().angleX(); }
      method Scalar (line 119) | Scalar angleY() const { return so3().angleY(); }
      method Scalar (line 123) | Scalar angleZ() const { return so3().angleZ(); }
      method SOPHUS_FUNC (line 128) | SOPHUS_FUNC SE3<NewScalarType> cast() const {
      method Dx_this_mul_exp_x_at_0 (line 135) | Dx_this_mul_exp_x_at_0()
      method inverse (line 208) | inverse() const {
      method SOPHUS_FUNC (line 223) | SOPHUS_FUNC Tangent log() const {
      method SOPHUS_FUNC (line 263) | SOPHUS_FUNC void normalize() { so3().normalize(); }
      method matrix (line 275) | matrix() const {
      method matrix3x4 (line 285) | matrix3x4() const {
      method SOPHUS_FUNC (line 294) | SOPHUS_FUNC SE3Base& operator=(SE3Base const& other) = default;
      method SOPHUS_FUNC (line 299) | SOPHUS_FUNC SE3Base<Derived>& operator=(SE3Base<OtherDerived> const&...
      method SOPHUS_FUNC (line 308) | SOPHUS_FUNC SE3Product<OtherDerived> operator*(
      method SOPHUS_FUNC (line 325) | SOPHUS_FUNC PointProduct<PointDerived> operator*(
      method SOPHUS_FUNC (line 335) | SOPHUS_FUNC HomogeneousPointProduct<HPointDerived> operator*(
      method SOPHUS_FUNC (line 350) | SOPHUS_FUNC Line operator*(Line const& l) const {
      method SOPHUS_FUNC (line 360) | SOPHUS_FUNC SE3Base<Derived>& operator*=(SE3Base<OtherDerived> const...
      method rotationMatrix (line 367) | rotationMatrix() const { return so3().matrix(); }
      method SOPHUS_FUNC (line 371) | SOPHUS_FUNC SO3Type& so3() { return static_cast<Derived*>(this)->so3...
      method SOPHUS_FUNC (line 375) | SOPHUS_FUNC SO3Type const& so3() const {
      method SOPHUS_FUNC (line 383) | SOPHUS_FUNC void setQuaternion(Eigen::Quaternion<Scalar> const& quat) {
      method SOPHUS_FUNC (line 391) | SOPHUS_FUNC void setRotationMatrix(Matrix3<Scalar> const& R) {
    function SOPHUS_FUNC (line 417) | SOPHUS_FUNC TranslationType const& translation() const {
    function SOPHUS_FUNC (line 423) | SOPHUS_FUNC QuaternionType const& unit_quaternion() const {
  type Eigen (line 16) | namespace Eigen {
    type internal (line 17) | namespace internal {
      type traits<Sophus::SE3<Scalar_, Options>> (line 20) | struct traits<Sophus::SE3<Scalar_, Options>> {
      type traits<Map<Sophus::SE3<Scalar_>, Options>> (line 27) | struct traits<Map<Sophus::SE3<Scalar_>, Options>>
      type traits<Map<Sophus::SE3<Scalar_> const, Options>> (line 35) | struct traits<Map<Sophus::SE3<Scalar_> const, Options>>
    class Map<Sophus::SE3<Scalar_>, Options> (line 991) | class Map<Sophus::SE3<Scalar_>, Options>
      method SOPHUS_FUNC (line 1015) | SOPHUS_FUNC Map<Sophus::SO3<Scalar>, Options>& so3() { return so3_; }
    function SOPHUS_FUNC (line 1031) | SOPHUS_FUNC Map<Sophus::Vector3<Scalar, Options>> const& translation()...
  type Sophus (line 44) | namespace Sophus {
    class SE3 (line 11) | class SE3
    class SE3Base (line 58) | class SE3Base {
      method SOPHUS_FUNC (line 103) | SOPHUS_FUNC Adjoint Adj() const {
      method Scalar (line 115) | Scalar angleX() const { return so3().angleX(); }
      method Scalar (line 119) | Scalar angleY() const { return so3().angleY(); }
      method Scalar (line 123) | Scalar angleZ() const { return so3().angleZ(); }
      method SOPHUS_FUNC (line 128) | SOPHUS_FUNC SE3<NewScalarType> cast() const {
      method Dx_this_mul_exp_x_at_0 (line 135) | Dx_this_mul_exp_x_at_0()
      method inverse (line 208) | inverse() const {
      method SOPHUS_FUNC (line 223) | SOPHUS_FUNC Tangent log() const {
      method SOPHUS_FUNC (line 263) | SOPHUS_FUNC void normalize() { so3().normalize(); }
      method matrix (line 275) | matrix() const {
      method matrix3x4 (line 285) | matrix3x4() const {
      method SOPHUS_FUNC (line 294) | SOPHUS_FUNC SE3Base& operator=(SE3Base const& other) = default;
      method SOPHUS_FUNC (line 299) | SOPHUS_FUNC SE3Base<Derived>& operator=(SE3Base<OtherDerived> const&...
      method SOPHUS_FUNC (line 308) | SOPHUS_FUNC SE3Product<OtherDerived> operator*(
      method SOPHUS_FUNC (line 325) | SOPHUS_FUNC PointProduct<PointDerived> operator*(
      method SOPHUS_FUNC (line 335) | SOPHUS_FUNC HomogeneousPointProduct<HPointDerived> operator*(
      method SOPHUS_FUNC (line 350) | SOPHUS_FUNC Line operator*(Line const& l) const {
      method SOPHUS_FUNC (line 360) | SOPHUS_FUNC SE3Base<Derived>& operator*=(SE3Base<OtherDerived> const...
      method rotationMatrix (line 367) | rotationMatrix() const { return so3().matrix(); }
      method SOPHUS_FUNC (line 371) | SOPHUS_FUNC SO3Type& so3() { return static_cast<Derived*>(this)->so3...
      method SOPHUS_FUNC (line 375) | SOPHUS_FUNC SO3Type const& so3() const {
      method SOPHUS_FUNC (line 383) | SOPHUS_FUNC void setQuaternion(Eigen::Quaternion<Scalar> const& quat) {
      method SOPHUS_FUNC (line 391) | SOPHUS_FUNC void setRotationMatrix(Matrix3<Scalar> const& R) {
    function SOPHUS_FUNC (line 417) | SOPHUS_FUNC TranslationType const& translation() const {
    function SOPHUS_FUNC (line 423) | SOPHUS_FUNC QuaternionType const& unit_quaternion() const {
  function SOPHUS_FUNC (line 454) | SOPHUS_FUNC SE3(SE3 const& other) = default;
  function SOPHUS_FUNC (line 513) | SOPHUS_FUNC Scalar* data() {
  function SOPHUS_FUNC (line 520) | SOPHUS_FUNC Scalar const* data() const {
  function SOPHUS_FUNC (line 527) | SOPHUS_FUNC SO3Member& so3() { return so3_; }
  function SOPHUS_FUNC (line 531) | SOPHUS_FUNC SO3Member const& so3() const { return so3_; }
  function SOPHUS_FUNC (line 535) | SOPHUS_FUNC TranslationMember& translation() { return translation_; }
  function SOPHUS_FUNC (line 539) | SOPHUS_FUNC TranslationMember const& translation() const {
  function SOPHUS_FUNC (line 545) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF> Dx_exp_x(
  function SOPHUS_FUNC (line 727) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF>
  function SOPHUS_FUNC (line 747) | SOPHUS_FUNC static Transformation Dxi_exp_x_matrix_at_0(int i) {
  function SOPHUS_FUNC (line 763) | SOPHUS_FUNC static SE3<Scalar> exp(Tangent const& a) {
  function SOPHUS_FUNC (line 789) | SOPHUS_FUNC static enable_if_t<std::is_floating_point<S>::value, SE3>
  function SOPHUS_FUNC (line 833) | SOPHUS_FUNC static Transformation generator(int i) {
  function SOPHUS_FUNC (line 854) | SOPHUS_FUNC static Transformation hat(Tangent const& a) {
  function SOPHUS_FUNC (line 872) | SOPHUS_FUNC static Tangent lieBracket(Tangent const& a, Tangent const& b) {
  function SOPHUS_FUNC (line 887) | static SOPHUS_FUNC SE3 rotX(Scalar const& x) {
  function SOPHUS_FUNC (line 893) | static SOPHUS_FUNC SE3 rotY(Scalar const& y) {
  function SOPHUS_FUNC (line 899) | static SOPHUS_FUNC SE3 rotZ(Scalar const& z) {
  function SE3 (line 908) | static SE3 sampleUniform(UniformRandomBitGenerator& generator) {
  function SOPHUS_FUNC (line 918) | static SOPHUS_FUNC SE3 trans(T0 const& x, T1 const& y, T2 const& z) {
  function SOPHUS_FUNC (line 922) | static SOPHUS_FUNC SE3 trans(Vector3<Scalar> const& xyz) {
  function SOPHUS_FUNC (line 928) | static SOPHUS_FUNC SE3 transX(Scalar const& x) {
  function SOPHUS_FUNC (line 934) | static SOPHUS_FUNC SE3 transY(Scalar const& y) {
  function SOPHUS_FUNC (line 940) | static SOPHUS_FUNC SE3 transZ(Scalar const& z) {
  function SOPHUS_FUNC (line 958) | SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
  type Eigen (line 985) | namespace Eigen {
    type internal (line 17) | namespace internal {
      type traits<Sophus::SE3<Scalar_, Options>> (line 20) | struct traits<Sophus::SE3<Scalar_, Options>> {
      type traits<Map<Sophus::SE3<Scalar_>, Options>> (line 27) | struct traits<Map<Sophus::SE3<Scalar_>, Options>>
      type traits<Map<Sophus::SE3<Scalar_> const, Options>> (line 35) | struct traits<Map<Sophus::SE3<Scalar_> const, Options>>
    class Map<Sophus::SE3<Scalar_>, Options> (line 991) | class Map<Sophus::SE3<Scalar_>, Options>
      method SOPHUS_FUNC (line 1015) | SOPHUS_FUNC Map<Sophus::SO3<Scalar>, Options>& so3() { return so3_; }
    function SOPHUS_FUNC (line 1031) | SOPHUS_FUNC Map<Sophus::Vector3<Scalar, Options>> const& translation()...
  class Map<Sophus::SE3<Scalar_> const, Options> (line 1044) | class Map<Sophus::SE3<Scalar_> const, Options>

FILE: LIO-Livox/include/sophus/sim2.hpp
  type Sophus (line 10) | namespace Sophus {
    class Sim2 (line 12) | class Sim2
    class Sim2Base (line 59) | class Sim2Base {
      method SOPHUS_FUNC (line 104) | SOPHUS_FUNC Adjoint Adj() const {
      method SOPHUS_FUNC (line 121) | SOPHUS_FUNC Sim2<NewScalarType> cast() const {
      method inverse (line 128) | inverse() const {
      method SOPHUS_FUNC (line 143) | SOPHUS_FUNC Tangent log() const {
      method matrix (line 174) | matrix() const {
      method matrix2x3 (line 184) | matrix2x3() const {
      method SOPHUS_FUNC (line 193) | SOPHUS_FUNC Sim2Base& operator=(Sim2Base const& other) = default;
      method SOPHUS_FUNC (line 198) | SOPHUS_FUNC Sim2Base<Derived>& operator=(
      method SOPHUS_FUNC (line 211) | SOPHUS_FUNC Sim2Product<OtherDerived> operator*(
      method SOPHUS_FUNC (line 228) | SOPHUS_FUNC PointProduct<PointDerived> operator*(
      method SOPHUS_FUNC (line 238) | SOPHUS_FUNC HomogeneousPointProduct<HPointDerived> operator*(
      method SOPHUS_FUNC (line 253) | SOPHUS_FUNC Line operator*(Line const& l) const {
    function SOPHUS_FUNC (line 285) | SOPHUS_FUNC void setComplex(Vector2<Scalar> const& z) {
    function SOPHUS_FUNC (line 291) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 299) | SOPHUS_FUNC Matrix2<Scalar> rotationMatrix() const {
    function SOPHUS_FUNC (line 305) | SOPHUS_FUNC RxSO2Type& rxso2() {
    function SOPHUS_FUNC (line 311) | SOPHUS_FUNC RxSO2Type const& rxso2() const {
    function SOPHUS_FUNC (line 317) | SOPHUS_FUNC Scalar scale() const { return rxso2().scale(); }
    function SOPHUS_FUNC (line 321) | SOPHUS_FUNC void setRotationMatrix(Matrix2<Scalar>& R) {
    function SOPHUS_FUNC (line 330) | SOPHUS_FUNC void setScale(Scalar const& scale) { rxso2().setScale(scal...
    function SOPHUS_FUNC (line 337) | SOPHUS_FUNC void setScaledRotationMatrix(Matrix2<Scalar> const& sR) {
    function SOPHUS_FUNC (line 343) | SOPHUS_FUNC TranslationType& translation() {
    function SOPHUS_FUNC (line 349) | SOPHUS_FUNC TranslationType const& translation() const {
  type Eigen (line 17) | namespace Eigen {
    type internal (line 18) | namespace internal {
      type traits<Sophus::Sim2<Scalar_, Options>> (line 21) | struct traits<Sophus::Sim2<Scalar_, Options>> {
      type traits<Map<Sophus::Sim2<Scalar_>, Options>> (line 28) | struct traits<Map<Sophus::Sim2<Scalar_>, Options>>
      type traits<Map<Sophus::Sim2<Scalar_> const, Options>> (line 36) | struct traits<Map<Sophus::Sim2<Scalar_> const, Options>>
    class Map<Sophus::Sim2<Scalar_>, Options> (line 638) | class Map<Sophus::Sim2<Scalar_>, Options>
      method SOPHUS_FUNC (line 662) | SOPHUS_FUNC Map<Sophus::RxSO2<Scalar>, Options>& rxso2() { return rx...
    function SOPHUS_FUNC (line 677) | SOPHUS_FUNC Map<Sophus::Vector2<Scalar>, Options> const& translation()...
  type Sophus (line 45) | namespace Sophus {
    class Sim2 (line 12) | class Sim2
    class Sim2Base (line 59) | class Sim2Base {
      method SOPHUS_FUNC (line 104) | SOPHUS_FUNC Adjoint Adj() const {
      method SOPHUS_FUNC (line 121) | SOPHUS_FUNC Sim2<NewScalarType> cast() const {
      method inverse (line 128) | inverse() const {
      method SOPHUS_FUNC (line 143) | SOPHUS_FUNC Tangent log() const {
      method matrix (line 174) | matrix() const {
      method matrix2x3 (line 184) | matrix2x3() const {
      method SOPHUS_FUNC (line 193) | SOPHUS_FUNC Sim2Base& operator=(Sim2Base const& other) = default;
      method SOPHUS_FUNC (line 198) | SOPHUS_FUNC Sim2Base<Derived>& operator=(
      method SOPHUS_FUNC (line 211) | SOPHUS_FUNC Sim2Product<OtherDerived> operator*(
      method SOPHUS_FUNC (line 228) | SOPHUS_FUNC PointProduct<PointDerived> operator*(
      method SOPHUS_FUNC (line 238) | SOPHUS_FUNC HomogeneousPointProduct<HPointDerived> operator*(
      method SOPHUS_FUNC (line 253) | SOPHUS_FUNC Line operator*(Line const& l) const {
    function SOPHUS_FUNC (line 285) | SOPHUS_FUNC void setComplex(Vector2<Scalar> const& z) {
    function SOPHUS_FUNC (line 291) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 299) | SOPHUS_FUNC Matrix2<Scalar> rotationMatrix() const {
    function SOPHUS_FUNC (line 305) | SOPHUS_FUNC RxSO2Type& rxso2() {
    function SOPHUS_FUNC (line 311) | SOPHUS_FUNC RxSO2Type const& rxso2() const {
    function SOPHUS_FUNC (line 317) | SOPHUS_FUNC Scalar scale() const { return rxso2().scale(); }
    function SOPHUS_FUNC (line 321) | SOPHUS_FUNC void setRotationMatrix(Matrix2<Scalar>& R) {
    function SOPHUS_FUNC (line 330) | SOPHUS_FUNC void setScale(Scalar const& scale) { rxso2().setScale(scal...
    function SOPHUS_FUNC (line 337) | SOPHUS_FUNC void setScaledRotationMatrix(Matrix2<Scalar> const& sR) {
    function SOPHUS_FUNC (line 343) | SOPHUS_FUNC TranslationType& translation() {
    function SOPHUS_FUNC (line 349) | SOPHUS_FUNC TranslationType const& translation() const {
  function SOPHUS_FUNC (line 376) | SOPHUS_FUNC Sim2(Sim2 const& other) = default;
  function SOPHUS_FUNC (line 425) | SOPHUS_FUNC Scalar* data() {
  function SOPHUS_FUNC (line 432) | SOPHUS_FUNC Scalar const* data() const {
  function SOPHUS_FUNC (line 439) | SOPHUS_FUNC RxSo2Member& rxso2() { return rxso2_; }
  function SOPHUS_FUNC (line 443) | SOPHUS_FUNC RxSo2Member const& rxso2() const { return rxso2_; }
  function SOPHUS_FUNC (line 447) | SOPHUS_FUNC TranslationMember& translation() { return translation_; }
  function SOPHUS_FUNC (line 451) | SOPHUS_FUNC TranslationMember const& translation() const {
  function SOPHUS_FUNC (line 457) | SOPHUS_FUNC static Transformation Dxi_exp_x_matrix_at_0(int i) {
  function SOPHUS_FUNC (line 482) | SOPHUS_FUNC static Sim2<Scalar> exp(Tangent const& a) {
  function SOPHUS_FUNC (line 520) | SOPHUS_FUNC static Transformation generator(int i) {
  function SOPHUS_FUNC (line 541) | SOPHUS_FUNC static Transformation hat(Tangent const& a) {
  function SOPHUS_FUNC (line 559) | SOPHUS_FUNC static Tangent lieBracket(Tangent const& a, Tangent const& b) {
  function Sim2 (line 585) | static Sim2 sampleUniform(UniformRandomBitGenerator& generator) {
  function SOPHUS_FUNC (line 604) | SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
  type Eigen (line 632) | namespace Eigen {
    type internal (line 18) | namespace internal {
      type traits<Sophus::Sim2<Scalar_, Options>> (line 21) | struct traits<Sophus::Sim2<Scalar_, Options>> {
      type traits<Map<Sophus::Sim2<Scalar_>, Options>> (line 28) | struct traits<Map<Sophus::Sim2<Scalar_>, Options>>
      type traits<Map<Sophus::Sim2<Scalar_> const, Options>> (line 36) | struct traits<Map<Sophus::Sim2<Scalar_> const, Options>>
    class Map<Sophus::Sim2<Scalar_>, Options> (line 638) | class Map<Sophus::Sim2<Scalar_>, Options>
      method SOPHUS_FUNC (line 662) | SOPHUS_FUNC Map<Sophus::RxSO2<Scalar>, Options>& rxso2() { return rx...
    function SOPHUS_FUNC (line 677) | SOPHUS_FUNC Map<Sophus::Vector2<Scalar>, Options> const& translation()...
  class Map<Sophus::Sim2<Scalar_> const, Options> (line 690) | class Map<Sophus::Sim2<Scalar_> const, Options>

FILE: LIO-Livox/include/sophus/sim3.hpp
  type Sophus (line 10) | namespace Sophus {
    class Sim3 (line 12) | class Sim3
    function setQuaternion (line 59) | class Sim3Base {
    function SOPHUS_FUNC (line 293) | SOPHUS_FUNC QuaternionType const& quaternion() const {
    function SOPHUS_FUNC (line 299) | SOPHUS_FUNC Matrix3<Scalar> rotationMatrix() const {
    function SOPHUS_FUNC (line 305) | SOPHUS_FUNC RxSO3Type& rxso3() {
    function SOPHUS_FUNC (line 311) | SOPHUS_FUNC RxSO3Type const& rxso3() const {
    function SOPHUS_FUNC (line 317) | SOPHUS_FUNC Scalar scale() const { return rxso3().scale(); }
    function SOPHUS_FUNC (line 321) | SOPHUS_FUNC void setRotationMatrix(Matrix3<Scalar>& R) {
    function SOPHUS_FUNC (line 330) | SOPHUS_FUNC void setScale(Scalar const& scale) { rxso3().setScale(scal...
    function SOPHUS_FUNC (line 337) | SOPHUS_FUNC void setScaledRotationMatrix(Matrix3<Scalar> const& sR) {
    function SOPHUS_FUNC (line 343) | SOPHUS_FUNC TranslationType& translation() {
    function SOPHUS_FUNC (line 349) | SOPHUS_FUNC TranslationType const& translation() const {
  type Eigen (line 17) | namespace Eigen {
    type internal (line 18) | namespace internal {
      type traits<Sophus::Sim3<Scalar_, Options>> (line 21) | struct traits<Sophus::Sim3<Scalar_, Options>> {
      type traits<Map<Sophus::Sim3<Scalar_>, Options>> (line 28) | struct traits<Map<Sophus::Sim3<Scalar_>, Options>>
      type traits<Map<Sophus::Sim3<Scalar_> const, Options>> (line 36) | struct traits<Map<Sophus::Sim3<Scalar_> const, Options>>
    class Map<Sophus::Sim3<Scalar_>, Options> (line 655) | class Map<Sophus::Sim3<Scalar_>, Options>
      method SOPHUS_FUNC (line 679) | SOPHUS_FUNC Map<Sophus::RxSO3<Scalar>, Options>& rxso3() { return rx...
    function SOPHUS_FUNC (line 694) | SOPHUS_FUNC Map<Sophus::Vector3<Scalar>, Options> const& translation()...
  type Sophus (line 45) | namespace Sophus {
    class Sim3 (line 12) | class Sim3
    function setQuaternion (line 59) | class Sim3Base {
    function SOPHUS_FUNC (line 293) | SOPHUS_FUNC QuaternionType const& quaternion() const {
    function SOPHUS_FUNC (line 299) | SOPHUS_FUNC Matrix3<Scalar> rotationMatrix() const {
    function SOPHUS_FUNC (line 305) | SOPHUS_FUNC RxSO3Type& rxso3() {
    function SOPHUS_FUNC (line 311) | SOPHUS_FUNC RxSO3Type const& rxso3() const {
    function SOPHUS_FUNC (line 317) | SOPHUS_FUNC Scalar scale() const { return rxso3().scale(); }
    function SOPHUS_FUNC (line 321) | SOPHUS_FUNC void setRotationMatrix(Matrix3<Scalar>& R) {
    function SOPHUS_FUNC (line 330) | SOPHUS_FUNC void setScale(Scalar const& scale) { rxso3().setScale(scal...
    function SOPHUS_FUNC (line 337) | SOPHUS_FUNC void setScaledRotationMatrix(Matrix3<Scalar> const& sR) {
    function SOPHUS_FUNC (line 343) | SOPHUS_FUNC TranslationType& translation() {
    function SOPHUS_FUNC (line 349) | SOPHUS_FUNC TranslationType const& translation() const {
  function SOPHUS_FUNC (line 376) | SOPHUS_FUNC Sim3(Sim3 const& other) = default;
  function SOPHUS_FUNC (line 427) | SOPHUS_FUNC Scalar* data() {
  function SOPHUS_FUNC (line 434) | SOPHUS_FUNC Scalar const* data() const {
  function SOPHUS_FUNC (line 441) | SOPHUS_FUNC RxSo3Member& rxso3() { return rxso3_; }
  function SOPHUS_FUNC (line 445) | SOPHUS_FUNC RxSo3Member const& rxso3() const { return rxso3_; }
  function SOPHUS_FUNC (line 449) | SOPHUS_FUNC TranslationMember& translation() { return translation_; }
  function SOPHUS_FUNC (line 453) | SOPHUS_FUNC TranslationMember const& translation() const {
  function SOPHUS_FUNC (line 459) | SOPHUS_FUNC static Transformation Dxi_exp_x_matrix_at_0(int i) {
  function SOPHUS_FUNC (line 476) | SOPHUS_FUNC static Sim3<Scalar> exp(Tangent const& a) {
  function SOPHUS_FUNC (line 536) | SOPHUS_FUNC static Transformation generator(int i) {
  function SOPHUS_FUNC (line 557) | SOPHUS_FUNC static Transformation hat(Tangent const& a) {
  function SOPHUS_FUNC (line 575) | SOPHUS_FUNC static Tangent lieBracket(Tangent const& a, Tangent const& b) {
  function Sim3 (line 600) | static Sim3 sampleUniform(UniformRandomBitGenerator& generator) {
  function SOPHUS_FUNC (line 621) | SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
  type Eigen (line 649) | namespace Eigen {
    type internal (line 18) | namespace internal {
      type traits<Sophus::Sim3<Scalar_, Options>> (line 21) | struct traits<Sophus::Sim3<Scalar_, Options>> {
      type traits<Map<Sophus::Sim3<Scalar_>, Options>> (line 28) | struct traits<Map<Sophus::Sim3<Scalar_>, Options>>
      type traits<Map<Sophus::Sim3<Scalar_> const, Options>> (line 36) | struct traits<Map<Sophus::Sim3<Scalar_> const, Options>>
    class Map<Sophus::Sim3<Scalar_>, Options> (line 655) | class Map<Sophus::Sim3<Scalar_>, Options>
      method SOPHUS_FUNC (line 679) | SOPHUS_FUNC Map<Sophus::RxSO3<Scalar>, Options>& rxso3() { return rx...
    function SOPHUS_FUNC (line 694) | SOPHUS_FUNC Map<Sophus::Vector3<Scalar>, Options> const& translation()...
  class Map<Sophus::Sim3<Scalar_> const, Options> (line 707) | class Map<Sophus::Sim3<Scalar_> const, Options>

FILE: LIO-Livox/include/sophus/sim_details.hpp
  type Sophus (line 6) | namespace Sophus {
    type details (line 7) | namespace details {
      function calcW (line 10) | Matrix<Scalar, N, N> calcW(Matrix<Scalar, N, N> const& Omega,
      function calcWInv (line 52) | Matrix<Scalar, N, N> calcWInv(Matrix<Scalar, N, N> const& Omega,

FILE: LIO-Livox/include/sophus/so2.hpp
  type Sophus (line 17) | namespace Sophus {
    class SO2 (line 19) | class SO2
    function setComplex (line 80) | class SO2Base {
    function SOPHUS_FUNC (line 322) | SOPHUS_FUNC
    function SO2 (line 360) | SO2() : unit_complex_(Scalar(1), Scalar(0)) {}
    function SOPHUS_FUNC (line 364) | SOPHUS_FUNC SO2(SO2 const& other) = default;
  type Eigen (line 24) | namespace Eigen {
    type internal (line 25) | namespace internal {
      type traits<Sophus::SO2<Scalar_, Options_>> (line 28) | struct traits<Sophus::SO2<Scalar_, Options_>> {
      type traits<Map<Sophus::SO2<Scalar_>, Options_>> (line 35) | struct traits<Map<Sophus::SO2<Scalar_>, Options_>>
      type traits<Map<Sophus::SO2<Scalar_> const, Options_>> (line 43) | struct traits<Map<Sophus::SO2<Scalar_> const, Options_>>
    class Map<Sophus::SO2<Scalar_>, Options> (line 548) | class Map<Sophus::SO2<Scalar_>, Options>
      method SOPHUS_FUNC (line 570) | SOPHUS_FUNC
  type Sophus (line 52) | namespace Sophus {
    class SO2 (line 19) | class SO2
    function setComplex (line 80) | class SO2Base {
    function SOPHUS_FUNC (line 322) | SOPHUS_FUNC
    function SO2 (line 360) | SO2() : unit_complex_(Scalar(1), Scalar(0)) {}
    function SOPHUS_FUNC (line 364) | SOPHUS_FUNC SO2(SO2 const& other) = default;
  function SOPHUS_FUNC (line 388) | SOPHUS_FUNC SO2(Scalar const& real, Scalar const& imag)
  function SOPHUS_FUNC (line 398) | SOPHUS_FUNC explicit SO2(Eigen::MatrixBase<D> const& complex)
  function SOPHUS_FUNC (line 407) | SOPHUS_FUNC explicit SO2(Scalar theta) {
  function SOPHUS_FUNC (line 413) | SOPHUS_FUNC ComplexMember const& unit_complex() const {
  function SOPHUS_FUNC (line 426) | SOPHUS_FUNC static SO2<Scalar> exp(Tangent const& theta) {
  function SOPHUS_FUNC (line 434) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF> Dx_exp_x(
  function SOPHUS_FUNC (line 443) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF>
  function SOPHUS_FUNC (line 450) | SOPHUS_FUNC static Transformation Dxi_exp_x_matrix_at_0(int) {
  function SOPHUS_FUNC (line 461) | SOPHUS_FUNC static Transformation generator() { return hat(Scalar(1)); }
  function SOPHUS_FUNC (line 476) | SOPHUS_FUNC static Transformation hat(Tangent const& theta) {
  function SOPHUS_FUNC (line 489) | static SOPHUS_FUNC enable_if_t<std::is_floating_point<S>::value, SO2>
  function SOPHUS_FUNC (line 499) | SOPHUS_FUNC static Tangent lieBracket(Tangent const&, Tangent const&) {
  function SO2 (line 506) | static SO2 sampleUniform(UniformRandomBitGenerator& generator) {
  function SOPHUS_FUNC (line 526) | SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
  type Eigen (line 541) | namespace Eigen {
    type internal (line 25) | namespace internal {
      type traits<Sophus::SO2<Scalar_, Options_>> (line 28) | struct traits<Sophus::SO2<Scalar_, Options_>> {
      type traits<Map<Sophus::SO2<Scalar_>, Options_>> (line 35) | struct traits<Map<Sophus::SO2<Scalar_>, Options_>>
      type traits<Map<Sophus::SO2<Scalar_> const, Options_>> (line 43) | struct traits<Map<Sophus::SO2<Scalar_> const, Options_>>
    class Map<Sophus::SO2<Scalar_>, Options> (line 548) | class Map<Sophus::SO2<Scalar_>, Options>
      method SOPHUS_FUNC (line 570) | SOPHUS_FUNC
  class Map<Sophus::SO2<Scalar_> const, Options> (line 596) | class Map<Sophus::SO2<Scalar_> const, Options>
    method SOPHUS_FUNC (line 610) | SOPHUS_FUNC Map(Scalar const* coeffs) : unit_complex_(coeffs) {}

FILE: LIO-Livox/include/sophus/so3.hpp
  type Sophus (line 17) | namespace Sophus {
    class SO3 (line 19) | class SO3
    class SO3Base (line 77) | class SO3Base {
      type TangentAndTheta (line 98) | struct TangentAndTheta {
      method SOPHUS_FUNC (line 130) | SOPHUS_FUNC Adjoint Adj() const { return matrix(); }
      method SOPHUS_FUNC (line 135) | SOPHUS_FUNC enable_if_t<std::is_floating_point<S>::value, S> angleX(...
      method SOPHUS_FUNC (line 144) | SOPHUS_FUNC enable_if_t<std::is_floating_point<S>::value, S> angleY(...
      method SOPHUS_FUNC (line 158) | SOPHUS_FUNC enable_if_t<std::is_floating_point<S>::value, S> angleZ(...
      method SOPHUS_FUNC (line 167) | SOPHUS_FUNC SO3<NewScalarType> cast() const {
      method SOPHUS_FUNC (line 179) | SOPHUS_FUNC Scalar* data() {
      method SOPHUS_FUNC (line 185) | SOPHUS_FUNC Scalar const* data() const {
      method Dx_this_mul_exp_x_at_0 (line 191) | Dx_this_mul_exp_x_at_0()
    function SOPHUS_FUNC (line 243) | SOPHUS_FUNC Tangent log() const { return logAndTheta().tangent; }
    function SOPHUS_FUNC (line 247) | SOPHUS_FUNC TangentAndTheta logAndTheta() const {
    function SOPHUS_FUNC (line 297) | SOPHUS_FUNC void normalize() {
    function SOPHUS_FUNC (line 310) | SOPHUS_FUNC Transformation matrix() const {
    function SOPHUS_FUNC (line 321) | SOPHUS_FUNC SO3Base<Derived>& operator=(SO3Base<OtherDerived> const& o...
    function SOPHUS_FUNC (line 329) | SOPHUS_FUNC SO3Product<OtherDerived> operator*(
    function SOPHUS_FUNC (line 362) | SOPHUS_FUNC PointProduct<PointDerived> operator*(
    function SOPHUS_FUNC (line 377) | SOPHUS_FUNC HomogeneousPointProduct<HPointDerived> operator*(
    function SOPHUS_FUNC (line 390) | SOPHUS_FUNC Line operator*(Line const& l) const {
    function SOPHUS_FUNC (line 400) | SOPHUS_FUNC SO3Base<Derived>& operator*=(SO3Base<OtherDerived> const& ...
    function SOPHUS_FUNC (line 409) | SOPHUS_FUNC void setQuaternion(Eigen::Quaternion<Scalar> const& quater...
    function SOPHUS_FUNC (line 416) | SOPHUS_FUNC QuaternionType const& unit_quaternion() const {
    function Dxi_exp_x_matrix_at_0 (line 431) | class SO3 : public SO3Base<SO3<Scalar_, Options>> {
    function SOPHUS_FUNC (line 576) | SOPHUS_FUNC static SO3<Scalar> exp(Tangent const& omega) {
    function SOPHUS_FUNC (line 585) | SOPHUS_FUNC static SO3<Scalar> expAndTheta(Tangent const& omega,
    function SOPHUS_FUNC (line 626) | static SOPHUS_FUNC enable_if_t<std::is_floating_point<S>::value, SO3>
    function SOPHUS_FUNC (line 651) | SOPHUS_FUNC static Transformation generator(int i) {
    function SOPHUS_FUNC (line 673) | SOPHUS_FUNC static Transformation hat(Tangent const& omega) {
    function SOPHUS_FUNC (line 697) | SOPHUS_FUNC static Tangent lieBracket(Tangent const& omega1,
    function SOPHUS_FUNC (line 704) | static SOPHUS_FUNC SO3 rotX(Scalar const& x) {
    function SOPHUS_FUNC (line 710) | static SOPHUS_FUNC SO3 rotY(Scalar const& y) {
    function SOPHUS_FUNC (line 716) | static SOPHUS_FUNC SO3 rotZ(Scalar const& z) {
    function SO3 (line 724) | static SO3 sampleUniform(UniformRandomBitGenerator& generator) {
    function SOPHUS_FUNC (line 756) | SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
    function SOPHUS_FUNC (line 760) | SOPHUS_FUNC static Transformation JacobianRInv(Tangent const& w) {
  type Eigen (line 24) | namespace Eigen {
    type internal (line 25) | namespace internal {
      type traits<Sophus::SO3<Scalar_, Options_>> (line 28) | struct traits<Sophus::SO3<Scalar_, Options_>> {
      type traits<Map<Sophus::SO3<Scalar_>, Options_>> (line 35) | struct traits<Map<Sophus::SO3<Scalar_>, Options_>>
      type traits<Map<Sophus::SO3<Scalar_> const, Options_>> (line 43) | struct traits<Map<Sophus::SO3<Scalar_> const, Options_>>
    class Map<Sophus::SO3<Scalar_>, Options> (line 800) | class Map<Sophus::SO3<Scalar_>, Options>
      method SOPHUS_FUNC (line 822) | SOPHUS_FUNC Map(Scalar* coeffs) : unit_quaternion_(coeffs) {}
  type Sophus (line 52) | namespace Sophus {
    class SO3 (line 19) | class SO3
    class SO3Base (line 77) | class SO3Base {
      type TangentAndTheta (line 98) | struct TangentAndTheta {
      method SOPHUS_FUNC (line 130) | SOPHUS_FUNC Adjoint Adj() const { return matrix(); }
      method SOPHUS_FUNC (line 135) | SOPHUS_FUNC enable_if_t<std::is_floating_point<S>::value, S> angleX(...
      method SOPHUS_FUNC (line 144) | SOPHUS_FUNC enable_if_t<std::is_floating_point<S>::value, S> angleY(...
      method SOPHUS_FUNC (line 158) | SOPHUS_FUNC enable_if_t<std::is_floating_point<S>::value, S> angleZ(...
      method SOPHUS_FUNC (line 167) | SOPHUS_FUNC SO3<NewScalarType> cast() const {
      method SOPHUS_FUNC (line 179) | SOPHUS_FUNC Scalar* data() {
      method SOPHUS_FUNC (line 185) | SOPHUS_FUNC Scalar const* data() const {
      method Dx_this_mul_exp_x_at_0 (line 191) | Dx_this_mul_exp_x_at_0()
    function SOPHUS_FUNC (line 243) | SOPHUS_FUNC Tangent log() const { return logAndTheta().tangent; }
    function SOPHUS_FUNC (line 247) | SOPHUS_FUNC TangentAndTheta logAndTheta() const {
    function SOPHUS_FUNC (line 297) | SOPHUS_FUNC void normalize() {
    function SOPHUS_FUNC (line 310) | SOPHUS_FUNC Transformation matrix() const {
    function SOPHUS_FUNC (line 321) | SOPHUS_FUNC SO3Base<Derived>& operator=(SO3Base<OtherDerived> const& o...
    function SOPHUS_FUNC (line 329) | SOPHUS_FUNC SO3Product<OtherDerived> operator*(
    function SOPHUS_FUNC (line 362) | SOPHUS_FUNC PointProduct<PointDerived> operator*(
    function SOPHUS_FUNC (line 377) | SOPHUS_FUNC HomogeneousPointProduct<HPointDerived> operator*(
    function SOPHUS_FUNC (line 390) | SOPHUS_FUNC Line operator*(Line const& l) const {
    function SOPHUS_FUNC (line 400) | SOPHUS_FUNC SO3Base<Derived>& operator*=(SO3Base<OtherDerived> const& ...
    function SOPHUS_FUNC (line 409) | SOPHUS_FUNC void setQuaternion(Eigen::Quaternion<Scalar> const& quater...
    function SOPHUS_FUNC (line 416) | SOPHUS_FUNC QuaternionType const& unit_quaternion() const {
    function Dxi_exp_x_matrix_at_0 (line 431) | class SO3 : public SO3Base<SO3<Scalar_, Options>> {
    function SOPHUS_FUNC (line 576) | SOPHUS_FUNC static SO3<Scalar> exp(Tangent const& omega) {
    function SOPHUS_FUNC (line 585) | SOPHUS_FUNC static SO3<Scalar> expAndTheta(Tangent const& omega,
    function SOPHUS_FUNC (line 626) | static SOPHUS_FUNC enable_if_t<std::is_floating_point<S>::value, SO3>
    function SOPHUS_FUNC (line 651) | SOPHUS_FUNC static Transformation generator(int i) {
    function SOPHUS_FUNC (line 673) | SOPHUS_FUNC static Transformation hat(Tangent const& omega) {
    function SOPHUS_FUNC (line 697) | SOPHUS_FUNC static Tangent lieBracket(Tangent const& omega1,
    function SOPHUS_FUNC (line 704) | static SOPHUS_FUNC SO3 rotX(Scalar const& x) {
    function SOPHUS_FUNC (line 710) | static SOPHUS_FUNC SO3 rotY(Scalar const& y) {
    function SOPHUS_FUNC (line 716) | static SOPHUS_FUNC SO3 rotZ(Scalar const& z) {
    function SO3 (line 724) | static SO3 sampleUniform(UniformRandomBitGenerator& generator) {
    function SOPHUS_FUNC (line 756) | SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
    function SOPHUS_FUNC (line 760) | SOPHUS_FUNC static Transformation JacobianRInv(Tangent const& w) {
  type Eigen (line 794) | namespace Eigen {
    type internal (line 25) | namespace internal {
      type traits<Sophus::SO3<Scalar_, Options_>> (line 28) | struct traits<Sophus::SO3<Scalar_, Options_>> {
      type traits<Map<Sophus::SO3<Scalar_>, Options_>> (line 35) | struct traits<Map<Sophus::SO3<Scalar_>, Options_>>
      type traits<Map<Sophus::SO3<Scalar_> const, Options_>> (line 43) | struct traits<Map<Sophus::SO3<Scalar_> const, Options_>>
    class Map<Sophus::SO3<Scalar_>, Options> (line 800) | class Map<Sophus::SO3<Scalar_>, Options>
      method SOPHUS_FUNC (line 822) | SOPHUS_FUNC Map(Scalar* coeffs) : unit_quaternion_(coeffs) {}
  class Map<Sophus::SO3<Scalar_> const, Options> (line 847) | class Map<Sophus::SO3<Scalar_> const, Options>
    method SOPHUS_FUNC (line 861) | SOPHUS_FUNC Map(Scalar const* coeffs) : unit_quaternion_(coeffs) {}

FILE: LIO-Livox/include/sophus/test_macros.hpp
  type Sophus (line 7) | namespace Sophus {
    type details (line 8) | namespace details {
      class Pretty (line 11) | class Pretty {
        method impl (line 13) | static std::string impl(Scalar s) { return FormatString("%", s); }
      class Pretty<Eigen::Matrix<Scalar, M, N>> (line 17) | class Pretty<Eigen::Matrix<Scalar, M, N>> {
        method impl (line 19) | static std::string impl(Matrix<Scalar, M, N> const& v) {
      function pretty (line 25) | std::string pretty(T const& v) {
      function testFailed (line 30) | void testFailed(bool& passed, char const* func, char const* file, in...
    function processTestResult (line 39) | void processTestResult(bool passed) {

FILE: LIO-Livox/include/sophus/types.hpp
  type Sophus (line 10) | namespace Sophus {
    type details (line 81) | namespace details {
      class MaxMetric (line 83) | class MaxMetric {
        method Scalar (line 85) | static Scalar impl(Scalar s0, Scalar s1) {
      class MaxMetric<Matrix<Scalar, M, N>> (line 92) | class MaxMetric<Matrix<Scalar, M, N>> {
        method Scalar (line 94) | static Scalar impl(Matrix<Scalar, M, N> const& p0,
      class SetToZero (line 101) | class SetToZero {
        method impl (line 103) | static void impl(Scalar& s) { s = Scalar(0); }
      class SetToZero<Matrix<Scalar, M, N>> (line 107) | class SetToZero<Matrix<Scalar, M, N>> {
        method impl (line 109) | static void impl(Matrix<Scalar, M, N>& v) { v.setZero(); }
      class SetElementAt (line 113) | class SetElementAt
      class SetElementAt<Scalar, Scalar> (line 116) | class SetElementAt<Scalar, Scalar> {
        method impl (line 118) | static void impl(Scalar& s, Scalar value, int at) {
      class SetElementAt<Vector<Scalar, N>, Scalar> (line 125) | class SetElementAt<Vector<Scalar, N>, Scalar> {
        method impl (line 127) | static void impl(Vector<Scalar, N>& v, Scalar value, int at) {
      class SquaredNorm (line 134) | class SquaredNorm {
        method Scalar (line 136) | static Scalar impl(Scalar const& s) { return s * s; }
      class SquaredNorm<Matrix<Scalar, N, 1>> (line 140) | class SquaredNorm<Matrix<Scalar, N, 1>> {
        method Scalar (line 142) | static Scalar impl(Matrix<Scalar, N, 1> const& s) { return s.squar...
      class Transpose (line 146) | class Transpose {
        method Scalar (line 148) | static Scalar impl(Scalar const& s) { return s; }
      class Transpose<Matrix<Scalar, M, N>> (line 152) | class Transpose<Matrix<Scalar, M, N>> {
        method impl (line 154) | static Matrix<Scalar, M, N> impl(Matrix<Scalar, M, N> const& s) {
    function maxMetric (line 164) | auto maxMetric(T const& p0, T const& p1)
    function setToZero (line 172) | void setToZero(T& p) {
    function setElementAt (line 180) | void setElementAt(T& p, Scalar value, int i) {
    function squaredNorm (line 187) | auto squaredNorm(T const& p) -> decltype(details::SquaredNorm<T>::impl...
    function transpose (line 195) | auto transpose(T const& p) -> decltype(details::Transpose<T>::impl(T()...
    type IsFloatingPoint (line 200) | struct IsFloatingPoint {
    type IsFloatingPoint<Matrix<Scalar, M, N>> (line 205) | struct IsFloatingPoint<Matrix<Scalar, M, N>> {
    type GetScalar (line 210) | struct GetScalar {
    type GetScalar<Matrix<Scalar_, M, N>> (line 215) | struct GetScalar<Matrix<Scalar_, M, N>> {
    type IsFixedSizeVector (line 225) | struct IsFixedSizeVector : std::true_type {}

FILE: LIO-Livox/include/sophus/velocities.hpp
  type Sophus (line 9) | namespace Sophus {
    type experimental (line 10) | namespace experimental {
      function transformVelocity (line 18) | Vector3<Scalar> transformVelocity(SO3<Scalar> const& foo_R_bar,
      function transformVelocity (line 35) | Vector3<Scalar> transformVelocity(SE3<Scalar> const& foo_T_bar,
      function finiteDifferenceRotationalVelocity (line 43) | Vector3<Scalar> finiteDifferenceRotationalVelocity(
      function finiteDifferenceRotationalVelocity (line 63) | Vector3<Scalar> finiteDifferenceRotationalVelocity(

FILE: LIO-Livox/include/utils/ceresfunc.h
  type ResidualBlockInfo (line 15) | struct ResidualBlockInfo
  type ThreadsStruct (line 78) | struct ThreadsStruct
  function class (line 93) | class MarginalizationInfo
  function const (line 322) | struct Cost_NavState_PR_Ground
  function ceres (line 353) | static ceres::CostFunction *Create(Eigen::VectorXf ground_plane_coeff) {
  type Cost_NavState_IMU_Line (line 439) | struct Cost_NavState_IMU_Line
  function ceres (line 536) | static ceres::CostFunction *Create(const Eigen::Vector3d& curr_point_,
  function const (line 557) | struct Cost_NavState_IMU_Plan_Vec
  type Cost_Initialization_IMU (line 693) | struct Cost_Initialization_IMU
  function ceres (line 761) | static ceres::CostFunction *Create(IMUIntegrator& measure_,
  type Cost_Initialization_Prior_bv (line 783) | struct Cost_Initialization_Prior_bv
  type Cost_Initialization_Prior_R (line 820) | struct Cost_Initialization_Prior_R

FILE: LIO-Livox/include/utils/math_utils.hpp
  type livox_slam_ware (line 17) | namespace livox_slam_ware {
    function skewSymmetric (line 26) | inline Eigen::Matrix3d skewSymmetric(const Eigen::Vector3d& w) {
    function quaternionNormalize (line 43) | inline void quaternionNormalize(Eigen::Vector4d& q) {
    function quaternionMultiplication (line 54) | inline Eigen::Vector4d quaternionMultiplication(
    function smallAngleQuaternion (line 79) | inline Eigen::Vector4d smallAngleQuaternion(
    function getSmallAngleQuaternion (line 107) | inline Eigen::Quaterniond getSmallAngleQuaternion(
    function quaternionToRotation (line 139) | inline Eigen::Matrix3d quaternionToRotation(
    function rotationToQuaternion (line 163) | inline Eigen::Vector4d rotationToQuaternion(
    function R2ypr (line 208) | void R2ypr(const Eigen::Matrix<T, 3, 3>& R, Eigen::Matrix<T, 3, 1> &yp...
    function ominus (line 224) | Eigen::Matrix<T, 3, 1> ominus(const Eigen::Matrix<T, 4, 1>& ground_pla...

FILE: LIO-Livox/include/utils/pcl_utils.hpp
  type livox_slam_ware (line 6) | namespace livox_slam_ware {
    function get_plane_coeffs (line 11) | Eigen::VectorXf get_plane_coeffs (typename pcl::PointCloud<PointType>:...

FILE: LIO-Livox/src/lio/PoseEstimation.cpp
  function pubOdometry (line 51) | void pubOdometry(const Eigen::Matrix4d& newPose, double& timefullCloud){
  function fullCallBack (line 107) | void fullCallBack(const sensor_msgs::PointCloud2ConstPtr &msg){
  function imu_callback (line 113) | void imu_callback(const sensor_msgs::ImuConstPtr &imu_msg){
  function fetchImuMsgs (line 124) | bool fetchImuMsgs(double startTime, double endTime, std::vector<sensor_m...
  function RemoveLidarDistortion (line 181) | void RemoveLidarDistortion(pcl::PointCloud<PointType>::Ptr& cloud,
  function ConvertPointCloudFromOdometerToGround (line 203) | void ConvertPointCloudFromOdometerToGround(pcl::PointCloud<PointType>::P...
  function ConvertPointFromLidarToIMU (line 220) | void ConvertPointFromLidarToIMU(PointType const * const pi,
  function TryMAPInitialization (line 236) | bool TryMAPInitialization() {
  function process (line 426) | void process(){
  function main (line 664) | int main(int argc, char** argv)

FILE: LIO-Livox/src/lio/ScanRegistration.cpp
  function lidarCallBackHorizon (line 20) | void lidarCallBackHorizon(const livox_ros_driver::CustomMsgConstPtr &msg) {
  function main (line 39) | int main(int argc, char** argv)

FILE: LIO-Livox/src/segment/pointsCorrect.cpp
  function GetNeiborPCA_cor (line 7) | int GetNeiborPCA_cor(SNeiborPCA_cor &npca, pcl::PointCloud<pcl::PointXYZ...
  function FilterGndForPos_cor (line 45) | int FilterGndForPos_cor(float* outPoints,float*inPoints,int inNum)
  function CalGndPos_cor (line 122) | int CalGndPos_cor(float *gnd, float *fPoints,int pointNum,float fSearchR...
  function GetRTMatrix_cor (line 218) | int GetRTMatrix_cor(float *RTM, float *v0, float *v1)
  function CorrectPoints_cor (line 262) | int CorrectPoints_cor(float *fPoints,int pointNum,float *gndPos)
  function GetGndPos (line 287) | int GetGndPos(float *pos, float *fPoints,int pointNum){

FILE: LIO-Livox/src/segment/segment.cpp
  function FilterGndForPos (line 280) | int FilterGndForPos(float* outPoints,float*inPoints,int inNum)
  function CalNomarls (line 348) | int CalNomarls(float *nvects, float *fPoints,int pointNum,float fSearchR...
  function CalGndPos (line 425) | int CalGndPos(float *gnd, float *fPoints,int pointNum,float fSearchRadius)
  function GetNeiborPCA (line 532) | int GetNeiborPCA(SNeiborPCA &npca, pcl::PointCloud<pcl::PointXYZ>::Ptr c...
  function GetRTMatrix (line 572) | int GetRTMatrix(float *RTM, float *v0, float *v1) // v0 gndpos v1:001垂直向上
  function AbvGndSeg (line 646) | int AbvGndSeg(int *pLabel, float *fPoints, int pointNum)
  function SegBG (line 675) | int SegBG(int *pLabel, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, pcl::K...
  function SClusterFeature (line 732) | SClusterFeature FindACluster(int *pLabel, int seedId, int labelId, pcl::...
  function SegObjects (line 801) | int SegObjects(int *pLabel, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, p...
  function CompleteObjects (line 870) | int CompleteObjects(int *pLabel, pcl::PointCloud<pcl::PointXYZ>::Ptr clo...
  function ExpandObjects (line 902) | int ExpandObjects(int *pLabel, float* fPoints, int pointNum, float fSear...
  function ExpandBG (line 954) | int ExpandBG(int *pLabel, float* fPoints, int pointNum, float fSearchRad...
  function CalFreeRegion (line 1007) | int CalFreeRegion(float *pFreeDis, float *fPoints,int *pLabel,int pointNum)
  function FreeSeg (line 1036) | int FreeSeg(float *fPoints,int *pLabel,int pointNum)
  function GndSeg (line 1063) | int GndSeg(int* pLabel,float *fPoints,int pointNum,float fSearchRadius)
  function SClusterFeature (line 1179) | SClusterFeature CalBBox(float *fPoints,int pointNum)
  function SClusterFeature (line 1231) | SClusterFeature CalOBB(float *fPoints,int pointNum)

FILE: SC-PGO/include/livox_mapping/common.h
  type pcl (line 43) | typedef pcl::PointXYZI PointType;
  function rad2deg (line 45) | inline double rad2deg(double radians)
  function deg2rad (line 50) | inline double deg2rad(double degrees)
  type Pose6D (line 55) | struct Pose6D {

FILE: SC-PGO/include/livox_mapping/tic_toc.h
  function class (line 10) | class TicToc
  function class (line 34) | class TicTocV2
  function tic (line 48) | void tic()
  function toc (line 53) | void toc( std::string _about_task )

FILE: SC-PGO/include/scancontext/KDTreeVectorOfVectorsAdaptor.h
  type typename (line 53) | typedef typename Distance::template traits<num_t,self_t>::distance_t met...
  type nanoflann (line 54) | typedef nanoflann::KDTreeSingleIndexAdaptor< metric_t,self_t,DIM,IndexTy...
  function m_data (line 59) | KDTreeVectorOfVectorsAdaptor(const size_t /* dimensionality */, const Ve...
  function num_t (line 103) | inline num_t kdtree_get_pt(const size_t idx, const size_t dim) const {

FILE: SC-PGO/include/scancontext/Scancontext.cpp
  function coreImportTest (line 6) | void coreImportTest (void)
  function rad2deg (line 12) | float rad2deg(float radians)
  function deg2rad (line 17) | float deg2rad(float degrees)
  function xy2theta (line 23) | float xy2theta( const float & _x, const float & _y )
  function MatrixXd (line 39) | MatrixXd circshift( MatrixXd &_mat, int _num_shift )
  function eig2stdvec (line 62) | std::vector<float> eig2stdvec( MatrixXd _eigmat )
  function MatrixXd (line 151) | MatrixXd SCManager::makeScancontext( pcl::PointCloud<SCPointType> & _sca...
  function MatrixXd (line 198) | MatrixXd SCManager::makeRingkeyFromScancontext( Eigen::MatrixXd &_desc )
  function MatrixXd (line 214) | MatrixXd SCManager::makeSectorkeyFromScancontext( Eigen::MatrixXd &_desc )

FILE: SC-PGO/include/scancontext/Scancontext.h
  function class (line 57) | class SCManager

FILE: SC-PGO/include/scancontext/nanoflann.hpp
  function T (line 79) | T pi_const() {
  type has_resize (line 87) | struct has_resize : std::false_type {}
  type has_resize<T, decltype((void)std::declval<T>().resize(1), 0)> (line 90) | struct has_resize<T, decltype((void)std::declval<T>().resize(1), 0)>
  type has_assign (line 93) | struct has_assign : std::false_type {}
  type has_assign<T, decltype((void)std::declval<T>().assign(1, 0), 0)> (line 96) | struct has_assign<T, decltype((void)std::declval<T>().assign(1, 0), 0)>
  function resize (line 103) | inline typename std::enable_if<has_resize<Container>::value, void>::type
  function resize (line 113) | inline typename std::enable_if<!has_resize<Container>::value, void>::type
  function assign (line 123) | inline typename std::enable_if<has_assign<Container>::value, void>::type
  function assign (line 132) | inline typename std::enable_if<!has_assign<Container>::value, void>::type
  class KNNResultSet (line 142) | class KNNResultSet {
    method KNNResultSet (line 155) | inline KNNResultSet(CountType capacity_)
    method init (line 158) | inline void init(IndexType *indices_, DistanceType *dists_) {
    method CountType (line 166) | inline CountType size() const { return count; }
    method full (line 168) | inline bool full() const { return count == capacity; }
    method addPoint (line 175) | inline bool addPoint(DistanceType dist, IndexType index) {
    type IndexDist_Sorter (line 208) | struct IndexDist_Sorter {
    class RadiusResultSet (line 220) | class RadiusResultSet {
      method RadiusResultSet (line 230) | inline RadiusResultSet(
      method init (line 237) | inline void init() { clear(); }
      method clear (line 238) | inline void clear() { m_indices_dists.clear(); }
      method size (line 240) | inline size_t size() const { return m_indices_dists.size(); }
      method full (line 242) | inline bool full() const { return true; }
      method addPoint (line 249) | inline bool addPoint(DistanceType dist, IndexType index) {
      method DistanceType (line 255) | inline DistanceType worstDist() const { return radius; }
      method worst_item (line 261) | std::pair<IndexType, DistanceType> worst_item() const {
    method save_value (line 279) | void save_value(FILE *stream, const T &value, size_t count = 1) {
    method save_value (line 284) | void save_value(FILE *stream, const std::vector<T> &value) {
    method load_value (line 291) | void load_value(FILE *stream, T &value, size_t count = 1) {
    method load_value (line 298) | void load_value(FILE *stream, std::vector<T> &value) {
    type Metric (line 315) | struct Metric {}
    type L1_Adaptor (line 324) | struct L1_Adaptor {
      method L1_Adaptor (line 330) | L1_Adaptor(const DataSource &_data_source) : data_source(_data_sourc...
      method DistanceType (line 332) | inline DistanceType evalMetric(const T *a, const size_t b_idx, size_...
      method DistanceType (line 363) | inline DistanceType accum_dist(const U a, const V b, const size_t) c...
    type L2_Adaptor (line 375) | struct L2_Adaptor {
      method L2_Adaptor (line 381) | L2_Adaptor(const DataSource &_data_source) : data_source(_data_sourc...
      method DistanceType (line 383) | inline DistanceType evalMetric(const T *a, const size_t b_idx, size_...
      method DistanceType (line 411) | inline DistanceType accum_dist(const U a, const V b, const size_t) c...
    type L2_Simple_Adaptor (line 423) | struct L2_Simple_Adaptor {
      method L2_Simple_Adaptor (line 429) | L2_Simple_Adaptor(const DataSource &_data_source)
      method DistanceType (line 432) | inline DistanceType evalMetric(const T *a, const size_t b_idx,
      method DistanceType (line 443) | inline DistanceType accum_dist(const U a, const V b, const size_t) c...
    type SO2_Adaptor (line 455) | struct SO2_Adaptor {
      method SO2_Adaptor (line 461) | SO2_Adaptor(const DataSource &_data_source) : data_source(_data_sour...
      method DistanceType (line 463) | inline DistanceType evalMetric(const T *a, const size_t b_idx,
      method DistanceType (line 471) | inline DistanceType accum_dist(const U a, const V b, const size_t) c...
    type SO3_Adaptor (line 490) | struct SO3_Adaptor {
      method SO3_Adaptor (line 496) | SO3_Adaptor(const DataSource &_data_source)
      method DistanceType (line 499) | inline DistanceType evalMetric(const T *a, const size_t b_idx,
      method DistanceType (line 505) | inline DistanceType accum_dist(const U a, const V b, const size_t id...
    type metric_L1 (line 511) | struct metric_L1 : public Metric {
      type traits (line 512) | struct traits {
    type metric_L2 (line 517) | struct metric_L2 : public Metric {
      type traits (line 518) | struct traits {
    type metric_L2_Simple (line 523) | struct metric_L2_Simple : public Metric {
      type traits (line 524) | struct traits {
    type metric_SO2 (line 529) | struct metric_SO2 : public Metric {
      type traits (line 530) | struct traits {
    type metric_SO3 (line 535) | struct metric_SO3 : public Metric {
      type traits (line 536) | struct traits {
    type KDTreeSingleIndexAdaptorParams (line 547) | struct KDTreeSingleIndexAdaptorParams {
      method KDTreeSingleIndexAdaptorParams (line 548) | KDTreeSingleIndexAdaptorParams(size_t _leaf_max_size = 10)
    type SearchParams (line 555) | struct SearchParams {
      method SearchParams (line 558) | SearchParams(int checks_IGNORED_ = 32, float eps_ = 0, bool sorted_ ...
    method T (line 579) | inline T *allocate(size_t count = 1) {
    class PooledAllocator (line 602) | class PooledAllocator {
      method internal_init (line 613) | void internal_init() {
      method PooledAllocator (line 627) | PooledAllocator() { internal_init(); }
      method free_all (line 635) | void free_all() {
      method T (line 703) | T *allocate(const size_t count = 1) {
    type array_or_vector_selector (line 716) | struct array_or_vector_selector {
    type array_or_vector_selector<-1, T> (line 720) | struct array_or_vector_selector<-1, T> {
    class KDTreeBaseClass (line 740) | class KDTreeBaseClass {
      method freeIndex (line 745) | void freeIndex(Derived &obj) {
      type Node (line 755) | struct Node {
        type leaf (line 759) | struct leaf {
        type nonleaf (line 762) | struct nonleaf {
      type Interval (line 772) | struct Interval {
      method size (line 814) | size_t size(const Derived &obj) const { return obj.m_size; }
      method veclen (line 817) | size_t veclen(const Derived &obj) {
      method ElementType (line 822) | inline ElementType dataset_get(const Derived &obj, size_t idx,
      method usedMemory (line 831) | size_t usedMemory(Derived &obj) {
      method computeMinMax (line 837) | void computeMinMax(const Derived &obj, IndexType *ind, IndexType count,
      method NodePtr (line 858) | NodePtr divideTree(Derived &obj, const IndexType left, const IndexTy...
      method middleSplit_ (line 910) | void middleSplit_(Derived &obj, IndexType *ind, IndexType count,
      method planeSplit (line 968) | void planeSplit(Derived &obj, IndexType *ind, const IndexType count,
      method DistanceType (line 1006) | DistanceType computeInitialDistances(const Derived &obj,
      method save_tree (line 1025) | void save_tree(Derived &obj, FILE *stream, NodePtr tree) {
      method load_tree (line 1035) | void load_tree(Derived &obj, FILE *stream, NodePtr &tree) {
      method saveIndex_ (line 1051) | void saveIndex_(Derived &obj, FILE *stream) {
      method loadIndex_ (line 1065) | void loadIndex_(Derived &obj, FILE *stream) {
    class KDTreeSingleIndexAdaptor (line 1117) | class KDTreeSingleIndexAdaptor
      method KDTreeSingleIndexAdaptor (line 1123) | KDTreeSingleIndexAdaptor(
      method KDTreeSingleIndexAdaptor (line 1171) | KDTreeSingleIndexAdaptor(const int dimensionality,
      method buildIndex (line 1191) | void buildIndex() {
      method findNeighbors (line 1222) | bool findNeighbors(RESULTSET &result, const ElementType *vec,
      method knnSearch (line 1253) | size_t knnSearch(const ElementType *query_point, const size_t num_cl...
      method radiusSearch (line 1278) | size_t
      method radiusSearchCustomCallback (line 1296) | size_t radiusSearchCustomCallback(
      method init_vind (line 1308) | void init_vind() {
      method computeBoundingBox (line 1317) | void computeBoundingBox(BoundingBox &bbox) {
      method searchLevel (line 1347) | bool searchLevel(RESULTSET &result_set, const ElementType *vec,
      method saveIndex (line 1418) | void saveIndex(FILE *stream) { this->saveIndex_(*this, stream); }
      method loadIndex (line 1425) | void loadIndex(FILE *stream) { this->loadIndex_(*this, stream); }
    class KDTreeSingleIndexDynamicAdaptor_ (line 1467) | class KDTreeSingleIndexDynamicAdaptor_
      method KDTreeSingleIndexDynamicAdaptor_ (line 1518) | KDTreeSingleIndexDynamicAdaptor_(
      method KDTreeSingleIndexDynamicAdaptor_ (line 1535) | KDTreeSingleIndexDynamicAdaptor_
      method buildIndex (line 1554) | void buildIndex() {
      method findNeighbors (line 1583) | bool findNeighbors(RESULTSET &result, const ElementType *vec,
      method knnSearch (line 1613) | size_t knnSearch(const ElementType *query_point, const size_t num_cl...
      method radiusSearch (line 1638) | size_t
      method radiusSearchCustomCallback (line 1656) | size_t radiusSearchCustomCallback(
      method computeBoundingBox (line 1666) | void computeBoundingBox(BoundingBox &bbox) {
      method searchLevel (line 1696) | void searchLevel(RESULTSET &result_set, const ElementType *vec,
      method saveIndex (line 1762) | void saveIndex(FILE *stream) { this->saveIndex_(*this, stream); }
      method loadIndex (line 1769) | void loadIndex(FILE *stream) { this->loadIndex_(*this, stream); }
    class KDTreeSingleIndexDynamicAdaptor (line 1788) | class KDTreeSingleIndexDynamicAdaptor {
      method First0Bit (line 1822) | int First0Bit(IndexType num) {
      method init (line 1832) | void init() {
      method KDTreeSingleIndexDynamicAdaptor (line 1857) | KDTreeSingleIndexDynamicAdaptor(const int dimensionality,
      method KDTreeSingleIndexDynamicAdaptor (line 1878) | KDTreeSingleIndexDynamicAdaptor(
      method addPoints (line 1883) | void addPoints(IndexType start, IndexType end) {
      method removePoint (line 1906) | void removePoint(size_t idx) {
      method findNeighbors (line 1926) | bool findNeighbors(RESULTSET &result, const ElementType *vec,
    type KDTreeEigenMatrixAdaptor (line 1954) | struct KDTreeEigenMatrixAdaptor {
      method KDTreeEigenMatrixAdaptor (line 1968) | KDTreeEigenMatrixAdaptor(const size_t dimensionality,
      method KDTreeEigenMatrixAdaptor (line 1987) | KDTreeEigenMatrixAdaptor(const self_t &) = delete;
      method query (line 1999) | inline void query(const num_t *query_point, const size_t num_closest,
      method self_t (line 2010) | const self_t &derived() const { return *this; }
      method self_t (line 2011) | self_t &derived() { return *this; }
      method kdtree_get_point_count (line 2014) | inline size_t kdtree_get_point_count() const {
      method num_t (line 2019) | inline num_t kdtree_get_pt(const IndexType idx, size_t dim) const {
      method kdtree_get_bbox (line 2028) | bool kdtree_get_bbox(BBOX & /*bb*/) const {

FILE: SC-PGO/src/laserPosegraphOptimization.cpp
  function padZeros (line 149) | std::string padZeros(int val, int num_digits = 6) {
  function Pose6DtoGTSAMPose3 (line 155) | gtsam::Pose3 Pose6DtoGTSAMPose3(const Pose6D& p)
  function Pose6DtoTransform (line 160) | tf::Transform Pose6DtoTransform(const Pose6D& p)
  function Pose6D (line 168) | Pose6D TransformtoPose6D(const tf::Transform& trans)
  function Pose6D (line 175) | Pose6D PoseInterpolation(const Pose6D& p_before, const Pose6D& p_after, ...
  function laserOdometryHandler (line 186) | void laserOdometryHandler(const nav_msgs::Odometry::ConstPtr &_laserOdom...
  function laserCloudFullResHandler (line 203) | void laserCloudFullResHandler(const sensor_msgs::PointCloud2ConstPtr &_l...
  function rtkHandler (line 210) | void rtkHandler(const ad_localization_msgs::NavStateInfo::ConstPtr &_rtk)
  function initNoises (line 229) | void initNoises( void )
  function Pose6D (line 261) | Pose6D getOdom(nav_msgs::Odometry::ConstPtr _odom)
  function Pose6D (line 274) | Pose6D diffTransformation(const Pose6D& _p1, const Pose6D& _p2)
  function Pose6D (line 287) | Pose6D convertOdomToENU(const Pose6D &pose_curr)
  function local2global (line 295) | pcl::PointCloud<PointType>::Ptr local2global(const pcl::PointCloud<Point...
  function pubMap (line 317) | void pubMap(void)
  function pubPath (line 342) | void pubPath( void )
  function updatePoses (line 389) | void updatePoses(void)
  function runISAM2opt (line 414) | void runISAM2opt(void)
  function transformPointCloud (line 427) | pcl::PointCloud<PointType>::Ptr transformPointCloud(pcl::PointCloud<Poin...
  function loopFindNearKeyframesCloud (line 453) | void loopFindNearKeyframesCloud( pcl::PointCloud<PointType>::Ptr& nearKe...
  function doICPVirtualRelative (line 486) | std::optional<gtsam::Pose3> doICPVirtualRelative( int _loop_kf_idx, int ...
  function process_pg (line 581) | void process_pg()
  function performSCLoopClosure (line 782) | void performSCLoopClosure(void)
  function process_lcd (line 801) | void process_lcd(void)
  function process_icp (line 813) | void process_icp(void)
  function process_viz_path (line 846) | void process_viz_path(void)
  function process_isam (line 858) | void process_isam(void)
  function process_viz_map (line 873) | void process_viz_map(void)
  function process_interactive_slam_result (line 885) | void process_interactive_slam_result() {
  function save_odo (line 911) | void save_odo() {
  function save_map (line 938) | void save_map() {
  function MySigintHandler (line 950) | void MySigintHandler(int sig)
  function main (line 961) | int main(int argc, char **argv)

FILE: SC-PGO/utils/moving_object_removal/move_object_removal_livox.py
  function set_log_level (line 42) | def set_log_level(level: str = "TRACE", save_log: bool = False, log_file...
  function set_calib_parameters (line 54) | def set_calib_parameters():
  function init_model (line 64) | def init_model(config=None, check_point=None):
  function align_file_lists (line 77) | def align_file_lists(img_list, pc_list):
  function files_saving_path (line 104) | def files_saving_path(base_path=None):
  function fetch_dataset (line 127) | def fetch_dataset(data_base, livox_pc_path=None, img_path=None):
  function img_undistort (line 159) | def img_undistort(img_ori, intrinsic_param, distort_param):
  function convert_rot_trans (line 171) | def convert_rot_trans(extrinsic):
  function project_pts_to_img (line 178) | def project_pts_to_img(pts, image, extrinsic, intrinsic, cam_dist, polyg...
  function img_process (line 258) | def img_process(img, model, intrinsic_param, distort_param, visual_flag=...
  function projection_visualization (line 265) | def projection_visualization(img, pts, save_pth=None):
  function enlarge_bbox (line 301) | def enlarge_bbox(bbox_init, img_size, enlarge_step=10):
  function extract_inference_result (line 309) | def extract_inference_result(model, img, result, score_thr=0.6):
  function inference_and_remove (line 350) | def inference_and_remove(pc_list, img_list, inference_model, save_path=N...
  function euler_to_rotMat (line 381) | def euler_to_rotMat(yaw, pitch, roll):
  function main (line 398) | def main(inference=False):

FILE: SC-PGO/utils/python/pypcdMyUtils.py
  function make_xyzi_point_cloud (line 5) | def make_xyzi_point_cloud(xyzl, label_type='f'):