SYMBOL INDEX (536 symbols across 31 files)

FILE: FAST-LIO/include/IKFoM_toolkit/esekfom/esekfom.hpp
  type esekfom (line 56) | namespace esekfom
    type share_datastruct (line 65) | struct share_datastruct
    type dyn_share_datastruct (line 79) | struct dyn_share_datastruct
    type dyn_runtime_share_datastruct (line 94) | struct dyn_runtime_share_datastruct
    class esekf (line 105) | class esekf
      method esekf (line 139) | esekf(const state &x = state(),
      method init (line 153) | void init(processModel f_in, processMatrix1 f_x_in, processMatrix2 f...
      method init_dyn (line 175) | void init_dyn(processModel f_in, processMatrix1 f_x_in, processMatri...
      method init_dyn_runtime (line 197) | void init_dyn_runtime(processModel f_in, processMatrix1 f_x_in, proc...
      method init_share (line 219) | void init_share(processModel f_in, processMatrix1 f_x_in, processMat...
      method init_dyn_share (line 240) | void init_dyn_share(processModel f_in, processMatrix1 f_x_in, proces...
      method init_dyn_runtime_share (line 262) | void init_dyn_runtime_share(processModel f_in, processMatrix1 f_x_in...
      method predict (line 280) | void predict(double &dt, processnoisecovariance &Q, const input &i_i...
      method update_iterated (line 412) | void update_iterated(measurement &z, measurementnoisecovariance &R)
      method update_iterated_share (line 640) | void update_iterated_share()
      method update_iterated_dyn (line 872) | void update_iterated_dyn(Eigen::Matrix<scalar_type, Eigen::Dynamic, ...
      method update_iterated_dyn_share (line 1093) | void update_iterated_dyn_share()
      method update_iterated_dyn_runtime (line 1323) | void update_iterated_dyn_runtime(measurement_runtime z, measurementn...
      method update_iterated_dyn_runtime_share (line 1550) | void update_iterated_dyn_runtime_share(measurement_runtime z, measur...
      method update_iterated_dyn_share_modified (line 1777) | void update_iterated_dyn_share_modified(double R, double &solve_time)
      method change_x (line 2123) | void change_x(state &input_state)
      method change_P (line 2134) | void change_P(cov &input_cov)
      method state (line 2139) | const state &get_x() const
      method cov (line 2143) | const cov &get_P() const
      method T (line 2178) | T check_safe_update(T _temp_vec)

FILE: FAST-LIO/include/IKFoM_toolkit/esekfom/util.hpp
  type esekfom (line 40) | namespace esekfom {
    class is_same (line 43) | class is_same {
    class is_same<T1, T1> (line 50) | class is_same<T1, T1> {
    class is_double (line 58) | class is_double {
    class is_double<double> (line 66) | class is_double<double> {
    function T (line 74) | static T

FILE: FAST-LIO/include/IKFoM_toolkit/mtk/src/SubManifold.hpp
  type MTK (line 86) | namespace MTK {
    type SubManifold (line 100) | struct SubManifold : public T
      method SubManifold (line 108) | explicit
      method SubManifold (line 113) | SubManifold(const T& t) : T(t) {}

FILE: FAST-LIO/include/IKFoM_toolkit/mtk/src/mtkmath.hpp
  type MTK (line 92) | namespace MTK {
    type internal (line 94) | namespace internal {
      type traits (line 97) | struct traits {
      type traits<float> (line 105) | struct traits<float> : traits<Scalar<float> > {}
      type traits<double> (line 107) | struct traits<double> : traits<Scalar<double> > {}
    function scalar (line 131) | inline scalar normalize(scalar x, scalar bound){ //not used
    function cos_sinc_sqrt (line 143) | std::pair<scalar, scalar> cos_sinc_sqrt(const scalar &x2){
    function hat (line 177) | Eigen::Matrix<typename Base::scalar, 3, 3> hat(const Base& v) {
    function A_inv_trans (line 186) | Eigen::Matrix<typename Base::scalar, 3, 3> A_inv_trans(const Base& v){
    function A_inv (line 202) | Eigen::Matrix<typename Base::scalar, 3, 3> A_inv(const Base& v){
    function S2_w_expw_ (line 218) | Eigen::Matrix<scalar, 2, 3> S2_w_expw_( Eigen::Matrix<scalar, 2, 1> v,...
    function A_matrix (line 236) | Eigen::Matrix<typename Base::scalar, 3, 3> A_matrix(const Base & v){
    function scalar (line 250) | scalar exp(vectview<scalar, n> result, vectview<const scalar, n> vec, ...
    function log (line 269) | void log(vectview<scalar, n> result,

FILE: FAST-LIO/include/IKFoM_toolkit/mtk/src/vectview.hpp
  type MTK (line 45) | namespace MTK {
    type internal (line 58) | namespace internal {
      type CovBlock (line 60) | struct CovBlock {
      type CovBlock_ (line 66) | struct CovBlock_ {
      type CrossCovBlock (line 72) | struct CrossCovBlock {
      type CrossCovBlock_ (line 78) | struct CrossCovBlock_ {
      type VectviewBase (line 84) | struct VectviewBase {
      type UnalignedType (line 91) | struct UnalignedType {
    class vectview (line 97) | class vectview : public internal::VectviewBase<scalar, dim>::Type {
      method vectview (line 105) | explicit
      method vectview (line 108) | vectview(matrix_type& m) : base(m.data(), m.size()) {}
      method vectview (line 110) | vectview(const vectview &v) : base(v) {}
      method vectview (line 113) | vectview(Eigen::VectorBlock<Base, dim> block) : base(&block.coeffRef...
      method vectview (line 115) | vectview(Eigen::Block<Base, dim, 1, PacketAccess> block) : base(&blo...
      method scalar (line 120) | scalar* data() {return const_cast<scalar*>(base::data());}
    class vectview<const scalar, dim> (line 134) | class vectview<const scalar, dim> : public internal::VectviewBase<scal...
      method vectview (line 142) | explicit
      method vectview (line 146) | vectview(const Eigen::Matrix<scalar, dim, 1, options>& m) : base(m.d...
      method vectview (line 149) | vectview(const Eigen::Matrix<scalar, 1, dim, options, phony>& m) : b...
      method vectview (line 151) | vectview(vectview<scalar, dim> x) : base(x.data()) {}
      method vectview (line 153) | vectview(const base &x) : base(x) {}
      method vectview (line 159) | vectview(Eigen::VectorBlock<Base, dim> block) : base(&block.coeffRef...
      method vectview (line 161) | vectview(Eigen::Block<Base, dim, 1, PacketAccess> block) : base(&blo...

FILE: FAST-LIO/include/IKFoM_toolkit/mtk/startIdx.hpp
  type MTK (line 85) | namespace MTK {
    function getStartIdx (line 105) | int getStartIdx( MTK::SubManifold<T, idx, dim> Base::*)
    function getStartIdx_ (line 111) | int getStartIdx_( MTK::SubManifold<T, idx, dim> Base::*)
    function getDof (line 120) | int getDof( MTK::SubManifold<T, idx, dim> Base::*)
    function getDim (line 125) | int getDim( MTK::SubManifold<T, idx, dim> Base::*)
    function setDiagonal (line 134) | void setDiagonal(Eigen::Matrix<typename Base::scalar, Base::DOF, Base:...
    function setDiagonal_ (line 141) | void setDiagonal_(Eigen::Matrix<typename Base::scalar, Base::DIM, Base...
    function subblock (line 157) | typename MTK::internal::CovBlock<Base, T1, T2>::Type
    function subblock_ (line 165) | typename MTK::internal::CovBlock_<Base, T1, T2>::Type
    function subblock (line 173) | typename MTK::internal::CrossCovBlock<Base1, Base2, T1, T2>::Type
    function subblock_ (line 180) | typename MTK::internal::CrossCovBlock_<Base1, Base2, T1, T2>::Type
    function subblock_ (line 194) | typename MTK::internal::CovBlock_<Base, T, T>::Type
    function subblock (line 202) | typename MTK::internal::CovBlock<Base, T, T>::Type
    class get_cov (line 210) | class get_cov {
    class get_cov_ (line 217) | class get_cov_ {
    class get_cross_cov (line 224) | class get_cross_cov {
    class get_cross_cov_ (line 231) | class get_cross_cov_ {
    function subvector_impl_ (line 239) | vectview<typename Base::scalar, T::DIM>
    function subvector_impl (line 246) | vectview<typename Base::scalar, T::DOF>
    function subvector_ (line 256) | vectview<Scalar, T::DIM>
    function subvector (line 263) | vectview<Scalar, T::DOF>
    function subvector (line 273) | vectview<Scalar, T::DOF>
    function subvector_ (line 280) | vectview<Scalar, T::DIM>
    function subvector_ (line 287) | vectview<const Scalar, T::DIM>
    function subvector (line 294) | vectview<const Scalar, T::DOF>
    function subvector_impl (line 305) | vectview<const typename Base::scalar, T::DOF>
    function subvector_impl_ (line 312) | vectview<const typename Base::scalar, T::DIM>
    function subvector (line 319) | vectview<const Scalar, T::DOF>

FILE: FAST-LIO/include/IKFoM_toolkit/mtk/types/S2.hpp
  type MTK (line 89) | namespace MTK {
    type S2 (line 98) | struct S2 {
      method S2 (line 114) | S2() {
      method S2 (line 119) | S2(const scalar &x, const scalar &y, const scalar &z) : vec(vec3(x, ...
      method S2 (line 124) | S2(const vect_type &_vec) : vec(_vec) {
      method oplus (line 129) | void oplus(MTK::vectview<const scalar, 3> delta, scalar scale = 1)
      method boxplus (line 136) | void boxplus(MTK::vectview<const scalar, 2> delta, scalar scale=1) {
      method boxminus (line 144) | void boxminus(MTK::vectview<scalar, 2> res, const S2<scalar, den, nu...
      method S2_hat (line 169) | void S2_hat(Eigen::Matrix<scalar, 3, 3> &res)
      method S2_Bx (line 179) | void S2_Bx(Eigen::Matrix<scalar, 3, 2> &res)
      method S2_Nx (line 234) | void S2_Nx(Eigen::Matrix<scalar, 2, 3> &res, S2<scalar, den, num, S2...
      method S2_Nx_yy (line 259) | void S2_Nx_yy(Eigen::Matrix<scalar, 2, 3> &res)
      method S2_Mx (line 266) | void S2_Mx(Eigen::Matrix<scalar, 3, 2> &res, MTK::vectview<const sca...
      method vect_type (line 286) | const vect_type& get_vect() const {
      method scalar (line 297) | scalar operator[](int idx) const {return vec[idx]; }

FILE: FAST-LIO/include/IKFoM_toolkit/mtk/types/SOn.hpp
  type MTK (line 86) | namespace MTK {
    type SO2 (line 95) | struct SO2 : public Eigen::Rotation2D<_scalar> {
      method SO2 (line 103) | SO2(const scalar& angle = 0) : base(angle) {	}
      method SO2 (line 106) | SO2(const base& src) : base(src) {}
      method SO2 (line 112) | SO2(const vect_type &vec) : base(atan2(vec[1], vec[0])) {}
      method SO2 (line 116) | SO2 operator%(const base &r) const {
      method vect_type (line 122) | vect_type operator%(const Eigen::MatrixBase<Derived> &vec) const {
      method SO2 (line 127) | SO2 operator/(const SO2 &r) const {
      method S2_hat (line 135) | void S2_hat(Eigen::Matrix<scalar, 3, 3> &res)
      method S2_Nx_yy (line 140) | void S2_Nx_yy(Eigen::Matrix<scalar, 2, 3> &res)
      method S2_Mx (line 147) | void S2_Mx(Eigen::Matrix<scalar, 3, 2> &res, MTK::vectview<const sca...
      method oplus (line 154) | void oplus(MTK::vectview<const scalar, DOF> vec, scalar scale = 1) {
      method boxplus (line 158) | void boxplus(MTK::vectview<const scalar, DOF> vec, scalar scale = 1) {
      method boxminus (line 161) | void boxminus(MTK::vectview<scalar, DOF> res, const SO2<scalar>& oth...
    type SO3 (line 178) | struct SO3 : public Eigen::Quaternion<_scalar, Options> {
      method EIGEN_STRONG_INLINE (line 186) | EIGEN_STRONG_INLINE
      method vect_type (line 193) | vect_type operator%(const Eigen::MatrixBase<Derived> &vec) const {
      method EIGEN_STRONG_INLINE (line 198) | EIGEN_STRONG_INLINE
      method SO3 (line 207) | SO3(const scalar& w, const scalar& x, const scalar& y, const scalar&...
      method SO3 (line 215) | SO3(const base& src = base::Identity()) : base(src) {}
      method SO3 (line 222) | SO3(const Eigen::MatrixBase<Derived>& matrix) : base(matrix) {}
      method SO3 (line 229) | SO3(const Eigen::RotationBase<Derived, 3>& rotation) : base(rotation...
      method boxplus (line 233) | void boxplus(MTK::vectview<const scalar, DOF> vec, scalar scale=1) {
      method boxminus (line 237) | void boxminus(MTK::vectview<scalar, DOF> res, const SO3<scalar>& oth...
      method oplus (line 242) | void oplus(MTK::vectview<const scalar, DOF> vec, scalar scale=1) {
      method S2_hat (line 247) | void S2_hat(Eigen::Matrix<scalar, 3, 3> &res)
      method S2_Nx_yy (line 251) | void S2_Nx_yy(Eigen::Matrix<scalar, 2, 3> &res)
      method S2_Mx (line 258) | void S2_Mx(Eigen::Matrix<scalar, 3, 2> &res, MTK::vectview<const sca...
      method SO3 (line 284) | static SO3 exp(const Eigen::Matrix<scalar, 3, 1>& dvec, scalar scale...
      method log (line 293) | static typename base::Vector3 log(const SO3 &orient){
    type internal (line 300) | namespace internal {
      type UnalignedType<SO2<Scalar, Options > > (line 302) | struct UnalignedType<SO2<Scalar, Options > >{
      type UnalignedType<SO3<Scalar, Options > > (line 307) | struct UnalignedType<SO3<Scalar, Options > >{

FILE: FAST-LIO/include/IKFoM_toolkit/mtk/types/vect.hpp
  type MTK (line 89) | namespace MTK {
    type vect (line 100) | struct vect : public Eigen::Matrix<_scalar, D, 1, _Options> {
      method vect (line 108) | vect(const base &src = base::Zero()) : base(src) {}
      method EIGEN_STRONG_INLINE (line 112) | EIGEN_STRONG_INLINE vect(const Eigen::DenseBase<OtherDerived>& other...
      method vect (line 115) | vect(const scalar* src, int size = DOF) : base(base::Map(src, size))...
      method boxplus (line 117) | void boxplus(MTK::vectview<const scalar, D> vec, scalar scale=1) {
      method boxminus (line 120) | void boxminus(MTK::vectview<scalar, D> res, const vect<D, scalar>& o...
      method oplus (line 124) | void oplus(MTK::vectview<const scalar, D> vec, scalar scale=1) {
      method S2_hat (line 128) | void S2_hat(Eigen::Matrix<scalar, 3, 3> &res)
      method S2_Nx_yy (line 133) | void S2_Nx_yy(Eigen::Matrix<scalar, 2, 3> &res)
      method S2_Mx (line 140) | void S2_Mx(Eigen::Matrix<scalar, 3, 2> &res, MTK::vectview<const sca...
      method tail (line 191) | vectview<scalar, dim> tail(){
      method tail (line 196) | vectview<const scalar, dim> tail() const{
      method head (line 201) | vectview<scalar, dim> head(){
      method head (line 206) | vectview<const scalar, dim> head() const{
    type matrix (line 219) | struct matrix : public Eigen::Matrix<_scalar, M, N, _Options> {
      method matrix (line 227) | matrix() {
      method EIGEN_STRONG_INLINE (line 233) | EIGEN_STRONG_INLINE matrix(const Eigen::MatrixBase<OtherDerived>& ot...
      method matrix (line 236) | matrix(const scalar* src) : base(src) { }
      method boxplus (line 238) | void boxplus(MTK::vectview<const scalar, DOF> vec, scalar scale = 1) {
      method boxminus (line 241) | void boxminus(MTK::vectview<scalar, DOF> res, const matrix& other) c...
      method S2_hat (line 245) | void S2_hat(Eigen::Matrix<scalar, 3, 3> &res)
      method oplus (line 250) | void oplus(MTK::vectview<const scalar, DOF> vec, scalar scale = 1) {
      method S2_Nx_yy (line 254) | void S2_Nx_yy(Eigen::Matrix<scalar, 2, 3> &res)
      method S2_Mx (line 261) | void S2_Mx(Eigen::Matrix<scalar, 3, 2> &res, MTK::vectview<const sca...
    type Scalar (line 288) | struct Scalar {
      method Scalar (line 294) | Scalar(const scalar& value = scalar(0)) : value(value) {}
      method Scalar (line 297) | Scalar& operator=(const scalar& val) { value = val; return *this; }
      method S2_hat (line 299) | void S2_hat(Eigen::Matrix<scalar, 3, 3> &res)
      method S2_Nx_yy (line 304) | void S2_Nx_yy(Eigen::Matrix<scalar, 2, 3> &res)
      method S2_Mx (line 311) | void S2_Mx(Eigen::Matrix<scalar, 3, 2> &res, MTK::vectview<const sca...
      method oplus (line 318) | void oplus(MTK::vectview<const scalar, DOF> vec, scalar scale=1) {
      method boxplus (line 322) | void boxplus(MTK::vectview<const scalar, DOF> vec, scalar scale=1) {
      method boxminus (line 325) | void boxminus(MTK::vectview<scalar, DOF> res, const Scalar& other) c...
    type PositiveScalar (line 335) | struct PositiveScalar {
      method PositiveScalar (line 341) | PositiveScalar(const scalar& value = scalar(1)) : value(value) {
      method PositiveScalar (line 345) | PositiveScalar& operator=(const scalar& val) { assert(val>0); value ...
      method boxplus (line 347) | void boxplus(MTK::vectview<const scalar, DOF> vec, scalar scale = 1) {
      method boxminus (line 350) | void boxminus(MTK::vectview<scalar, DOF> res, const PositiveScalar& ...
      method oplus (line 354) | void oplus(MTK::vectview<const scalar, DOF> vec, scalar scale = 1) {
      method S2_hat (line 358) | void S2_hat(Eigen::Matrix<scalar, 3, 3> &res)
      method S2_Nx_yy (line 363) | void S2_Nx_yy(Eigen::Matrix<scalar, 2, 3> &res)
      method S2_Mx (line 370) | void S2_Mx(Eigen::Matrix<scalar, 3, 2> &res, MTK::vectview<const sca...
    type Complex (line 386) | struct Complex : public std::complex<_scalar>{
      method Complex (line 392) | Complex(const Base& value) : Base(value) {}
      method Complex (line 393) | Complex(const scalar& re = 0.0, const scalar& im = 0.0) : Base(re, i...
      method Complex (line 394) | Complex(const MTK::vectview<const scalar, 2> &in) : Base(in[0], in[1...
      method Complex (line 396) | Complex(const Eigen::DenseBase<Derived> &in) : Base(in[0], in[1]) {}
      method boxplus (line 398) | void boxplus(MTK::vectview<const scalar, DOF> vec, scalar scale = 1) {
      method boxminus (line 402) | void boxminus(MTK::vectview<scalar, DOF> res, const Complex& other) ...
      method S2_hat (line 407) | void S2_hat(Eigen::Matrix<scalar, 3, 3> &res)
      method oplus (line 412) | void oplus(MTK::vectview<const scalar, DOF> vec, scalar scale = 1) {
      method S2_Nx_yy (line 417) | void S2_Nx_yy(Eigen::Matrix<scalar, 2, 3> &res)
      method S2_Mx (line 424) | void S2_Mx(Eigen::Matrix<scalar, 3, 2> &res, MTK::vectview<const sca...
      method scalar (line 431) | scalar squaredNorm() const {
      method scalar (line 435) | const scalar& operator()(int i) const {
      method scalar (line 439) | scalar& operator()(int i){
    type internal (line 446) | namespace internal {
      type UnalignedType<vect<dim, Scalar, Options > > (line 449) | struct UnalignedType<vect<dim, Scalar, Options > >{

FILE: FAST-LIO/include/IKFoM_toolkit/mtk/types/wrapped_cv_mat.hpp
  type MTK (line 43) | namespace MTK {
    type cv_f_type (line 46) | struct cv_f_type
    type cv_f_type<double> (line 49) | struct cv_f_type<double>
    type cv_f_type<float> (line 55) | struct cv_f_type<float>
    class cv_mat (line 64) | class cv_mat : public matrix<rows, cols, f_type, cols==1 ? Eigen::ColM...
      method cv_mat (line 71) | cv_mat()
      method cv_mat (line 76) | cv_mat(const cv_mat& oth) : base_type(oth)
      method cv_mat (line 82) | cv_mat(const Eigen::MatrixBase<Derived> &value) : base_type(value)
      method cv_mat (line 88) | cv_mat& operator=(const Eigen::MatrixBase<Derived> &value)
      method cv_mat (line 94) | cv_mat& operator=(const cv_mat& value)
      method CvMat (line 101) | CvMat* operator&()
      method CvMat (line 105) | const CvMat* operator&() const

FILE: FAST-LIO/include/common_lib.h
  type fast_lio (line 36) | typedef fast_lio::Pose6D Pose6D;
  type pcl (line 37) | typedef pcl::PointXYZINormal PointType;
  type pcl (line 38) | typedef pcl::PointCloud<PointType> PointCloudXYZI;
  type vector (line 39) | typedef vector<PointType, Eigen::aligned_allocator<PointType>> PointVector;
  type Vector3d (line 40) | typedef Vector3d V3D;
  type Matrix3d (line 41) | typedef Matrix3d M3D;
  type Vector3f (line 42) | typedef Vector3f V3F;
  type Matrix3f (line 43) | typedef Matrix3f M3F;
  type StatesGroup (line 67) | struct StatesGroup
  function resetpose (line 141) | void resetpose()
  function calc_dist (line 222) | float calc_dist(PointType p1, PointType p2)

FILE: FAST-LIO/include/ikd-Tree/ikd_Tree.cpp
  function BoxPointType (line 118) | BoxPointType KD_TREE::tree_range()
  type timespec (line 893) | struct timespec
  type timespec (line 967) | struct timespec
  type timespec (line 1056) | struct timespec
  type timespec (line 1131) | struct timespec
  function PointType_CMP (line 1893) | PointType_CMP MANUAL_HEAP::top()
  function Operation_Logger_Type (line 1998) | Operation_Logger_Type MANUAL_Q::front()
  function Operation_Logger_Type (line 2003) | Operation_Logger_Type MANUAL_Q::back()

FILE: FAST-LIO/include/ikd-Tree/ikd_Tree.h
  type pcl (line 20) | typedef pcl::PointXYZINormal PointType;
  type vector (line 21) | typedef vector<PointType, Eigen::aligned_allocator<PointType>> PointVector;
  type KD_TREE_NODE (line 25) | struct KD_TREE_NODE
  type PointType_CMP (line 53) | struct PointType_CMP
  type BoxPointType (line 71) | struct BoxPointType
  type operation_set (line 77) | enum operation_set
  type delete_point_storage_set (line 87) | enum delete_point_storage_set
  type Operation_Logger_Type (line 94) | struct Operation_Logger_Type
  function class (line 103) | class MANUAL_Q
  function class (line 122) | class MANUAL_HEAP
  function class (line 141) | class KD_TREE

FILE: FAST-LIO/include/matplotlibcpp.h
  function namespace (line 42) | namespace matplotlibcpp {
  function backend (line 265) | inline void backend(const std::string& name)
  function annotate (line 270) | inline bool annotate(std::string annotation, double x, double y)
  function namespace (line 296) | namespace detail {
  function namespace (line 781) | namespace detail {
  function fignum_exists (line 1520) | inline bool fignum_exists(long number)
  function figure_size (line 1536) | inline void figure_size(size_t w, size_t h)
  function legend (line 1558) | inline void legend()
  function legend (line 1568) | inline void legend(const std::map<std::string, std::string>& keywords)
  function xticks (line 1708) | void xticks(const std::vector<Numeric> &ticks, const std::map<std::strin...
  function yticks (line 1757) | void yticks(const std::vector<Numeric> &ticks, const std::map<std::strin...
  function margins (line 1762) | void margins(Numeric margin)
  function margins (line 1777) | void margins(Numeric margin_x, Numeric margin_y)
  function subplot (line 1820) | inline void subplot(long nrows, long ncols, long plot_number)
  function axis (line 1906) | inline void axis(const std::string &axisstr)
  function grid (line 2066) | inline void grid(bool flag)
  function close (line 2108) | inline void close()
  function xkcd (line 2121) | inline void xkcd() {
  function draw (line 2138) | inline void draw()
  function pause (line 2152) | void pause(Numeric interval)
  function save (line 2166) | inline void save(const std::string& filename)
  function clf (line 2183) | inline void clf() {
  function cla (line 2195) | inline void cla() {
  function ion (line 2207) | inline void ion() {
  function tight_layout (line 2256) | inline void tight_layout() {
  function namespace (line 2270) | namespace detail {
  type Fallback (line 2287) | struct Fallback { void operator()(); }
  type Derived (line 2288) | struct Derived
  type dtype (line 2300) | typedef decltype(&Fallback::operator()) dtype;
  type typename (line 2308) | typedef typename is_callable_impl<std::is_class<T>::value, T>::type type;
  function false_type (line 2315) | struct plot_impl<std::false_type>
  function true_type (line 2354) | struct plot_impl<std::true_type>
  function class (line 2400) | class Plot

FILE: FAST-LIO/include/use-ikfom.hpp
  function process_noise_cov (line 27) | MTK::get_cov<process_noise_ikfom>::type process_noise_cov()
  function get_f (line 40) | Eigen::Matrix<double, 24, 1> get_f(state_ikfom &s, const input_ikfom &in)
  function df_dx (line 56) | Eigen::Matrix<double, 24, 23> df_dx(state_ikfom &s, const input_ikfom &in)
  function df_dw (line 75) | Eigen::Matrix<double, 24, 12> df_dw(state_ikfom &s, const input_ikfom &in)
  function vect3 (line 85) | vect3 SO3ToEuler(const SO3 &orient) //将SO3转为Euler角

FILE: FAST-LIO/src/IMU_Processing.hpp
  function time_list (line 32) | const bool time_list(PointType &x, PointType &y) { return (x.curvature <...
  class ImuProcess (line 35) | class ImuProcess

FILE: FAST-LIO/src/laserMapping.cpp
  function SigHandle (line 160) | void SigHandle(int sig)
  function dump_lio_state_to_log (line 168) | inline void dump_lio_state_to_log(FILE *fp)
  function pointBodyToWorld_ikfom (line 185) | void pointBodyToWorld_ikfom(PointType const *const pi, PointType *const ...
  function pointBodyToWorld (line 197) | void pointBodyToWorld(PointType const *const pi, PointType *const po)
  function pointBodyToWorld (line 209) | void pointBodyToWorld(const Matrix<T, 3, 1> &pi, Matrix<T, 3, 1> &po)
  function RGBpointBodyToWorld (line 219) | void RGBpointBodyToWorld(PointType const *const pi, PointType *const po)
  function RGBpointBodyLidarToIMU (line 230) | void RGBpointBodyLidarToIMU(PointType const *const pi, PointType *const po)
  function points_cache_collect (line 242) | void points_cache_collect()
  function lasermap_fov_segment (line 253) | void lasermap_fov_segment()
  function standard_pcl_cbk (line 322) | void standard_pcl_cbk(const sensor_msgs::PointCloud2::ConstPtr &msg)
  function livox_pcl_cbk (line 347) | void livox_pcl_cbk(const livox_ros_driver::CustomMsg::ConstPtr &msg)
  function imu_cbk (line 386) | void imu_cbk(const sensor_msgs::Imu::ConstPtr &msg_in)
  function sync_packages (line 415) | bool sync_packages(MeasureGroup &meas)
  function map_incremental (line 466) | void map_incremental() //地图的增量更新，主要完成对ikd-tree的地图建立
  function publish_frame_world (line 528) | void publish_frame_world(const ros::Publisher &pubLaserCloudFull)
  function publish_frame_body (line 569) | void publish_frame_body(const ros::Publisher &pubLaserCloudFull_body)
  function publish_frame_lidar (line 588) | void publish_frame_lidar(const ros::Publisher &pubLaserCloudFull_lidar)
  function publish_effect_world (line 598) | void publish_effect_world(const ros::Publisher &pubLaserCloudEffect)
  function publish_map (line 614) | void publish_map(const ros::Publisher &pubLaserCloudMap)
  function set_posestamp (line 624) | void set_posestamp(T &out)
  function publish_odometry (line 635) | void publish_odometry(const ros::Publisher &pubOdomAftMapped)
  function publish_path (line 669) | void publish_path(const ros::Publisher pubPath)
  function h_share_model (line 685) | void h_share_model(state_ikfom &s, esekfom::dyn_share_datastruct<double>...
  function main (line 808) | int main(int argc, char **argv)

FILE: FAST-LIO/src/preprocess.h
  type pcl (line 10) | typedef pcl::PointXYZINormal PointType;
  type pcl (line 11) | typedef pcl::PointCloud<PointType> PointCloudXYZI;
  type LID_TYPE (line 14) | enum LID_TYPE
  type Feature (line 22) | enum Feature
  type Surround (line 33) | enum Surround
  type E_jump (line 40) | enum E_jump
  type orgtype (line 49) | struct orgtype
  function Point (line 73) | struct EIGEN_ALIGN16 Point
  function Point (line 90) | struct EIGEN_ALIGN16 Point

FILE: SC-PGO/include/aloam_velodyne/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/aloam_velodyne/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/kittiHelper.cpp
  function read_lidar_data (line 25) | std::vector<float> read_lidar_data(const std::string lidar_data_path)
  function main (line 37) | int main(int argc, char** argv)

FILE: SC-PGO/src/laserMapping.cpp
  function transformAssociateToMap (line 143) | void transformAssociateToMap()
  function transformUpdate (line 149) | void transformUpdate()
  function pointAssociateToMap (line 155) | void pointAssociateToMap(PointType const *const pi, PointType *const po)
  function pointAssociateTobeMapped (line 166) | void pointAssociateTobeMapped(PointType const *const pi, PointType *cons...
  function laserCloudCornerLastHandler (line 176) | void laserCloudCornerLastHandler(const sensor_msgs::PointCloud2ConstPtr ...
  function laserCloudSurfLastHandler (line 183) | void laserCloudSurfLastHandler(const sensor_msgs::PointCloud2ConstPtr &l...
  function laserCloudFullResHandler (line 190) | void laserCloudFullResHandler(const sensor_msgs::PointCloud2ConstPtr &la...
  function laserOdometryHandler (line 198) | void laserOdometryHandler(const nav_msgs::Odometry::ConstPtr &laserOdome...
  function process (line 232) | void process()
  function main (line 908) | int main(int argc, char **argv)

FILE: SC-PGO/src/laserOdometry.cpp
  function TransformToStart (line 111) | void TransformToStart(PointType const *const pi, PointType *const po)
  function TransformToEnd (line 133) | void TransformToEnd(PointType const *const pi, PointType *const po)
  function laserCloudSharpHandler (line 150) | void laserCloudSharpHandler(const sensor_msgs::PointCloud2ConstPtr &corn...
  function laserCloudLessSharpHandler (line 157) | void laserCloudLessSharpHandler(const sensor_msgs::PointCloud2ConstPtr &...
  function laserCloudFlatHandler (line 164) | void laserCloudFlatHandler(const sensor_msgs::PointCloud2ConstPtr &surfP...
  function laserCloudLessFlatHandler (line 171) | void laserCloudLessFlatHandler(const sensor_msgs::PointCloud2ConstPtr &s...
  function laserCloudFullResHandler (line 179) | void laserCloudFullResHandler(const sensor_msgs::PointCloud2ConstPtr &la...
  function main (line 186) | int main(int argc, char **argv)

FILE: SC-PGO/src/laserPosegraphOptimization.cpp
  function padZeros (line 137) | std::string padZeros(int val, int num_digits = 6) {
  function Pose6DtoGTSAMPose3 (line 143) | gtsam::Pose3 Pose6DtoGTSAMPose3(const Pose6D& p)
  function saveOdometryVerticesKITTIformat (line 148) | void saveOdometryVerticesKITTIformat(std::string _filename)
  function saveOptimizedVerticesKITTIformat (line 166) | void saveOptimizedVerticesKITTIformat(gtsam::Values _estimates, std::str...
  function laserOdometryHandler (line 191) | void laserOdometryHandler(const nav_msgs::Odometry::ConstPtr &_laserOdom...
  function laserCloudFullResHandler (line 198) | void laserCloudFullResHandler(const sensor_msgs::PointCloud2ConstPtr &_l...
  function gpsHandler (line 205) | void gpsHandler(const sensor_msgs::NavSatFix::ConstPtr &_gps)
  function initNoises (line 214) | void initNoises( void )
  function Pose6D (line 242) | Pose6D getOdom(nav_msgs::Odometry::ConstPtr _odom)
  function Pose6D (line 255) | Pose6D diffTransformation(const Pose6D& _p1, const Pose6D& _p2)
  function local2global (line 268) | pcl::PointCloud<PointType>::Ptr local2global(const pcl::PointCloud<Point...
  function pubPath (line 291) | void pubPath( void )
  function updatePoses (line 338) | void updatePoses(void)
  function runISAM2opt (line 363) | void runISAM2opt(void)
  function transformPointCloud (line 376) | pcl::PointCloud<PointType>::Ptr transformPointCloud(pcl::PointCloud<Poin...
  function loopFindNearKeyframesCloud (line 402) | void loopFindNearKeyframesCloud( pcl::PointCloud<PointType>::Ptr& nearKe...
  function doICPVirtualRelative (line 427) | std::optional<gtsam::Pose3> doICPVirtualRelative( int _loop_kf_idx, int ...
  function process_pg (line 480) | void process_pg()
  function performSCLoopClosure (line 637) | void performSCLoopClosure(void)
  function process_lcd (line 656) | void process_lcd(void)
  function process_icp (line 668) | void process_icp(void)
  function process_viz_path (line 701) | void process_viz_path(void)
  function process_isam (line 713) | void process_isam(void)
  function pubMap (line 731) | void pubMap(void)
  function process_viz_map (line 757) | void process_viz_map(void)
  function main (line 770) | int main(int argc, char **argv)

FILE: SC-PGO/src/lidarFactor.hpp
  type LidarEdgeFactor (line 12) | struct LidarEdgeFactor
    method LidarEdgeFactor (line 14) | LidarEdgeFactor(Eigen::Vector3d curr_point_, Eigen::Vector3d last_poin...
  type LidarPlaneFactor (line 57) | struct LidarPlaneFactor
    method LidarPlaneFactor (line 59) | LidarPlaneFactor(Eigen::Vector3d curr_point_, Eigen::Vector3d last_poi...
  type LidarPlaneNormFactor (line 106) | struct LidarPlaneNormFactor
    method LidarPlaneNormFactor (line 109) | LidarPlaneNormFactor(Eigen::Vector3d curr_point_, Eigen::Vector3d plan...
  type LidarDistanceFactor (line 141) | struct LidarDistanceFactor
    method LidarDistanceFactor (line 144) | LidarDistanceFactor(Eigen::Vector3d curr_point_, Eigen::Vector3d close...

FILE: SC-PGO/src/scanRegistration.cpp
  function comp (line 73) | bool comp (int i,int j) { return (cloudCurvature[i]<cloudCurvature[j]); }
  function removeClosedPointCloud (line 88) | void removeClosedPointCloud(const pcl::PointCloud<PointT> &cloud_in,
  function laserCloudHandler (line 116) | void laserCloudHandler(const sensor_msgs::PointCloud2ConstPtr &laserClou...
  function main (line 475) | int main(int argc, char **argv)

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