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Repository: uzh-rpg/rpg_dvs_evo_open
Branch: master
Commit: 14c72916b40c
Files: 1588
Total size: 10.2 MB
Directory structure:
gitextract_xxqg6hiq/
├── .gitignore
├── Doxygen
├── README.md
├── SOURCE CODE LICENSE AGREEMENT_evo.doc
├── dependencies.yaml
├── docs/
│ ├── Bootstrapper_8hpp_source.html
│ ├── EventsFramesBootstrapper_8hpp_source.html
│ ├── FrontoPlanarBootstrapper_8hpp_source.html
│ ├── abstract__bundle__adjustment_8h_source.html
│ ├── annotated.html
│ ├── atan__distortion_8h_source.html
│ ├── backend__factory_8h_source.html
│ ├── backend__interface_8h_source.html
│ ├── backend__optimizer_8h_source.html
│ ├── backend__types_8h_source.html
│ ├── backend__visualizer_8h_source.html
│ ├── backtrace_8h_source.html
│ ├── batch__worker_8h_source.html
│ ├── blender__utils_8h_source.html
│ ├── callback__host_8h_source.html
│ ├── camera-yaml-serialization_8h_source.html
│ ├── camera_8h_source.html
│ ├── camera_8hpp_source.html
│ ├── camera__factory_8h_source.html
│ ├── camera__fwd_8h_source.html
│ ├── camera__geometry_8h_source.html
│ ├── camera__geometry_8hpp_source.html
│ ├── camera__geometry__base_8h_source.html
│ ├── camera__geometry__base_8hpp_source.html
│ ├── cameras_8h_source.html
│ ├── classCamerasTest-members.html
│ ├── classCamerasTest.html
│ ├── classCamerasTest__coll__graph.md5
│ ├── classCamerasTest__inherit__graph.md5
│ ├── classDvsReconstruction-members.html
│ ├── classDvsReconstruction.html
│ ├── classDvsReconstruction__coll__graph.md5
│ ├── classDvsTrackingNodelet-members.html
│ ├── classDvsTrackingNodelet.html
│ ├── classDvsTrackingNodelet__coll__graph.md5
│ ├── classDvsTrackingNodelet__inherit__graph.md5
│ ├── classLKSE3-members.html
│ ├── classLKSE3.html
│ ├── classLKSE3__coll__graph.md5
│ ├── classLKSE3__inherit__graph.md5
│ ├── classMedianFilterTest-members.html
│ ├── classMedianFilterTest.html
│ ├── classMedianFilterTest__coll__graph.md5
│ ├── classMedianFilterTest__inherit__graph.md5
│ ├── classMosaic-members.html
│ ├── classMosaic.html
│ ├── classMosaic__coll__graph.md5
│ ├── classTracker-members.html
│ ├── classTracker.html
│ ├── classTracker__coll__graph.md5
│ ├── classTracker__inherit__graph.md5
│ ├── classaslam_1_1common_1_1NumericalDiff-members.html
│ ├── classaslam_1_1common_1_1NumericalDiff.html
│ ├── classaslam_1_1common_1_1NumericalDiff__coll__graph.md5
│ ├── classaslam_1_1common_1_1NumericalDiff__inherit__graph.md5
│ ├── classaslam_1_1common_1_1ZeroNumericalDiff-members.html
│ ├── classaslam_1_1common_1_1ZeroNumericalDiff.html
│ ├── classcv_1_1HomographyDecomposition_1_1HomographyDecomp-members.html
│ ├── classcv_1_1HomographyDecomposition_1_1HomographyDecomp.html
│ ├── classcv_1_1HomographyDecomposition_1_1HomographyDecompInria-members.html
│ ├── classcv_1_1HomographyDecomposition_1_1HomographyDecompInria.html
│ ├── classcv_1_1HomographyDecomposition_1_1HomographyDecompInria__coll__graph.md5
│ ├── classcv_1_1HomographyDecomposition_1_1HomographyDecompInria__inherit__graph.md5
│ ├── classcv_1_1HomographyDecomposition_1_1HomographyDecompZhang-members.html
│ ├── classcv_1_1HomographyDecomposition_1_1HomographyDecompZhang.html
│ ├── classcv_1_1HomographyDecomposition_1_1HomographyDecompZhang__coll__graph.md5
│ ├── classcv_1_1HomographyDecomposition_1_1HomographyDecompZhang__inherit__graph.md5
│ ├── classcv_1_1HomographyDecomposition_1_1HomographyDecomp__inherit__graph.md5
│ ├── classdepth__from__defocus_1_1DepthFromDefocusNode-members.html
│ ├── classdepth__from__defocus_1_1DepthFromDefocusNode.html
│ ├── classdepth__from__defocus_1_1DepthFromDefocusNode__coll__graph.md5
│ ├── classdepth__from__defocus_1_1DepthVector-members.html
│ ├── classdepth__from__defocus_1_1DepthVector.html
│ ├── classdepth__from__defocus_1_1DepthVector__coll__graph.md5
│ ├── classdepth__from__defocus_1_1DvsMappingNodelet-members.html
│ ├── classdepth__from__defocus_1_1DvsMappingNodelet.html
│ ├── classdepth__from__defocus_1_1DvsMappingNodelet__coll__graph.md5
│ ├── classdepth__from__defocus_1_1DvsMappingNodelet__inherit__graph.md5
│ ├── classdepth__from__defocus_1_1InverseDepthVector-members.html
│ ├── classdepth__from__defocus_1_1InverseDepthVector.html
│ ├── classdepth__from__defocus_1_1InverseDepthVector__coll__graph.md5
│ ├── classdepth__from__defocus_1_1InverseDepthVector__inherit__graph.md5
│ ├── classdepth__from__defocus_1_1LinearDepthVector-members.html
│ ├── classdepth__from__defocus_1_1LinearDepthVector.html
│ ├── classdepth__from__defocus_1_1LinearDepthVector__coll__graph.md5
│ ├── classdepth__from__defocus_1_1LinearDepthVector__inherit__graph.md5
│ ├── classdvs__bootstrapping_1_1Bootstrapper-members.html
│ ├── classdvs__bootstrapping_1_1Bootstrapper.html
│ ├── classdvs__bootstrapping_1_1Bootstrapper__inherit__graph.md5
│ ├── classdvs__bootstrapping_1_1EventsFramesBootstrapper-members.html
│ ├── classdvs__bootstrapping_1_1EventsFramesBootstrapper.html
│ ├── classdvs__bootstrapping_1_1EventsFramesBootstrapper__coll__graph.md5
│ ├── classdvs__bootstrapping_1_1EventsFramesBootstrapper__inherit__graph.md5
│ ├── classdvs__bootstrapping_1_1FrontoPlanarBootstrapper-members.html
│ ├── classdvs__bootstrapping_1_1FrontoPlanarBootstrapper.html
│ ├── classdvs__bootstrapping_1_1FrontoPlanarBootstrapper__coll__graph.md5
│ ├── classdvs__bootstrapping_1_1FrontoPlanarBootstrapper__inherit__graph.md5
│ ├── classes.html
│ ├── classevo__utils_1_1camera_1_1PinholeCamera-members.html
│ ├── classevo__utils_1_1camera_1_1PinholeCamera.html
│ ├── classevo__utils_1_1select__exposure__DAVIS_1_1ExposureSelector-members.html
│ ├── classevo__utils_1_1select__exposure__DAVIS_1_1ExposureSelector.html
│ ├── classevo__utils_1_1snakify_1_1snakify-members.html
│ ├── classevo__utils_1_1snakify_1_1snakify.html
│ ├── classevo__utils_1_1tf__to__camera__markers_1_1tfToCamera-members.html
│ ├── classevo__utils_1_1tf__to__camera__markers_1_1tfToCamera.html
│ ├── classgtsam_1_1FastMap.html
│ ├── classgtsam_1_1GenericProjectionFactor.html
│ ├── classgtsam_1_1SmartProjectionPoseFactor.html
│ ├── classmotion__correction_1_1WarpUpdateParams-members.html
│ ├── classmotion__correction_1_1WarpUpdateParams.html
│ ├── classpose__to__tf_1_1Boostrapper-members.html
│ ├── classpose__to__tf_1_1Boostrapper.html
│ ├── classrpg__common_1_1BatchWorker-members.html
│ ├── classrpg__common_1_1BatchWorker.html
│ ├── classrpg__common_1_1BatchWorker__coll__graph.md5
│ ├── classrpg__common_1_1BatchWorker__inherit__graph.md5
│ ├── classrpg__common_1_1CallbackHost-members.html
│ ├── classrpg__common_1_1CallbackHost.html
│ ├── classrpg__common_1_1RealtimeWorker-members.html
│ ├── classrpg__common_1_1RealtimeWorker.html
│ ├── classrpg__common_1_1ThreadSafeQueue-members.html
│ ├── classrpg__common_1_1ThreadSafeQueue.html
│ ├── classrpg__common_1_1WorkerBase-members.html
│ ├── classrpg__common_1_1WorkerBase.html
│ ├── classrpg__common_1_1WorkerBase__inherit__graph.md5
│ ├── classrqt__evo_1_1evo_1_1Evo-members.html
│ ├── classrqt__evo_1_1evo_1_1Evo.html
│ ├── classrqt__evo_1_1evo_1_1Evo__coll__graph.md5
│ ├── classrqt__evo_1_1evo_1_1Evo__inherit__graph.md5
│ ├── classrqt__evo_1_1evo__widget_1_1EvoWidget-members.html
│ ├── classrqt__evo_1_1evo__widget_1_1EvoWidget.html
│ ├── classrqt__evo_1_1evo__widget_1_1EvoWidget__coll__graph.md5
│ ├── classrqt__evo_1_1evo__widget_1_1EvoWidget__inherit__graph.md5
│ ├── classrqt__svo_1_1svo_1_1Svo-members.html
│ ├── classrqt__svo_1_1svo_1_1Svo.html
│ ├── classrqt__svo_1_1svo_1_1Svo__coll__graph.md5
│ ├── classrqt__svo_1_1svo_1_1Svo__inherit__graph.md5
│ ├── classrqt__svo_1_1svo__widget_1_1SvoWidget-members.html
│ ├── classrqt__svo_1_1svo__widget_1_1SvoWidget.html
│ ├── classrqt__svo_1_1svo__widget_1_1SvoWidget__coll__graph.md5
│ ├── classrqt__svo_1_1svo__widget_1_1SvoWidget__inherit__graph.md5
│ ├── classsvo_1_1AbstractBundleAdjustment-members.html
│ ├── classsvo_1_1AbstractBundleAdjustment.html
│ ├── classsvo_1_1AbstractBundleAdjustment__inherit__graph.md5
│ ├── classsvo_1_1AbstractDetector-members.html
│ ├── classsvo_1_1AbstractDetector.html
│ ├── classsvo_1_1AbstractDetector__coll__graph.md5
│ ├── classsvo_1_1AbstractDetector__inherit__graph.md5
│ ├── classsvo_1_1AbstractInitialization-members.html
│ ├── classsvo_1_1AbstractInitialization.html
│ ├── classsvo_1_1AbstractInitialization__coll__graph.md5
│ ├── classsvo_1_1AbstractInitialization__inherit__graph.md5
│ ├── classsvo_1_1AllPixelsDetector-members.html
│ ├── classsvo_1_1AllPixelsDetector.html
│ ├── classsvo_1_1AllPixelsDetector__coll__graph.md5
│ ├── classsvo_1_1AllPixelsDetector__inherit__graph.md5
│ ├── classsvo_1_1ArrayInitGeometric-members.html
│ ├── classsvo_1_1ArrayInitGeometric.html
│ ├── classsvo_1_1ArrayInitGeometric__coll__graph.md5
│ ├── classsvo_1_1ArrayInitGeometric__inherit__graph.md5
│ ├── classsvo_1_1ArrayInitOptimization-members.html
│ ├── classsvo_1_1ArrayInitOptimization.html
│ ├── classsvo_1_1ArrayInitOptimization__coll__graph.md5
│ ├── classsvo_1_1ArrayInitOptimization__inherit__graph.md5
│ ├── classsvo_1_1BackendInterface-members.html
│ ├── classsvo_1_1BackendInterface.html
│ ├── classsvo_1_1BackendInterface__coll__graph.md5
│ ├── classsvo_1_1BackendInterface__inherit__graph.md5
│ ├── classsvo_1_1BackendOptimizer-members.html
│ ├── classsvo_1_1BackendOptimizer.html
│ ├── classsvo_1_1BackendOptimizer__coll__graph.md5
│ ├── classsvo_1_1BackendVisualizer-members.html
│ ├── classsvo_1_1BackendVisualizer.html
│ ├── classsvo_1_1BackendVisualizer__coll__graph.md5
│ ├── classsvo_1_1BenchmarkNode-members.html
│ ├── classsvo_1_1BenchmarkNode.html
│ ├── classsvo_1_1BenchmarkNode__coll__graph.md5
│ ├── classsvo_1_1BenchmarkNode__inherit__graph.md5
│ ├── classsvo_1_1CannyDetector-members.html
│ ├── classsvo_1_1CannyDetector.html
│ ├── classsvo_1_1CannyDetector__coll__graph.md5
│ ├── classsvo_1_1CannyDetector__inherit__graph.md5
│ ├── classsvo_1_1CsvDatasetReader-members.html
│ ├── classsvo_1_1CsvDatasetReader.html
│ ├── classsvo_1_1DepthEstimator-members.html
│ ├── classsvo_1_1DepthEstimator.html
│ ├── classsvo_1_1DepthEstimator__coll__graph.md5
│ ├── classsvo_1_1DepthEstimator__inherit__graph.md5
│ ├── classsvo_1_1DepthFilter-members.html
│ ├── classsvo_1_1DepthFilter.html
│ ├── classsvo_1_1DepthFilter__coll__graph.md5
│ ├── classsvo_1_1FastDetector-members.html
│ ├── classsvo_1_1FastDetector.html
│ ├── classsvo_1_1FastDetector__coll__graph.md5
│ ├── classsvo_1_1FastDetector__inherit__graph.md5
│ ├── classsvo_1_1FastGradDetector-members.html
│ ├── classsvo_1_1FastGradDetector.html
│ ├── classsvo_1_1FastGradDetector__coll__graph.md5
│ ├── classsvo_1_1FastGradDetector__inherit__graph.md5
│ ├── classsvo_1_1FeatureRef-members.html
│ ├── classsvo_1_1FeatureRef.html
│ ├── classsvo_1_1FeatureRef__coll__graph.md5
│ ├── classsvo_1_1FeatureTrack-members.html
│ ├── classsvo_1_1FeatureTrack.html
│ ├── classsvo_1_1FeatureTracker-members.html
│ ├── classsvo_1_1FeatureTracker.html
│ ├── classsvo_1_1FeatureTracker__coll__graph.md5
│ ├── classsvo_1_1FivePointInit-members.html
│ ├── classsvo_1_1FivePointInit.html
│ ├── classsvo_1_1FivePointInit__coll__graph.md5
│ ├── classsvo_1_1FivePointInit__inherit__graph.md5
│ ├── classsvo_1_1Frame-members.html
│ ├── classsvo_1_1Frame.html
│ ├── classsvo_1_1FrameBundle-members.html
│ ├── classsvo_1_1FrameBundle.html
│ ├── classsvo_1_1FrameGpu-members.html
│ ├── classsvo_1_1FrameGpu.html
│ ├── classsvo_1_1FrameGpu__coll__graph.md5
│ ├── classsvo_1_1FrameGpu__inherit__graph.md5
│ ├── classsvo_1_1FrameHandlerArray-members.html
│ ├── classsvo_1_1FrameHandlerArray.html
│ ├── classsvo_1_1FrameHandlerArray__coll__graph.md5
│ ├── classsvo_1_1FrameHandlerArray__inherit__graph.md5
│ ├── classsvo_1_1FrameHandlerBase-members.html
│ ├── classsvo_1_1FrameHandlerBase.html
│ ├── classsvo_1_1FrameHandlerBase__coll__graph.md5
│ ├── classsvo_1_1FrameHandlerBase__inherit__graph.md5
│ ├── classsvo_1_1FrameHandlerMono-members.html
│ ├── classsvo_1_1FrameHandlerMono.html
│ ├── classsvo_1_1FrameHandlerMono__coll__graph.md5
│ ├── classsvo_1_1FrameHandlerMono__inherit__graph.md5
│ ├── classsvo_1_1FrameHandlerStereo-members.html
│ ├── classsvo_1_1FrameHandlerStereo.html
│ ├── classsvo_1_1FrameHandlerStereo__coll__graph.md5
│ ├── classsvo_1_1FrameHandlerStereo__inherit__graph.md5
│ ├── classsvo_1_1Frame__coll__graph.md5
│ ├── classsvo_1_1Frame__inherit__graph.md5
│ ├── classsvo_1_1GradientDetector-members.html
│ ├── classsvo_1_1GradientDetector.html
│ ├── classsvo_1_1GradientDetectorGrid-members.html
│ ├── classsvo_1_1GradientDetectorGrid.html
│ ├── classsvo_1_1GradientDetectorGrid__coll__graph.md5
│ ├── classsvo_1_1GradientDetectorGrid__inherit__graph.md5
│ ├── classsvo_1_1GradientDetector__coll__graph.md5
│ ├── classsvo_1_1GradientDetector__inherit__graph.md5
│ ├── classsvo_1_1GradientHuangMumfordDetector-members.html
│ ├── classsvo_1_1GradientHuangMumfordDetector.html
│ ├── classsvo_1_1GradientHuangMumfordDetector__coll__graph.md5
│ ├── classsvo_1_1GradientHuangMumfordDetector__inherit__graph.md5
│ ├── classsvo_1_1GraphManager-members.html
│ ├── classsvo_1_1GraphManager.html
│ ├── classsvo_1_1GraphManager__coll__graph.md5
│ ├── classsvo_1_1HomographyInit-members.html
│ ├── classsvo_1_1HomographyInit.html
│ ├── classsvo_1_1HomographyInit__coll__graph.md5
│ ├── classsvo_1_1HomographyInit__inherit__graph.md5
│ ├── classsvo_1_1ImuCalibration-members.html
│ ├── classsvo_1_1ImuCalibration.html
│ ├── classsvo_1_1ImuCalibration__coll__graph.md5
│ ├── classsvo_1_1ImuHandler-members.html
│ ├── classsvo_1_1ImuHandler.html
│ ├── classsvo_1_1ImuHandler__coll__graph.md5
│ ├── classsvo_1_1ImuInitialization-members.html
│ ├── classsvo_1_1ImuInitialization.html
│ ├── classsvo_1_1ImuInitialization__coll__graph.md5
│ ├── classsvo_1_1Map-members.html
│ ├── classsvo_1_1Map.html
│ ├── classsvo_1_1Matcher-members.html
│ ├── classsvo_1_1Matcher.html
│ ├── classsvo_1_1Matcher__coll__graph.md5
│ ├── classsvo_1_1OccupandyGrid2D-members.html
│ ├── classsvo_1_1OccupandyGrid2D.html
│ ├── classsvo_1_1OneShotInit-members.html
│ ├── classsvo_1_1OneShotInit.html
│ ├── classsvo_1_1OneShotInit__coll__graph.md5
│ ├── classsvo_1_1OneShotInit__inherit__graph.md5
│ ├── classsvo_1_1PatchNormal-members.html
│ ├── classsvo_1_1PatchNormal.html
│ ├── classsvo_1_1PatchNormal__coll__graph.md5
│ ├── classsvo_1_1PatchNormal__inherit__graph.md5
│ ├── classsvo_1_1Point-members.html
│ ├── classsvo_1_1Point.html
│ ├── classsvo_1_1PointIdProvider-members.html
│ ├── classsvo_1_1PointIdProvider.html
│ ├── classsvo_1_1Point__coll__graph.md5
│ ├── classsvo_1_1PoseOptimizer-members.html
│ ├── classsvo_1_1PoseOptimizer.html
│ ├── classsvo_1_1PoseOptimizer__coll__graph.md5
│ ├── classsvo_1_1PoseOptimizer__inherit__graph.md5
│ ├── classsvo_1_1PreintegratedImuMeasurement-members.html
│ ├── classsvo_1_1PreintegratedImuMeasurement.html
│ ├── classsvo_1_1PreintegratedImuMeasurement__coll__graph.md5
│ ├── classsvo_1_1Reprojector-members.html
│ ├── classsvo_1_1Reprojector.html
│ ├── classsvo_1_1Reprojector__coll__graph.md5
│ ├── classsvo_1_1SobelDetector-members.html
│ ├── classsvo_1_1SobelDetector.html
│ ├── classsvo_1_1SobelDetector__coll__graph.md5
│ ├── classsvo_1_1SobelDetector__inherit__graph.md5
│ ├── classsvo_1_1SparseImgAlign-members.html
│ ├── classsvo_1_1SparseImgAlign.html
│ ├── classsvo_1_1SparseImgAlignBase-members.html
│ ├── classsvo_1_1SparseImgAlignBase.html
│ ├── classsvo_1_1SparseImgAlignBase__coll__graph.md5
│ ├── classsvo_1_1SparseImgAlignBase__inherit__graph.md5
│ ├── classsvo_1_1SparseImgAlignGpu-members.html
│ ├── classsvo_1_1SparseImgAlignGpu.html
│ ├── classsvo_1_1SparseImgAlignGpu__coll__graph.md5
│ ├── classsvo_1_1SparseImgAlignGpu__inherit__graph.md5
│ ├── classsvo_1_1SparseImgAlign__coll__graph.md5
│ ├── classsvo_1_1SparseImgAlign__inherit__graph.md5
│ ├── classsvo_1_1StereoInit-members.html
│ ├── classsvo_1_1StereoInit.html
│ ├── classsvo_1_1StereoInit__coll__graph.md5
│ ├── classsvo_1_1StereoInit__inherit__graph.md5
│ ├── classsvo_1_1StereoTriangulation-members.html
│ ├── classsvo_1_1StereoTriangulation.html
│ ├── classsvo_1_1StereoTriangulation__coll__graph.md5
│ ├── classsvo_1_1SvoInterface-members.html
│ ├── classsvo_1_1SvoInterface.html
│ ├── classsvo_1_1SvoInterface__inherit__graph.md5
│ ├── classsvo_1_1SvoNodelet-members.html
│ ├── classsvo_1_1SvoNodelet.html
│ ├── classsvo_1_1SvoNodelet__coll__graph.md5
│ ├── classsvo_1_1SvoNodelet__inherit__graph.md5
│ ├── classsvo_1_1TwoPointInit-members.html
│ ├── classsvo_1_1TwoPointInit.html
│ ├── classsvo_1_1TwoPointInit__coll__graph.md5
│ ├── classsvo_1_1TwoPointInit__inherit__graph.md5
│ ├── classsvo_1_1ViNodeState-members.html
│ ├── classsvo_1_1ViNodeState.html
│ ├── classsvo_1_1ViNodeState__coll__graph.md5
│ ├── classsvo_1_1Visualizer-members.html
│ ├── classsvo_1_1Visualizer.html
│ ├── classsvo_1_1Visualizer__coll__graph.md5
│ ├── classsvo_1_1patch__score_1_1ZMSSD-members.html
│ ├── classsvo_1_1patch__score_1_1ZMSSD.html
│ ├── classsvo__ros_1_1SvoNodeBase-members.html
│ ├── classsvo__ros_1_1SvoNodeBase.html
│ ├── classsvo__ros_1_1SvoNodeBase__coll__graph.md5
│ ├── classtrigger__map__expansion_1_1TriggerMapExpansion-members.html
│ ├── classtrigger__map__expansion_1_1TriggerMapExpansion.html
│ ├── classvikit__py_1_1pinhole__camera_1_1PinholeCamera-members.html
│ ├── classvikit__py_1_1pinhole__camera_1_1PinholeCamera.html
│ ├── classvikit__py_1_1ros__node_1_1RosNode-members.html
│ ├── classvikit__py_1_1ros__node_1_1RosNode.html
│ ├── classvikit__py_1_1test__transformations_1_1TestTransformations-members.html
│ ├── classvikit__py_1_1test__transformations_1_1TestTransformations.html
│ ├── classvikit__py_1_1test__transformations_1_1TestTransformations__coll__graph.md5
│ ├── classvikit__py_1_1test__transformations_1_1TestTransformations__inherit__graph.md5
│ ├── classvikit__py_1_1transformations_1_1Arcball-members.html
│ ├── classvikit__py_1_1transformations_1_1Arcball.html
│ ├── classvikit__py_1_1transformations_1_1Arcball__coll__graph.md5
│ ├── classvikit__py_1_1transformations_1_1Arcball__inherit__graph.md5
│ ├── classvk_1_1PerformanceMonitor-members.html
│ ├── classvk_1_1PerformanceMonitor.html
│ ├── classvk_1_1RingBuffer-members.html
│ ├── classvk_1_1RingBuffer.html
│ ├── classvk_1_1Sample-members.html
│ ├── classvk_1_1Sample.html
│ ├── classvk_1_1Timer-members.html
│ ├── classvk_1_1Timer.html
│ ├── classvk_1_1UserInputThread-members.html
│ ├── classvk_1_1UserInputThread.html
│ ├── classvk_1_1cameras_1_1AtanDistortion-members.html
│ ├── classvk_1_1cameras_1_1AtanDistortion.html
│ ├── classvk_1_1cameras_1_1CameraGeometry-members.html
│ ├── classvk_1_1cameras_1_1CameraGeometry.html
│ ├── classvk_1_1cameras_1_1CameraGeometryBase-members.html
│ ├── classvk_1_1cameras_1_1CameraGeometryBase.html
│ ├── classvk_1_1cameras_1_1CameraGeometryBase__inherit__graph.md5
│ ├── classvk_1_1cameras_1_1CameraGeometry__coll__graph.md5
│ ├── classvk_1_1cameras_1_1CameraGeometry__inherit__graph.md5
│ ├── classvk_1_1cameras_1_1EquidistantDistortion-members.html
│ ├── classvk_1_1cameras_1_1EquidistantDistortion.html
│ ├── classvk_1_1cameras_1_1EquidistantFisheyeGeometry-members.html
│ ├── classvk_1_1cameras_1_1EquidistantFisheyeGeometry.html
│ ├── classvk_1_1cameras_1_1EquidistantFisheyeGeometry__coll__graph.md5
│ ├── classvk_1_1cameras_1_1EquidistantFisheyeGeometry__inherit__graph.md5
│ ├── classvk_1_1cameras_1_1EquidistantFisheyeProjection-members.html
│ ├── classvk_1_1cameras_1_1EquidistantFisheyeProjection.html
│ ├── classvk_1_1cameras_1_1NCamera-members.html
│ ├── classvk_1_1cameras_1_1NCamera.html
│ ├── classvk_1_1cameras_1_1NoDistortion-members.html
│ ├── classvk_1_1cameras_1_1NoDistortion.html
│ ├── classvk_1_1cameras_1_1OmniGeometry-members.html
│ ├── classvk_1_1cameras_1_1OmniGeometry.html
│ ├── classvk_1_1cameras_1_1OmniGeometry__coll__graph.md5
│ ├── classvk_1_1cameras_1_1OmniGeometry__inherit__graph.md5
│ ├── classvk_1_1cameras_1_1OmniProjection-members.html
│ ├── classvk_1_1cameras_1_1OmniProjection.html
│ ├── classvk_1_1cameras_1_1PinholeProjection-members.html
│ ├── classvk_1_1cameras_1_1PinholeProjection.html
│ ├── classvk_1_1cameras_1_1RadialTangentialDistortion-members.html
│ ├── classvk_1_1cameras_1_1RadialTangentialDistortion.html
│ ├── classvk_1_1solver_1_1HuberWeightFunction-members.html
│ ├── classvk_1_1solver_1_1HuberWeightFunction.html
│ ├── classvk_1_1solver_1_1HuberWeightFunction__coll__graph.md5
│ ├── classvk_1_1solver_1_1HuberWeightFunction__inherit__graph.md5
│ ├── classvk_1_1solver_1_1MADScaleEstimator-members.html
│ ├── classvk_1_1solver_1_1MADScaleEstimator.html
│ ├── classvk_1_1solver_1_1MADScaleEstimator__coll__graph.md5
│ ├── classvk_1_1solver_1_1MADScaleEstimator__inherit__graph.md5
│ ├── classvk_1_1solver_1_1MiniLeastSquaresSolver-members.html
│ ├── classvk_1_1solver_1_1MiniLeastSquaresSolver.html
│ ├── classvk_1_1solver_1_1MiniLeastSquaresSolver__coll__graph.md5
│ ├── classvk_1_1solver_1_1NormalDistributionScaleEstimator-members.html
│ ├── classvk_1_1solver_1_1NormalDistributionScaleEstimator.html
│ ├── classvk_1_1solver_1_1NormalDistributionScaleEstimator__coll__graph.md5
│ ├── classvk_1_1solver_1_1NormalDistributionScaleEstimator__inherit__graph.md5
│ ├── classvk_1_1solver_1_1ScaleEstimator-members.html
│ ├── classvk_1_1solver_1_1ScaleEstimator.html
│ ├── classvk_1_1solver_1_1ScaleEstimator__inherit__graph.md5
│ ├── classvk_1_1solver_1_1TukeyWeightFunction-members.html
│ ├── classvk_1_1solver_1_1TukeyWeightFunction.html
│ ├── classvk_1_1solver_1_1TukeyWeightFunction__coll__graph.md5
│ ├── classvk_1_1solver_1_1TukeyWeightFunction__inherit__graph.md5
│ ├── classvk_1_1solver_1_1UnitScaleEstimator-members.html
│ ├── classvk_1_1solver_1_1UnitScaleEstimator.html
│ ├── classvk_1_1solver_1_1UnitScaleEstimator__coll__graph.md5
│ ├── classvk_1_1solver_1_1UnitScaleEstimator__inherit__graph.md5
│ ├── classvk_1_1solver_1_1UnitWeightFunction-members.html
│ ├── classvk_1_1solver_1_1UnitWeightFunction.html
│ ├── classvk_1_1solver_1_1UnitWeightFunction__coll__graph.md5
│ ├── classvk_1_1solver_1_1UnitWeightFunction__inherit__graph.md5
│ ├── classvk_1_1solver_1_1WeightFunction-members.html
│ ├── classvk_1_1solver_1_1WeightFunction.html
│ ├── classvk_1_1solver_1_1WeightFunction__inherit__graph.md5
│ ├── config_8h_source.html
│ ├── container__helpers_8h_source.html
│ ├── conversions_8h_source.html
│ ├── csv__dataset__reader_8h_source.html
│ ├── csv__utils_8h_source.html
│ ├── deprecated.html
│ ├── depth__defocus__node_8hpp_source.html
│ ├── depth__estimation_8h_source.html
│ ├── depth__filter_8h_source.html
│ ├── depth__vector_8hpp_source.html
│ ├── dir_00bccb38bb6b7fdff7dd02fa42f449ef.html
│ ├── dir_01bba9aace411f414470092dbe8a8df0.html
│ ├── dir_0522c7746e0ceef7b3c0b43ca7537b32.html
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│ ├── dir_135e35ac0bac6dfe4cb773674dae4da2.html
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│ ├── dir_1800fe653041b2911d1d15a9dffaa82f.html
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│ ├── dir_21473b55bfd263bee22b451aafd2cda8.html
│ ├── dir_23210b07bafb6842e50e879bc7dbe909.html
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│ ├── dir_28589ab415476537c03231845d7ed67a.html
│ ├── dir_2b883add7b135c9e5e3bfc8f505b3884.html
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│ ├── dir_32a6d7527d2420ce0acc44dffffe9047.html
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│ ├── dir_44460e86fcc33327db83e6af68aa23dd.html
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│ ├── dir_49a653f56d064b26e19e994a6f933c5f.html
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│ ├── dir_61c8c8ab006fd333bddc787db24b76b5.html
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│ ├── dir_67894f11b58af1c3e86e30d6cd3b3055.html
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│ ├── dir_6a4873862b1aee04d6a77ca8dc5bb8a7.html
│ ├── dir_6c587c20a3a519c188b3d1694c38db1f.html
│ ├── dir_72b9375287706546ae7be5ce14c47d9b.html
│ ├── dir_765e0684aa6ba346986289c4d3dcff4a.html
│ ├── dir_76c80e76d40115c0ad9ee95ad75bb811.html
│ ├── dir_7745d19526f06578835c01082350e8c2.html
│ ├── dir_77d0aaa9b1a808cb652b0b7308189d7e.html
│ ├── dir_7c14fa4ee89d00dfd52aec81c0d799b7.html
│ ├── dir_7dcab72c99aa3a738c3fb8bef8ff1fdc.html
│ ├── dir_7ff8565bef8b7c8538e2983a187f6202.html
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│ ├── dir_8cdd923d87a6be48658e7bd05d68f366.html
│ ├── dir_8f1b1de06a10ceb7346648638cfa78d3.html
│ ├── dir_8f491c12e2a100af2306a4d4f8aa2ecb.html
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│ ├── dir_9737aa21ba9518170fcfb577d1916604.html
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│ ├── dir_9f4824430b8c331aa9def5e4e9d9348a.html
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│ ├── dir_a5c9c0f87da09cf30452a0e93583eab8.html
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│ ├── dir_ab54f8f0af1c0da3c45427edfd19be8d.html
│ ├── dir_acb962b3dae11f9b93c8652ea011ee88.html
│ ├── dir_acbe4d1a2cc998b711b62a692f7e8428.html
│ ├── dir_ad997d48941325ba506a317fee6c5d1a.html
│ ├── dir_ae34ae330844859b9e534674f347263f.html
│ ├── dir_aed134eeebc665a9f98c953e86ef8771.html
│ ├── dir_afd080127a8e68ee8c1a48146acfcb26.html
│ ├── dir_b1fc6689c0c87725dabec16410c0aa59.html
│ ├── dir_b52211d97cb29aa6c603e5e675788789.html
│ ├── dir_b598d949dc25b12c5aec33e1cc17b644.html
│ ├── dir_b7f658749c111965b15dc773c6251486.html
│ ├── dir_b81a846affbde9dec926dff04880a132.html
│ ├── dir_bc48aea3166a38dedd5eb54f9bd953e2.html
│ ├── dir_bdf1c342ef2ad1b49358e606779f2a0d.html
│ ├── dir_be044225ce3721f38f90ce22572be618.html
│ ├── dir_be791e848177ba57ad909d6369eab067.html
│ ├── dir_c8744c9302c531d173f9da8f492215a5.html
│ ├── dir_cb8abb0607e575903425528419f1c044.html
│ ├── dir_cecfcbe2e200602c07f926c3ce010d4e.html
│ ├── dir_cecfdde874a5fd435c34b7d3c386dfd0.html
│ ├── dir_d269052296156f872f6655a97b6d44f0.html
│ ├── dir_d384eab21aaa23c4b65ee34b4c32ed1c.html
│ ├── dir_d7c3d79efbbb5a2dfc1734ad2347fdcc.html
│ ├── dir_d9d3c50dad25936e4cdae23cc15ff37b.html
│ ├── dir_dc094115e9d0468308a8571c6218a725.html
│ ├── dir_dde38ef9573bb931f8f0cd681e345b93.html
│ ├── dir_df757cdcac57c54e21dfdd2610d1d82b.html
│ ├── dir_e0a052dcd0ac477d85c7eb4498e5864c.html
│ ├── dir_ea5f8ab27efd92f8105e8174a9eaf2ea.html
│ ├── dir_ebe0fced1784d1ab9a6de846e2b4455d.html
│ ├── dir_ee9fe11dde20c6b12dc04a2afc36bd07.html
│ ├── dir_f5bad920d3b42ab48c3bc48cccbc378a.html
│ ├── dir_ff6cf60add6ca546af6fb14882689851.html
│ ├── doxygen.css
│ ├── dvs__mapping__nodelet_8h_source.html
│ ├── dvs__tracking__nodelet_8h_source.html
│ ├── dynsections.js
│ ├── elder__zucker_8h_source.html
│ ├── entrypoint_8h_source.html
│ ├── equidistant__distortion_8h_source.html
│ ├── equidistant__fisheye__geometry_8h_source.html
│ ├── equidistant__fisheye__projection_8h_source.html
│ ├── feature__alignment_8h_source.html
│ ├── feature__detection_8h_source.html
│ ├── feature__detection__types_8h_source.html
│ ├── feature__detection__utils_8h_source.html
│ ├── feature__tracker_8h_source.html
│ ├── feature__tracking__types_8h_source.html
│ ├── feature__tracking__utils_8h_source.html
│ ├── feature__tracking__viz_8h_source.html
│ ├── feature__wrapper_8h_source.html
│ ├── files.html
│ ├── frame_8h_source.html
│ ├── frame__gpu_8h_source.html
│ ├── frame__handler__array_8h_source.html
│ ├── frame__handler__base_8h_source.html
│ ├── frame__handler__mono_8h_source.html
│ ├── frame__handler__stereo_8h_source.html
│ ├── functions.html
│ ├── functions_0x7e.html
│ ├── functions_a.html
│ ├── functions_b.html
│ ├── functions_c.html
│ ├── functions_d.html
│ ├── functions_e.html
│ ├── functions_enum.html
│ ├── functions_f.html
│ ├── functions_func.html
│ ├── functions_func_0x7e.html
│ ├── functions_func_a.html
│ ├── functions_func_b.html
│ ├── functions_func_c.html
│ ├── functions_func_d.html
│ ├── functions_func_e.html
│ ├── functions_func_f.html
│ ├── functions_func_g.html
│ ├── functions_func_h.html
│ ├── functions_func_i.html
│ ├── functions_func_j.html
│ ├── functions_func_l.html
│ ├── functions_func_m.html
│ ├── functions_func_n.html
│ ├── functions_func_o.html
│ ├── functions_func_p.html
│ ├── functions_func_q.html
│ ├── functions_func_r.html
│ ├── functions_func_s.html
│ ├── functions_func_t.html
│ ├── functions_func_u.html
│ ├── functions_func_v.html
│ ├── functions_g.html
│ ├── functions_h.html
│ ├── functions_i.html
│ ├── functions_j.html
│ ├── functions_k.html
│ ├── functions_l.html
│ ├── functions_m.html
│ ├── functions_n.html
│ ├── functions_o.html
│ ├── functions_p.html
│ ├── functions_q.html
│ ├── functions_r.html
│ ├── functions_rela.html
│ ├── functions_s.html
│ ├── functions_t.html
│ ├── functions_u.html
│ ├── functions_v.html
│ ├── functions_vars.html
│ ├── functions_vars_b.html
│ ├── functions_vars_c.html
│ ├── functions_vars_d.html
│ ├── functions_vars_e.html
│ ├── functions_vars_f.html
│ ├── functions_vars_g.html
│ ├── functions_vars_h.html
│ ├── functions_vars_i.html
│ ├── functions_vars_j.html
│ ├── functions_vars_k.html
│ ├── functions_vars_l.html
│ ├── functions_vars_m.html
│ ├── functions_vars_n.html
│ ├── functions_vars_o.html
│ ├── functions_vars_p.html
│ ├── functions_vars_q.html
│ ├── functions_vars_r.html
│ ├── functions_vars_s.html
│ ├── functions_vars_t.html
│ ├── functions_vars_u.html
│ ├── functions_vars_v.html
│ ├── functions_vars_w.html
│ ├── functions_vars_x.html
│ ├── functions_vars_y.html
│ ├── functions_w.html
│ ├── functions_x.html
│ ├── functions_y.html
│ ├── geometry_8hpp_source.html
│ ├── global_8h_source.html
│ ├── gpu__types__cuda_8h_source.html
│ ├── graph__manager_8h_source.html
│ ├── graph_legend.html
│ ├── graph_legend.md5
│ ├── hierarchy.html
│ ├── homography_8h_source.html
│ ├── homography__decomp_8h_source.html
│ ├── img__type__conversion_8h_source.html
│ ├── imu__calibration_8h_source.html
│ ├── imu__handler_8h_source.html
│ ├── index.html
│ ├── inherit_graph_0.md5
│ ├── inherit_graph_1.md5
│ ├── inherit_graph_10.md5
│ ├── inherit_graph_100.md5
│ ├── inherit_graph_101.md5
│ ├── inherit_graph_102.md5
│ ├── inherit_graph_103.md5
│ ├── inherit_graph_104.md5
│ ├── inherit_graph_105.md5
│ ├── inherit_graph_106.md5
│ ├── inherit_graph_107.md5
│ ├── inherit_graph_108.md5
│ ├── inherit_graph_109.md5
│ ├── inherit_graph_11.md5
│ ├── inherit_graph_110.md5
│ ├── inherit_graph_111.md5
│ ├── inherit_graph_112.md5
│ ├── inherit_graph_113.md5
│ ├── inherit_graph_114.md5
│ ├── inherit_graph_115.md5
│ ├── inherit_graph_116.md5
│ ├── inherit_graph_117.md5
│ ├── inherit_graph_118.md5
│ ├── inherit_graph_119.md5
│ ├── inherit_graph_12.md5
│ ├── inherit_graph_120.md5
│ ├── inherit_graph_121.md5
│ ├── inherit_graph_122.md5
│ ├── inherit_graph_123.md5
│ ├── inherit_graph_124.md5
│ ├── inherit_graph_125.md5
│ ├── inherit_graph_126.md5
│ ├── inherit_graph_127.md5
│ ├── inherit_graph_128.md5
│ ├── inherit_graph_129.md5
│ ├── inherit_graph_13.md5
│ ├── inherit_graph_130.md5
│ ├── inherit_graph_131.md5
│ ├── inherit_graph_132.md5
│ ├── inherit_graph_133.md5
│ ├── inherit_graph_134.md5
│ ├── inherit_graph_14.md5
│ ├── inherit_graph_15.md5
│ ├── inherit_graph_16.md5
│ ├── inherit_graph_17.md5
│ ├── inherit_graph_18.md5
│ ├── inherit_graph_19.md5
│ ├── inherit_graph_2.md5
│ ├── inherit_graph_20.md5
│ ├── inherit_graph_21.md5
│ ├── inherit_graph_22.md5
│ ├── inherit_graph_23.md5
│ ├── inherit_graph_24.md5
│ ├── inherit_graph_25.md5
│ ├── inherit_graph_26.md5
│ ├── inherit_graph_27.md5
│ ├── inherit_graph_28.md5
│ ├── inherit_graph_29.md5
│ ├── inherit_graph_3.md5
│ ├── inherit_graph_30.md5
│ ├── inherit_graph_31.md5
│ ├── inherit_graph_32.md5
│ ├── inherit_graph_33.md5
│ ├── inherit_graph_34.md5
│ ├── inherit_graph_35.md5
│ ├── inherit_graph_36.md5
│ ├── inherit_graph_37.md5
│ ├── inherit_graph_38.md5
│ ├── inherit_graph_39.md5
│ ├── inherit_graph_4.md5
│ ├── inherit_graph_40.md5
│ ├── inherit_graph_41.md5
│ ├── inherit_graph_42.md5
│ ├── inherit_graph_43.md5
│ ├── inherit_graph_44.md5
│ ├── inherit_graph_45.md5
│ ├── inherit_graph_46.md5
│ ├── inherit_graph_47.md5
│ ├── inherit_graph_48.md5
│ ├── inherit_graph_49.md5
│ ├── inherit_graph_5.md5
│ ├── inherit_graph_50.md5
│ ├── inherit_graph_51.md5
│ ├── inherit_graph_52.md5
│ ├── inherit_graph_53.md5
│ ├── inherit_graph_54.md5
│ ├── inherit_graph_55.md5
│ ├── inherit_graph_56.md5
│ ├── inherit_graph_57.md5
│ ├── inherit_graph_58.md5
│ ├── inherit_graph_59.md5
│ ├── inherit_graph_6.md5
│ ├── inherit_graph_60.md5
│ ├── inherit_graph_61.md5
│ ├── inherit_graph_62.md5
│ ├── inherit_graph_63.md5
│ ├── inherit_graph_64.md5
│ ├── inherit_graph_65.md5
│ ├── inherit_graph_66.md5
│ ├── inherit_graph_67.md5
│ ├── inherit_graph_68.md5
│ ├── inherit_graph_69.md5
│ ├── inherit_graph_7.md5
│ ├── inherit_graph_70.md5
│ ├── inherit_graph_71.md5
│ ├── inherit_graph_72.md5
│ ├── inherit_graph_73.md5
│ ├── inherit_graph_74.md5
│ ├── inherit_graph_75.md5
│ ├── inherit_graph_76.md5
│ ├── inherit_graph_77.md5
│ ├── inherit_graph_78.md5
│ ├── inherit_graph_79.md5
│ ├── inherit_graph_8.md5
│ ├── inherit_graph_80.md5
│ ├── inherit_graph_81.md5
│ ├── inherit_graph_82.md5
│ ├── inherit_graph_83.md5
│ ├── inherit_graph_84.md5
│ ├── inherit_graph_85.md5
│ ├── inherit_graph_86.md5
│ ├── inherit_graph_87.md5
│ ├── inherit_graph_88.md5
│ ├── inherit_graph_89.md5
│ ├── inherit_graph_9.md5
│ ├── inherit_graph_90.md5
│ ├── inherit_graph_91.md5
│ ├── inherit_graph_92.md5
│ ├── inherit_graph_93.md5
│ ├── inherit_graph_94.md5
│ ├── inherit_graph_95.md5
│ ├── inherit_graph_96.md5
│ ├── inherit_graph_97.md5
│ ├── inherit_graph_98.md5
│ ├── inherit_graph_99.md5
│ ├── inherits.html
│ ├── initialization_8h_source.html
│ ├── interpolation_8hpp_source.html
│ ├── io_8h_source.html
│ ├── jquery.js
│ ├── laplace_8h_source.html
│ ├── lk__se3_8hpp_source.html
│ ├── logging_8h_source.html
│ ├── macros_8h_source.html
│ ├── main_8hpp_source.html
│ ├── map_8h_source.html
│ ├── matcher_8h_source.html
│ ├── math__utils_8h_source.html
│ ├── md_README.html
│ ├── md_rqt_evo_README.html
│ ├── md_rqt_svo_README.html
│ ├── md_svo_vikit_README.html
│ ├── memory_8h_source.html
│ ├── menu.js
│ ├── menudata.js
│ ├── mini__least__squares__solver_8h_source.html
│ ├── mini__least__squares__solver_8hpp_source.html
│ ├── mosaic_8hpp_source.html
│ ├── motion__correction_8hpp_source.html
│ ├── namespacemembers.html
│ ├── namespacemembers_enum.html
│ ├── namespacemembers_func.html
│ ├── namespaces.html
│ ├── namespacesvo.html
│ ├── namespacesvo_1_1feature__alignment.html
│ ├── namespacesvo_1_1frame__utils.html
│ ├── namespacesvo_1_1warp.html
│ ├── ncamera-yaml-serialization_8h_source.html
│ ├── ncamera_8h_source.html
│ ├── no__distortion_8h_source.html
│ ├── numdiff-jacobian-tester_8h_source.html
│ ├── occupancy__grid__2d_8h_source.html
│ ├── omni__geometry_8h_source.html
│ ├── omni__projection_8h_source.html
│ ├── output__helper_8h_source.html
│ ├── pages.html
│ ├── params__helper_8h_source.html
│ ├── params__helper_8hpp_source.html
│ ├── patch__normal_8h_source.html
│ ├── patch__score_8h_source.html
│ ├── patch__utils_8h_source.html
│ ├── patch__warp_8h_source.html
│ ├── path__utils_8h_source.html
│ ├── performance__monitor_8h_source.html
│ ├── pinhole__projection_8h_source.html
│ ├── pinhole__projection_8hpp_source.html
│ ├── point_8h_source.html
│ ├── pose-types_8h_source.html
│ ├── pose__optimizer_8h_source.html
│ ├── radial__tangential__distortion_8h_source.html
│ ├── realtime__worker_8h_source.html
│ ├── reprojector_8h_source.html
│ ├── ringbuffer_8h_source.html
│ ├── robust__cost_8h_source.html
│ ├── sample_8h_source.html
│ ├── search/
│ │ ├── all_0.html
│ │ ├── all_0.js
│ │ ├── all_1.html
│ │ ├── all_1.js
│ │ ├── all_10.html
│ │ ├── all_10.js
│ │ ├── all_11.html
│ │ ├── all_11.js
│ │ ├── all_12.html
│ │ ├── all_12.js
│ │ ├── all_13.html
│ │ ├── all_13.js
│ │ ├── all_14.html
│ │ ├── all_14.js
│ │ ├── all_15.html
│ │ ├── all_15.js
│ │ ├── all_16.html
│ │ ├── all_16.js
│ │ ├── all_17.html
│ │ ├── all_17.js
│ │ ├── all_18.html
│ │ ├── all_18.js
│ │ ├── all_19.html
│ │ ├── all_19.js
│ │ ├── all_1a.html
│ │ ├── all_1a.js
│ │ ├── all_1b.html
│ │ ├── all_1b.js
│ │ ├── all_2.html
│ │ ├── all_2.js
│ │ ├── all_3.html
│ │ ├── all_3.js
│ │ ├── all_4.html
│ │ ├── all_4.js
│ │ ├── all_5.html
│ │ ├── all_5.js
│ │ ├── all_6.html
│ │ ├── all_6.js
│ │ ├── all_7.html
│ │ ├── all_7.js
│ │ ├── all_8.html
│ │ ├── all_8.js
│ │ ├── all_9.html
│ │ ├── all_9.js
│ │ ├── all_a.html
│ │ ├── all_a.js
│ │ ├── all_b.html
│ │ ├── all_b.js
│ │ ├── all_c.html
│ │ ├── all_c.js
│ │ ├── all_d.html
│ │ ├── all_d.js
│ │ ├── all_e.html
│ │ ├── all_e.js
│ │ ├── all_f.html
│ │ ├── all_f.js
│ │ ├── classes_0.html
│ │ ├── classes_0.js
│ │ ├── classes_1.html
│ │ ├── classes_1.js
│ │ ├── classes_10.html
│ │ ├── classes_10.js
│ │ ├── classes_11.html
│ │ ├── classes_11.js
│ │ ├── classes_12.html
│ │ ├── classes_12.js
│ │ ├── classes_13.html
│ │ ├── classes_13.js
│ │ ├── classes_14.html
│ │ ├── classes_14.js
│ │ ├── classes_15.html
│ │ ├── classes_15.js
│ │ ├── classes_16.html
│ │ ├── classes_16.js
│ │ ├── classes_17.html
│ │ ├── classes_17.js
│ │ ├── classes_2.html
│ │ ├── classes_2.js
│ │ ├── classes_3.html
│ │ ├── classes_3.js
│ │ ├── classes_4.html
│ │ ├── classes_4.js
│ │ ├── classes_5.html
│ │ ├── classes_5.js
│ │ ├── classes_6.html
│ │ ├── classes_6.js
│ │ ├── classes_7.html
│ │ ├── classes_7.js
│ │ ├── classes_8.html
│ │ ├── classes_8.js
│ │ ├── classes_9.html
│ │ ├── classes_9.js
│ │ ├── classes_a.html
│ │ ├── classes_a.js
│ │ ├── classes_b.html
│ │ ├── classes_b.js
│ │ ├── classes_c.html
│ │ ├── classes_c.js
│ │ ├── classes_d.html
│ │ ├── classes_d.js
│ │ ├── classes_e.html
│ │ ├── classes_e.js
│ │ ├── classes_f.html
│ │ ├── classes_f.js
│ │ ├── enums_0.html
│ │ ├── enums_0.js
│ │ ├── enums_1.html
│ │ ├── enums_1.js
│ │ ├── enums_2.html
│ │ ├── enums_2.js
│ │ ├── enums_3.html
│ │ ├── enums_3.js
│ │ ├── enumvalues_0.html
│ │ ├── enumvalues_0.js
│ │ ├── enumvalues_1.html
│ │ ├── enumvalues_1.js
│ │ ├── enumvalues_2.html
│ │ ├── enumvalues_2.js
│ │ ├── functions_0.html
│ │ ├── functions_0.js
│ │ ├── functions_1.html
│ │ ├── functions_1.js
│ │ ├── functions_10.html
│ │ ├── functions_10.js
│ │ ├── functions_11.html
│ │ ├── functions_11.js
│ │ ├── functions_12.html
│ │ ├── functions_12.js
│ │ ├── functions_13.html
│ │ ├── functions_13.js
│ │ ├── functions_14.html
│ │ ├── functions_14.js
│ │ ├── functions_15.html
│ │ ├── functions_15.js
│ │ ├── functions_16.html
│ │ ├── functions_16.js
│ │ ├── functions_2.html
│ │ ├── functions_2.js
│ │ ├── functions_3.html
│ │ ├── functions_3.js
│ │ ├── functions_4.html
│ │ ├── functions_4.js
│ │ ├── functions_5.html
│ │ ├── functions_5.js
│ │ ├── functions_6.html
│ │ ├── functions_6.js
│ │ ├── functions_7.html
│ │ ├── functions_7.js
│ │ ├── functions_8.html
│ │ ├── functions_8.js
│ │ ├── functions_9.html
│ │ ├── functions_9.js
│ │ ├── functions_a.html
│ │ ├── functions_a.js
│ │ ├── functions_b.html
│ │ ├── functions_b.js
│ │ ├── functions_c.html
│ │ ├── functions_c.js
│ │ ├── functions_d.html
│ │ ├── functions_d.js
│ │ ├── functions_e.html
│ │ ├── functions_e.js
│ │ ├── functions_f.html
│ │ ├── functions_f.js
│ │ ├── namespaces_0.html
│ │ ├── namespaces_0.js
│ │ ├── nomatches.html
│ │ ├── pages_0.html
│ │ ├── pages_0.js
│ │ ├── pages_1.html
│ │ ├── pages_1.js
│ │ ├── pages_2.html
│ │ ├── pages_2.js
│ │ ├── pages_3.html
│ │ ├── pages_3.js
│ │ ├── pages_4.html
│ │ ├── pages_4.js
│ │ ├── related_0.html
│ │ ├── related_0.js
│ │ ├── search.css
│ │ ├── search.js
│ │ ├── searchdata.js
│ │ ├── variables_0.html
│ │ ├── variables_0.js
│ │ ├── variables_1.html
│ │ ├── variables_1.js
│ │ ├── variables_10.html
│ │ ├── variables_10.js
│ │ ├── variables_11.html
│ │ ├── variables_11.js
│ │ ├── variables_12.html
│ │ ├── variables_12.js
│ │ ├── variables_13.html
│ │ ├── variables_13.js
│ │ ├── variables_14.html
│ │ ├── variables_14.js
│ │ ├── variables_15.html
│ │ ├── variables_15.js
│ │ ├── variables_16.html
│ │ ├── variables_16.js
│ │ ├── variables_17.html
│ │ ├── variables_17.js
│ │ ├── variables_18.html
│ │ ├── variables_18.js
│ │ ├── variables_2.html
│ │ ├── variables_2.js
│ │ ├── variables_3.html
│ │ ├── variables_3.js
│ │ ├── variables_4.html
│ │ ├── variables_4.js
│ │ ├── variables_5.html
│ │ ├── variables_5.js
│ │ ├── variables_6.html
│ │ ├── variables_6.js
│ │ ├── variables_7.html
│ │ ├── variables_7.js
│ │ ├── variables_8.html
│ │ ├── variables_8.js
│ │ ├── variables_9.html
│ │ ├── variables_9.js
│ │ ├── variables_a.html
│ │ ├── variables_a.js
│ │ ├── variables_b.html
│ │ ├── variables_b.js
│ │ ├── variables_c.html
│ │ ├── variables_c.js
│ │ ├── variables_d.html
│ │ ├── variables_d.js
│ │ ├── variables_e.html
│ │ ├── variables_e.js
│ │ ├── variables_f.html
│ │ └── variables_f.js
│ ├── seed_8h_source.html
│ ├── smart__factors__fwd_8h_source.html
│ ├── sparse__img__align_8h_source.html
│ ├── sparse__img__align__base_8h_source.html
│ ├── sparse__img__align__gpu_8h_source.html
│ ├── stereo__triangulation_8h_source.html
│ ├── structArgumentType.html
│ ├── structArgumentType_3_01T_07U_08_4-members.html
│ ├── structArgumentType_3_01T_07U_08_4.html
│ ├── structLKSE3_1_1Keypoint-members.html
│ ├── structLKSE3_1_1Keypoint.html
│ ├── structYAML_1_1convert_3_01Eigen_1_1Matrix_3_01Scalar___00_01A___00_01B___00_01C___00_01D___00_01E___01_4_01_4-members.html
│ ├── structYAML_1_1convert_3_01Eigen_1_1Matrix_3_01Scalar___00_01A___00_01B___00_01C___00_01D___00_01E___01_4_01_4.html
│ ├── structYAML_1_1convert_3_01std_1_1queue_3_01ValueType_01_4_01_4-members.html
│ ├── structYAML_1_1convert_3_01std_1_1queue_3_01ValueType_01_4_01_4.html
│ ├── structYAML_1_1convert_3_01std_1_1shared__ptr_3_01vk_1_1cameras_1_1CameraGeometryBase_01_4_01_4-members.html
│ ├── structYAML_1_1convert_3_01std_1_1shared__ptr_3_01vk_1_1cameras_1_1CameraGeometryBase_01_4_01_4.html
│ ├── structYAML_1_1convert_3_01std_1_1shared__ptr_3_01vk_1_1cameras_1_1NCamera_01_4_01_4-members.html
│ ├── structYAML_1_1convert_3_01std_1_1shared__ptr_3_01vk_1_1cameras_1_1NCamera_01_4_01_4.html
│ ├── structYAML_1_1convert_3_01std_1_1unordered__map_3_01KeyType_00_01ValueType_01_4_01_4-members.html
│ ├── structYAML_1_1convert_3_01std_1_1unordered__map_3_01KeyType_00_01ValueType_01_4_01_4.html
│ ├── structYAML_1_1convert_3_01std_1_1unordered__set_3_01KeyType_01_4_01_4-members.html
│ ├── structYAML_1_1convert_3_01std_1_1unordered__set_3_01KeyType_01_4_01_4.html
│ ├── structYAML_1_1convert_3_01vk_1_1cameras_1_1CameraGeometryBase_01_4-members.html
│ ├── structYAML_1_1convert_3_01vk_1_1cameras_1_1CameraGeometryBase_01_4.html
│ ├── structYAML_1_1convert_3_01vk_1_1cameras_1_1NCamera_01_4-members.html
│ ├── structYAML_1_1convert_3_01vk_1_1cameras_1_1NCamera_01_4.html
│ ├── structaslam_1_1Aligned-members.html
│ ├── structaslam_1_1Aligned.html
│ ├── structaslam_1_1AlignedMap-members.html
│ ├── structaslam_1_1AlignedMap.html
│ ├── structaslam_1_1AlignedUnorderedMap-members.html
│ ├── structaslam_1_1AlignedUnorderedMap.html
│ ├── structaslam_1_1common_1_1NumDiffFunctor-members.html
│ ├── structaslam_1_1common_1_1NumDiffFunctor.html
│ ├── structaslam_1_1common_1_1NumericalDiffTraits-members.html
│ ├── structaslam_1_1common_1_1NumericalDiffTraits.html
│ ├── structaslam_1_1common_1_1NumericalDiffTraitsSelector-members.html
│ ├── structaslam_1_1common_1_1NumericalDiffTraitsSelector.html
│ ├── structaslam_1_1common_1_1NumericalDiffTraitsSelector_3_01__Functor_00_01mode_00_010_01_4-members.html
│ ├── structaslam_1_1common_1_1NumericalDiffTraitsSelector_3_01__Functor_00_01mode_00_010_01_4.html
│ ├── structcv_1_1HomographyDecomposition_1_1__CameraMotion-members.html
│ ├── structcv_1_1HomographyDecomposition_1_1__CameraMotion.html
│ ├── structstd_1_1hash_3_01std_1_1function_3_01void_07CallbackArgs_8_8_8_08_4_01_4-members.html
│ ├── structstd_1_1hash_3_01std_1_1function_3_01void_07CallbackArgs_8_8_8_08_4_01_4.html
│ ├── structsvo_1_1BackendInterfaceOptions-members.html
│ ├── structsvo_1_1BackendInterfaceOptions.html
│ ├── structsvo_1_1BackendInterfaceOptions__coll__graph.md5
│ ├── structsvo_1_1BaseOptions-members.html
│ ├── structsvo_1_1BaseOptions.html
│ ├── structsvo_1_1BaseOptions__coll__graph.md5
│ ├── structsvo_1_1Corner-members.html
│ ├── structsvo_1_1Corner.html
│ ├── structsvo_1_1DepthFilterOptions-members.html
│ ├── structsvo_1_1DepthFilterOptions.html
│ ├── structsvo_1_1DepthFilterOptions__coll__graph.md5
│ ├── structsvo_1_1DepthFilter_1_1Job-members.html
│ ├── structsvo_1_1DepthFilter_1_1Job.html
│ ├── structsvo_1_1DepthFilter_1_1Job__coll__graph.md5
│ ├── structsvo_1_1DetectorOptions-members.html
│ ├── structsvo_1_1DetectorOptions.html
│ ├── structsvo_1_1DetectorOptions__coll__graph.md5
│ ├── structsvo_1_1FeatureTrackerOptions-members.html
│ ├── structsvo_1_1FeatureTrackerOptions.html
│ ├── structsvo_1_1FeatureTrackerOptions__coll__graph.md5
│ ├── structsvo_1_1FeatureWrapper-members.html
│ ├── structsvo_1_1FeatureWrapper.html
│ ├── structsvo_1_1FeatureWrapper__coll__graph.md5
│ ├── structsvo_1_1GraphManagerOptions-members.html
│ ├── structsvo_1_1GraphManagerOptions.html
│ ├── structsvo_1_1HostCacheHandler-members.html
│ ├── structsvo_1_1HostCacheHandler.html
│ ├── structsvo_1_1HostCacheHandler__coll__graph.md5
│ ├── structsvo_1_1ImuMeasurement-members.html
│ ├── structsvo_1_1ImuMeasurement.html
│ ├── structsvo_1_1ImuMeasurement__coll__graph.md5
│ ├── structsvo_1_1InitializationOptions-members.html
│ ├── structsvo_1_1InitializationOptions.html
│ ├── structsvo_1_1InitializationOptions__coll__graph.md5
│ ├── structsvo_1_1KeypointIdentifier-members.html
│ ├── structsvo_1_1KeypointIdentifier.html
│ ├── structsvo_1_1KeypointIdentifier__coll__graph.md5
│ ├── structsvo_1_1Matcher_1_1Options-members.html
│ ├── structsvo_1_1Matcher_1_1Options.html
│ ├── structsvo_1_1Matcher_1_1Options__coll__graph.md5
│ ├── structsvo_1_1OptimizerBackendOptions-members.html
│ ├── structsvo_1_1OptimizerBackendOptions.html
│ ├── structsvo_1_1OptimizerBackendOptions__coll__graph.md5
│ ├── structsvo_1_1PoseOptimizer_1_1Statistics-members.html
│ ├── structsvo_1_1PoseOptimizer_1_1Statistics.html
│ ├── structsvo_1_1ReprojectorOptions-members.html
│ ├── structsvo_1_1ReprojectorOptions.html
│ ├── structsvo_1_1ReprojectorOptions__coll__graph.md5
│ ├── structsvo_1_1Reprojector_1_1Candidate-members.html
│ ├── structsvo_1_1Reprojector_1_1Candidate.html
│ ├── structsvo_1_1Reprojector_1_1Candidate__coll__graph.md5
│ ├── structsvo_1_1Reprojector_1_1Statistics-members.html
│ ├── structsvo_1_1Reprojector_1_1Statistics.html
│ ├── structsvo_1_1Reprojector_1_1Statistics__coll__graph.md5
│ ├── structsvo_1_1SeedRef-members.html
│ ├── structsvo_1_1SeedRef.html
│ ├── structsvo_1_1SparseImgAlignOptions-members.html
│ ├── structsvo_1_1SparseImgAlignOptions.html
│ ├── structsvo_1_1SparseImgAlignState-members.html
│ ├── structsvo_1_1SparseImgAlignState.html
│ ├── structsvo_1_1StereoTriangulationOptions-members.html
│ ├── structsvo_1_1StereoTriangulationOptions.html
│ ├── structsvo_1_1StereoTriangulationOptions__coll__graph.md5
│ ├── structsvo_1_1dataset_1_1CameraMeasurement-members.html
│ ├── structsvo_1_1dataset_1_1CameraMeasurement.html
│ ├── structsvo_1_1dataset_1_1CameraMeasurement__coll__graph.md5
│ ├── structsvo_1_1dataset_1_1CameraMeasurement__inherit__graph.md5
│ ├── structsvo_1_1dataset_1_1FeatureTrackMeasurement-members.html
│ ├── structsvo_1_1dataset_1_1FeatureTrackMeasurement.html
│ ├── structsvo_1_1dataset_1_1FeatureTrackMeasurement__coll__graph.md5
│ ├── structsvo_1_1dataset_1_1FeatureTrackMeasurement__inherit__graph.md5
│ ├── structsvo_1_1dataset_1_1ImuMeasurement-members.html
│ ├── structsvo_1_1dataset_1_1ImuMeasurement.html
│ ├── structsvo_1_1dataset_1_1ImuMeasurement__coll__graph.md5
│ ├── structsvo_1_1dataset_1_1ImuMeasurement__inherit__graph.md5
│ ├── structsvo_1_1dataset_1_1MeasurementBase-members.html
│ ├── structsvo_1_1dataset_1_1MeasurementBase.html
│ ├── structsvo_1_1dataset_1_1MeasurementBase__inherit__graph.md5
│ ├── structvk_1_1Homography-members.html
│ ├── structvk_1_1Homography.html
│ ├── structvk_1_1Homography__coll__graph.md5
│ ├── structvk_1_1LogItem-members.html
│ ├── structvk_1_1LogItem.html
│ ├── structvk_1_1cameras_1_1ProjectionResult-members.html
│ ├── structvk_1_1cameras_1_1ProjectionResult.html
│ ├── structvk_1_1solver_1_1MiniLeastSquaresSolverOptions-members.html
│ ├── structvk_1_1solver_1_1MiniLeastSquaresSolverOptions.html
│ ├── structvk_1_1solver_1_1MiniLeastSquaresSolverOptions__coll__graph.md5
│ ├── svo_8h_source.html
│ ├── svo__factory_8h_source.html
│ ├── svo__interface_8h_source.html
│ ├── svo__node__base_8h_source.html
│ ├── svo__nodelet_8h_source.html
│ ├── tabs.css
│ ├── threadsafe__queue_8h_source.html
│ ├── timer_8h_source.html
│ ├── todo.html
│ ├── tracker_8hpp_source.html
│ ├── transformation_8h_source.html
│ ├── types_8h_source.html
│ ├── user__input__thread_8h_source.html
│ ├── vision_8h_source.html
│ ├── visualizer_8h_source.html
│ ├── weight__functions_8hpp_source.html
│ ├── worker__base_8h_source.html
│ ├── yaml-serialization-eigen_8h_source.html
│ └── yaml-serialization_8h_source.html
├── dvs_bootstrapping/
│ ├── CMakeLists.txt
│ ├── include/
│ │ ├── dvs_bootstrapping/
│ │ │ ├── Bootstrapper.hpp
│ │ │ ├── EventsFramesBootstrapper.hpp
│ │ │ └── FrontoPlanarBootstrapper.hpp
│ │ └── motion_correction.hpp
│ ├── package.xml
│ └── src/
│ ├── Bootstrapper.cpp
│ ├── EventsFramesBootstrapper.cpp
│ ├── FrontoPlanarBootstrapper.cpp
│ ├── dvs_bootstrapping_ef_ros.cpp
│ ├── dvs_bootstrapping_frontoplanar_ros.cpp
│ ├── motion_correction.cpp
│ └── pose_to_tf.py
├── dvs_mapping/
│ ├── CMakeLists.txt
│ ├── dvs_mapping_nodelet.xml
│ ├── include/
│ │ └── dvs_depth_from_defocus/
│ │ ├── depth_defocus_node.hpp
│ │ ├── depth_vector.hpp
│ │ └── dvs_mapping_nodelet.h
│ ├── package.xml
│ ├── src/
│ │ ├── depth_defocus_node.cpp
│ │ ├── dvs_mapping_nodelet.cpp
│ │ ├── dvs_mapping_ros.cpp
│ │ ├── tf_broadcaster.py
│ │ └── trigger_map_expansion.py
│ └── test/
│ ├── test_depth_vector.cpp
│ └── test_median_filter.cpp
├── dvs_reconstruction/
│ ├── CMakeLists.txt
│ ├── include/
│ │ └── dvs_reconstruction/
│ │ ├── mosaic.hpp
│ │ └── poisson_solver/
│ │ └── laplace.h
│ ├── package.xml
│ └── src/
│ ├── dvs_reconstruction_ros.cpp
│ ├── mosaic.cpp
│ └── poisson_solver/
│ └── laplace.cpp
├── dvs_slam_msgs/
│ ├── CMakeLists.txt
│ ├── msg/
│ │ └── VoxelGrid.msg
│ └── package.xml
├── dvs_tracking/
│ ├── CMakeLists.txt
│ ├── dvs_tracking_nodelet.xml
│ ├── include/
│ │ └── dvs_tracking/
│ │ ├── dvs_tracking_nodelet.h
│ │ ├── lk_se3.hpp
│ │ ├── tracker.hpp
│ │ └── weight_functions.hpp
│ ├── launch/
│ │ ├── desk.launch
│ │ ├── flyingroom.launch
│ │ └── live.launch
│ ├── package.xml
│ ├── parameters/
│ │ ├── calib/
│ │ │ ├── DAVIS-evo.yaml
│ │ │ ├── DAVIS-ijrr.yaml
│ │ │ └── ncamera/
│ │ │ ├── DAVIS-evo.yaml
│ │ │ └── DAVIS-ijrr.yaml
│ │ ├── svo_desk.yaml
│ │ ├── svo_flyingroom.yaml
│ │ └── svo_live.yaml
│ ├── rviz/
│ │ ├── live.rviz
│ │ └── rosbag.rviz
│ └── src/
│ ├── dvs_tracking_nodelet.cpp
│ ├── dvs_tracking_ros.cpp
│ ├── lk_se3.cpp
│ └── tracker.cpp
├── evo_utils/
│ ├── CMakeLists.txt
│ ├── include/
│ │ ├── evo_utils/
│ │ │ ├── camera.hpp
│ │ │ ├── geometry.hpp
│ │ │ ├── interpolation.hpp
│ │ │ └── main.hpp
│ │ └── rpg_common_ros/
│ │ └── params_helper.hpp
│ ├── package.xml
│ ├── setup.py
│ └── src/
│ ├── camera.cpp
│ ├── evo_utils/
│ │ ├── __init__.py
│ │ ├── colormaps.py
│ │ ├── display_DSI.py
│ │ ├── publish_confidence.py
│ │ ├── select_exposure_DAVIS.py
│ │ ├── snakify.py
│ │ └── tf_to_camera_markers.py
│ └── utils_geometry.cpp
├── install.sh
├── rqt_evo/
│ ├── CMakeLists.txt
│ ├── README.md
│ ├── package.xml
│ ├── plugin.xml
│ ├── resource/
│ │ └── widget.ui
│ ├── scripts/
│ │ ├── off_the_quad.sh
│ │ └── rqt_evo
│ ├── setup.py
│ └── src/
│ └── rqt_evo/
│ ├── .gitignore
│ ├── __init__.py
│ ├── evo.py
│ └── evo_widget.py
├── rqt_svo/
│ ├── CMakeLists.txt
│ ├── README.md
│ ├── package.xml
│ ├── plugin.xml
│ ├── resource/
│ │ └── widget.ui
│ ├── scripts/
│ │ └── rqt_svo
│ ├── setup.py
│ └── src/
│ └── rqt_svo/
│ ├── .gitignore
│ ├── __init__.py
│ ├── svo.py
│ └── svo_widget.py
├── svo/
│ ├── .gitignore
│ ├── CMakeLists.txt
│ ├── include/
│ │ ├── rpg_common/
│ │ │ ├── batch_worker.h
│ │ │ ├── callback_host.h
│ │ │ ├── realtime_worker.h
│ │ │ ├── threadsafe_queue.h
│ │ │ └── worker_base.h
│ │ └── svo/
│ │ ├── abstract_bundle_adjustment.h
│ │ ├── config.h.in
│ │ ├── frame_handler_array.h
│ │ ├── frame_handler_base.h
│ │ ├── frame_handler_mono.h
│ │ ├── frame_handler_stereo.h
│ │ ├── global.h
│ │ ├── imu_handler.h
│ │ ├── initialization.h
│ │ ├── io.h
│ │ ├── map.h
│ │ ├── pose_optimizer.h
│ │ ├── reprojector.h
│ │ ├── stereo_triangulation.h
│ │ └── svo.h
│ ├── package.xml
│ └── src/
│ ├── config.cpp
│ ├── frame_handler_array.cpp
│ ├── frame_handler_base.cpp
│ ├── frame_handler_mono.cpp
│ ├── frame_handler_stereo.cpp
│ ├── imu_handler.cpp
│ ├── initialization.cpp
│ ├── io.cpp
│ ├── map.cpp
│ ├── patch_normal.cpp
│ ├── pose_optimizer.cpp
│ ├── reprojector.cpp
│ └── stereo_triangulation.cpp
├── svo_backend/
│ ├── CATKIN_IGNORE
│ ├── CMakeLists.txt
│ ├── dependencies.yaml
│ ├── include/
│ │ └── svo/
│ │ └── backend/
│ │ ├── backend_interface.h
│ │ ├── backend_optimizer.h
│ │ ├── backend_types.h
│ │ ├── graph_manager.h
│ │ └── smart_factors_fwd.h
│ ├── package.xml
│ └── src/
│ ├── backend_interface.cpp
│ ├── backend_optimizer.cpp
│ ├── graph_manager.cpp
│ └── smart_factors.cpp
├── svo_cmake/
│ ├── CMakeLists.txt
│ ├── cmake/
│ │ ├── Modules/
│ │ │ ├── Findyaml-cpp.cmake
│ │ │ ├── Gtsam.cmake
│ │ │ ├── SlidingWindowEstimator.cmake
│ │ │ └── SvoSetup.cmake
│ │ ├── svo_cmake-extras.cmake.develspace.in
│ │ └── svo_cmake-extras.cmake.installspace.in
│ └── package.xml
├── svo_common/
│ ├── CMakeLists.txt
│ ├── include/
│ │ └── svo/
│ │ └── common/
│ │ ├── camera.h
│ │ ├── camera_fwd.h
│ │ ├── container_helpers.h
│ │ ├── conversions.h
│ │ ├── feature_wrapper.h
│ │ ├── frame.h
│ │ ├── imu_calibration.h
│ │ ├── logging.h
│ │ ├── occupancy_grid_2d.h
│ │ ├── point.h
│ │ ├── seed.h
│ │ ├── transformation.h
│ │ └── types.h
│ ├── package.xml
│ └── src/
│ ├── empty.cpp
│ ├── frame.cpp
│ └── point.cpp
├── svo_direct/
│ ├── CMakeLists.txt
│ ├── include/
│ │ └── svo/
│ │ └── direct/
│ │ ├── depth_estimation.h
│ │ ├── depth_filter.h
│ │ ├── elder_zucker.h
│ │ ├── feature_alignment.h
│ │ ├── feature_detection.h
│ │ ├── feature_detection_types.h
│ │ ├── feature_detection_utils.h
│ │ ├── matcher.h
│ │ ├── patch_normal.h
│ │ ├── patch_score.h
│ │ ├── patch_utils.h
│ │ └── patch_warp.h
│ ├── package.xml
│ └── src/
│ ├── depth_estimation.cpp
│ ├── depth_filter.cpp
│ ├── elder_zucker.cpp
│ ├── feature_alignment.cpp
│ ├── feature_detection.cpp
│ ├── feature_detection_utils.cpp
│ ├── matcher.cpp
│ └── patch_warp.cpp
├── svo_img_align/
│ ├── CMakeLists.txt
│ ├── include/
│ │ └── svo/
│ │ └── img_align/
│ │ ├── frame_gpu.h
│ │ ├── gpu_types_cuda.h
│ │ ├── sparse_img_align.h
│ │ ├── sparse_img_align_base.h
│ │ ├── sparse_img_align_device_utils.cuh
│ │ └── sparse_img_align_gpu.h
│ ├── package.xml
│ └── src/
│ ├── frame_gpu.cpp
│ ├── sparse_img_align.cpp
│ ├── sparse_img_align_base.cpp
│ ├── sparse_img_align_device_utils.cu
│ └── sparse_img_align_gpu.cpp
├── svo_msgs/
│ ├── CMakeLists.txt
│ ├── msg/
│ │ ├── DenseInput.msg
│ │ ├── DenseInputWithFeatures.msg
│ │ ├── Feature.msg
│ │ ├── Info.msg
│ │ └── NbvTrajectory.msg
│ └── package.xml
├── svo_ros/
│ ├── CMakeLists.txt
│ ├── include/
│ │ └── svo_ros/
│ │ ├── backend_factory.h
│ │ ├── backend_visualizer.h
│ │ ├── csv_dataset_reader.h
│ │ ├── svo_factory.h
│ │ ├── svo_interface.h
│ │ ├── svo_node_base.h
│ │ ├── svo_nodelet.h
│ │ └── visualizer.h
│ ├── package.xml
│ ├── rqt.perspective
│ ├── rviz_ba.rviz
│ ├── rviz_config.rviz
│ ├── src/
│ │ ├── backend_factory.cpp
│ │ ├── backend_visualizer.cpp
│ │ ├── benchmark_node.cpp
│ │ ├── csv_dataset_reader.cpp
│ │ ├── svo_factory.cpp
│ │ ├── svo_interface.cpp
│ │ ├── svo_node.cpp
│ │ ├── svo_node_base.cpp
│ │ ├── svo_nodelet.cpp
│ │ └── visualizer.cpp
│ └── svo_nodelet.xml
├── svo_tracker/
│ ├── CMakeLists.txt
│ ├── include/
│ │ └── svo/
│ │ └── tracker/
│ │ ├── feature_tracker.h
│ │ ├── feature_tracking_types.h
│ │ ├── feature_tracking_utils.h
│ │ └── feature_tracking_viz.h
│ ├── package.xml
│ └── src/
│ ├── feature_tracker.cpp
│ ├── feature_tracking_types.cpp
│ ├── feature_tracking_utils.cpp
│ └── feature_tracking_viz.cpp
└── svo_vikit/
├── LICENSE
├── README.md
├── vikit_cameras/
│ ├── CMakeLists.txt
│ ├── include/
│ │ └── vikit/
│ │ ├── cameras/
│ │ │ ├── atan_distortion.h
│ │ │ ├── camera_factory.h
│ │ │ ├── camera_geometry.h
│ │ │ ├── camera_geometry_base.h
│ │ │ ├── equidistant_distortion.h
│ │ │ ├── equidistant_fisheye_geometry.h
│ │ │ ├── equidistant_fisheye_projection.h
│ │ │ ├── implementation/
│ │ │ │ ├── camera_geometry.hpp
│ │ │ │ ├── camera_geometry_base.hpp
│ │ │ │ └── pinhole_projection.hpp
│ │ │ ├── ncamera.h
│ │ │ ├── no_distortion.h
│ │ │ ├── omni_geometry.h
│ │ │ ├── omni_projection.h
│ │ │ ├── pinhole_projection.h
│ │ │ ├── radial_tangential_distortion.h
│ │ │ └── yaml/
│ │ │ ├── camera-yaml-serialization.h
│ │ │ └── ncamera-yaml-serialization.h
│ │ └── cameras.h
│ ├── package.xml
│ ├── src/
│ │ ├── camera_factory.cpp
│ │ ├── camera_geometry_base.cpp
│ │ ├── camera_yaml_serialization.cpp
│ │ ├── equidistant_fisheye_geometry.cpp
│ │ ├── equidistant_fisheye_projection.cpp
│ │ ├── ncamera.cpp
│ │ ├── ncamera_yaml_serialization.cpp
│ │ ├── omni_geometry.cpp
│ │ └── omni_projection.cpp
│ └── test/
│ ├── data/
│ │ ├── calib_cam.yaml
│ │ ├── calib_kitti.yaml
│ │ ├── calib_omni.yaml
│ │ ├── calib_pinhole_atan.yaml
│ │ ├── calib_pinhole_equidistant.yaml
│ │ ├── calib_pinhole_nodistortion.yaml
│ │ └── calib_pinhole_radtan.yaml
│ └── test_cameras.cpp
├── vikit_common/
│ ├── CMakeLists.txt
│ ├── include/
│ │ ├── aslam/
│ │ │ └── common/
│ │ │ ├── entrypoint.h
│ │ │ ├── macros.h
│ │ │ ├── memory.h
│ │ │ ├── numdiff-jacobian-tester.h
│ │ │ ├── pose-types.h
│ │ │ ├── yaml-serialization-eigen.h
│ │ │ └── yaml-serialization.h
│ │ └── vikit/
│ │ ├── backtrace.h
│ │ ├── blender_utils.h
│ │ ├── csv_utils.h
│ │ ├── homography.h
│ │ ├── homography_decomp.h
│ │ ├── math_utils.h
│ │ ├── path_utils.h
│ │ ├── performance_monitor.h
│ │ ├── ringbuffer.h
│ │ ├── sample.h
│ │ ├── timer.h
│ │ ├── user_input_thread.h
│ │ └── vision.h
│ ├── package.xml
│ ├── src/
│ │ ├── homography.cpp
│ │ ├── math_utils.cpp
│ │ ├── performance_monitor.cpp
│ │ ├── sample.cpp
│ │ ├── user_input_thread.cpp
│ │ └── vision.cpp
│ ├── test/
│ │ ├── test_camera.cpp
│ │ ├── test_common.cpp
│ │ ├── test_homography.cpp
│ │ ├── test_math_utils.cpp
│ │ ├── test_timer.cpp
│ │ └── test_triangulation.cpp
│ └── vikit_commonConfig.cmake.in
├── vikit_py/
│ ├── CMakeLists.txt
│ ├── package.xml
│ ├── setup.py
│ └── src/
│ └── vikit_py/
│ ├── .gitignore
│ ├── __init__.py
│ ├── align_trajectory.py
│ ├── associate_timestamps.py
│ ├── cpu_info.py
│ ├── depth_estimation.py
│ ├── depthmap_utils.py
│ ├── math_utils.py
│ ├── pinhole_camera.py
│ ├── plot_utils.py
│ ├── ros_node.py
│ ├── rotation_utils.py
│ ├── test_transformations.py
│ └── transformations.py
├── vikit_ros/
│ ├── CMakeLists.txt
│ ├── include/
│ │ └── vikit/
│ │ ├── img_type_conversion.h
│ │ ├── output_helper.h
│ │ └── params_helper.h
│ ├── package.xml
│ └── src/
│ ├── img_type_conversion.cpp
│ └── output_helper.cpp
└── vikit_solver/
├── CMakeLists.txt
├── include/
│ └── vikit/
│ └── solver/
│ ├── implementation/
│ │ └── mini_least_squares_solver.hpp
│ ├── mini_least_squares_solver.h
│ └── robust_cost.h
├── package.xml
└── src/
└── robust_cost.cpp
================================================
FILE CONTENTS
================================================
================================================
FILE: .gitignore
================================================
CMakeLists.txt.user
*.pyc
*.blend
html
latex
.vscode
================================================
FILE: Doxygen
================================================
# Doxyfile 1.8.13
# This file describes the settings to be used by the documentation system
# doxygen (www.doxygen.org) for a project.
#
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# The default value is: NO.
ALWAYS_DETAILED_SEC = NO
# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
# inherited members of a class in the documentation of that class as if those
# members were ordinary class members. Constructors, destructors and assignment
# operators of the base classes will not be shown.
# The default value is: NO.
INLINE_INHERITED_MEMB = NO
# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path
# before files name in the file list and in the header files. If set to NO the
# shortest path that makes the file name unique will be used
# The default value is: YES.
FULL_PATH_NAMES = YES
# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path.
# Stripping is only done if one of the specified strings matches the left-hand
# part of the path. The tag can be used to show relative paths in the file list.
# If left blank the directory from which doxygen is run is used as the path to
# strip.
#
# Note that you can specify absolute paths here, but also relative paths, which
# will be relative from the directory where doxygen is started.
# This tag requires that the tag FULL_PATH_NAMES is set to YES.
STRIP_FROM_PATH =
# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the
# path mentioned in the documentation of a class, which tells the reader which
# header file to include in order to use a class. If left blank only the name of
# the header file containing the class definition is used. Otherwise one should
# specify the list of include paths that are normally passed to the compiler
# using the -I flag.
STRIP_FROM_INC_PATH =
# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but
# less readable) file names. This can be useful is your file systems doesn't
# support long names like on DOS, Mac, or CD-ROM.
# The default value is: NO.
SHORT_NAMES = NO
# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the
# first line (until the first dot) of a Javadoc-style comment as the brief
# description. If set to NO, the Javadoc-style will behave just like regular Qt-
# style comments (thus requiring an explicit @brief command for a brief
# description.)
# The default value is: NO.
JAVADOC_AUTOBRIEF = NO
# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first
# line (until the first dot) of a Qt-style comment as the brief description. If
# set to NO, the Qt-style will behave just like regular Qt-style comments (thus
# requiring an explicit \brief command for a brief description.)
# The default value is: NO.
QT_AUTOBRIEF = NO
# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a
# multi-line C++ special comment block (i.e. a block of //! or /// comments) as
# a brief description. This used to be the default behavior. The new default is
# to treat a multi-line C++ comment block as a detailed description. Set this
# tag to YES if you prefer the old behavior instead.
#
# Note that setting this tag to YES also means that rational rose comments are
# not recognized any more.
# The default value is: NO.
MULTILINE_CPP_IS_BRIEF = NO
# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the
# documentation from any documented member that it re-implements.
# The default value is: YES.
INHERIT_DOCS = YES
# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new
# page for each member. If set to NO, the documentation of a member will be part
# of the file/class/namespace that contains it.
# The default value is: NO.
SEPARATE_MEMBER_PAGES = NO
# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen
# uses this value to replace tabs by spaces in code fragments.
# Minimum value: 1, maximum value: 16, default value: 4.
TAB_SIZE = 4
# This tag can be used to specify a number of aliases that act as commands in
# the documentation. An alias has the form:
# name=value
# For example adding
# "sideeffect=@par Side Effects:\n"
# will allow you to put the command \sideeffect (or @sideeffect) in the
# documentation, which will result in a user-defined paragraph with heading
# "Side Effects:". You can put \n's in the value part of an alias to insert
# newlines.
ALIASES =
# This tag can be used to specify a number of word-keyword mappings (TCL only).
# A mapping has the form "name=value". For example adding "class=itcl::class"
# will allow you to use the command class in the itcl::class meaning.
TCL_SUBST =
# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources
# only. Doxygen will then generate output that is more tailored for C. For
# instance, some of the names that are used will be different. The list of all
# members will be omitted, etc.
# The default value is: NO.
OPTIMIZE_OUTPUT_FOR_C = NO
# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or
# Python sources only. Doxygen will then generate output that is more tailored
# for that language. For instance, namespaces will be presented as packages,
# qualified scopes will look different, etc.
# The default value is: NO.
OPTIMIZE_OUTPUT_JAVA = NO
# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
# sources. Doxygen will then generate output that is tailored for Fortran.
# The default value is: NO.
OPTIMIZE_FOR_FORTRAN = NO
# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
# sources. Doxygen will then generate output that is tailored for VHDL.
# The default value is: NO.
OPTIMIZE_OUTPUT_VHDL = NO
# Doxygen selects the parser to use depending on the extension of the files it
# parses. With this tag you can assign which parser to use for a given
# extension. Doxygen has a built-in mapping, but you can override or extend it
# using this tag. The format is ext=language, where ext is a file extension, and
# language is one of the parsers supported by doxygen: IDL, Java, Javascript,
# C#, C, C++, D, PHP, Objective-C, Python, Fortran (fixed format Fortran:
# FortranFixed, free formatted Fortran: FortranFree, unknown formatted Fortran:
# Fortran. In the later case the parser tries to guess whether the code is fixed
# or free formatted code, this is the default for Fortran type files), VHDL. For
# instance to make doxygen treat .inc files as Fortran files (default is PHP),
# and .f files as C (default is Fortran), use: inc=Fortran f=C.
#
# Note: For files without extension you can use no_extension as a placeholder.
#
# Note that for custom extensions you also need to set FILE_PATTERNS otherwise
# the files are not read by doxygen.
EXTENSION_MAPPING =
# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments
# according to the Markdown format, which allows for more readable
# documentation. See http://daringfireball.net/projects/markdown/ for details.
# The output of markdown processing is further processed by doxygen, so you can
# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in
# case of backward compatibilities issues.
# The default value is: YES.
MARKDOWN_SUPPORT = YES
# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up
# to that level are automatically included in the table of contents, even if
# they do not have an id attribute.
# Note: This feature currently applies only to Markdown headings.
# Minimum value: 0, maximum value: 99, default value: 0.
# This tag requires that the tag MARKDOWN_SUPPORT is set to YES.
TOC_INCLUDE_HEADINGS = 0
# When enabled doxygen tries to link words that correspond to documented
# classes, or namespaces to their corresponding documentation. Such a link can
# be prevented in individual cases by putting a % sign in front of the word or
# globally by setting AUTOLINK_SUPPORT to NO.
# The default value is: YES.
AUTOLINK_SUPPORT = YES
# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
# to include (a tag file for) the STL sources as input, then you should set this
# tag to YES in order to let doxygen match functions declarations and
# definitions whose arguments contain STL classes (e.g. func(std::string);
# versus func(std::string) {}). This also make the inheritance and collaboration
# diagrams that involve STL classes more complete and accurate.
# The default value is: NO.
BUILTIN_STL_SUPPORT = NO
# If you use Microsoft's C++/CLI language, you should set this option to YES to
# enable parsing support.
# The default value is: NO.
CPP_CLI_SUPPORT = NO
# Set the SIP_SUPPORT tag to YES if your project consists of sip (see:
# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen
# will parse them like normal C++ but will assume all classes use public instead
# of private inheritance when no explicit protection keyword is present.
# The default value is: NO.
SIP_SUPPORT = NO
# For Microsoft's IDL there are propget and propput attributes to indicate
# getter and setter methods for a property. Setting this option to YES will make
# doxygen to replace the get and set methods by a property in the documentation.
# This will only work if the methods are indeed getting or setting a simple
# type. If this is not the case, or you want to show the methods anyway, you
# should set this option to NO.
# The default value is: YES.
IDL_PROPERTY_SUPPORT = YES
# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
# tag is set to YES then doxygen will reuse the documentation of the first
# member in the group (if any) for the other members of the group. By default
# all members of a group must be documented explicitly.
# The default value is: NO.
DISTRIBUTE_GROUP_DOC = NO
# If one adds a struct or class to a group and this option is enabled, then also
# any nested class or struct is added to the same group. By default this option
# is disabled and one has to add nested compounds explicitly via \ingroup.
# The default value is: NO.
GROUP_NESTED_COMPOUNDS = NO
# Set the SUBGROUPING tag to YES to allow class member groups of the same type
# (for instance a group of public functions) to be put as a subgroup of that
# type (e.g. under the Public Functions section). Set it to NO to prevent
# subgrouping. Alternatively, this can be done per class using the
# \nosubgrouping command.
# The default value is: YES.
SUBGROUPING = YES
# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions
# are shown inside the group in which they are included (e.g. using \ingroup)
# instead of on a separate page (for HTML and Man pages) or section (for LaTeX
# and RTF).
#
# Note that this feature does not work in combination with
# SEPARATE_MEMBER_PAGES.
# The default value is: NO.
INLINE_GROUPED_CLASSES = NO
# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions
# with only public data fields or simple typedef fields will be shown inline in
# the documentation of the scope in which they are defined (i.e. file,
# namespace, or group documentation), provided this scope is documented. If set
# to NO, structs, classes, and unions are shown on a separate page (for HTML and
# Man pages) or section (for LaTeX and RTF).
# The default value is: NO.
INLINE_SIMPLE_STRUCTS = NO
# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or
# enum is documented as struct, union, or enum with the name of the typedef. So
# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
# with name TypeT. When disabled the typedef will appear as a member of a file,
# namespace, or class. And the struct will be named TypeS. This can typically be
# useful for C code in case the coding convention dictates that all compound
# types are typedef'ed and only the typedef is referenced, never the tag name.
# The default value is: NO.
TYPEDEF_HIDES_STRUCT = NO
# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This
# cache is used to resolve symbols given their name and scope. Since this can be
# an expensive process and often the same symbol appears multiple times in the
# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small
# doxygen will become slower. If the cache is too large, memory is wasted. The
# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range
# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536
# symbols. At the end of a run doxygen will report the cache usage and suggest
# the optimal cache size from a speed point of view.
# Minimum value: 0, maximum value: 9, default value: 0.
LOOKUP_CACHE_SIZE = 0
#---------------------------------------------------------------------------
# Build related configuration options
#---------------------------------------------------------------------------
# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in
# documentation are documented, even if no documentation was available. Private
# class members and static file members will be hidden unless the
# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES.
# Note: This will also disable the warnings about undocumented members that are
# normally produced when WARNINGS is set to YES.
# The default value is: NO.
EXTRACT_ALL = NO
# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will
# be included in the documentation.
# The default value is: NO.
EXTRACT_PRIVATE = YES
# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal
# scope will be included in the documentation.
# The default value is: NO.
EXTRACT_PACKAGE = NO
# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be
# included in the documentation.
# The default value is: NO.
EXTRACT_STATIC = NO
# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined
# locally in source files will be included in the documentation. If set to NO,
# only classes defined in header files are included. Does not have any effect
# for Java sources.
# The default value is: YES.
EXTRACT_LOCAL_CLASSES = YES
# This flag is only useful for Objective-C code. If set to YES, local methods,
# which are defined in the implementation section but not in the interface are
# included in the documentation. If set to NO, only methods in the interface are
# included.
# The default value is: NO.
EXTRACT_LOCAL_METHODS = NO
# If this flag is set to YES, the members of anonymous namespaces will be
# extracted and appear in the documentation as a namespace called
# 'anonymous_namespace{file}', where file will be replaced with the base name of
# the file that contains the anonymous namespace. By default anonymous namespace
# are hidden.
# The default value is: NO.
EXTRACT_ANON_NSPACES = NO
# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all
# undocumented members inside documented classes or files. If set to NO these
# members will be included in the various overviews, but no documentation
# section is generated. This option has no effect if EXTRACT_ALL is enabled.
# The default value is: NO.
HIDE_UNDOC_MEMBERS = NO
# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all
# undocumented classes that are normally visible in the class hierarchy. If set
# to NO, these classes will be included in the various overviews. This option
# has no effect if EXTRACT_ALL is enabled.
# The default value is: NO.
HIDE_UNDOC_CLASSES = NO
# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend
# (class|struct|union) declarations. If set to NO, these declarations will be
# included in the documentation.
# The default value is: NO.
HIDE_FRIEND_COMPOUNDS = NO
# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any
# documentation blocks found inside the body of a function. If set to NO, these
# blocks will be appended to the function's detailed documentation block.
# The default value is: NO.
HIDE_IN_BODY_DOCS = NO
# The INTERNAL_DOCS tag determines if documentation that is typed after a
# \internal command is included. If the tag is set to NO then the documentation
# will be excluded. Set it to YES to include the internal documentation.
# The default value is: NO.
INTERNAL_DOCS = NO
# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file
# names in lower-case letters. If set to YES, upper-case letters are also
# allowed. This is useful if you have classes or files whose names only differ
# in case and if your file system supports case sensitive file names. Windows
# and Mac users are advised to set this option to NO.
# The default value is: system dependent.
CASE_SENSE_NAMES = YES
# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with
# their full class and namespace scopes in the documentation. If set to YES, the
# scope will be hidden.
# The default value is: NO.
HIDE_SCOPE_NAMES = NO
# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will
# append additional text to a page's title, such as Class Reference. If set to
# YES the compound reference will be hidden.
# The default value is: NO.
HIDE_COMPOUND_REFERENCE= NO
# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of
# the files that are included by a file in the documentation of that file.
# The default value is: YES.
SHOW_INCLUDE_FILES = YES
# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each
# grouped member an include statement to the documentation, telling the reader
# which file to include in order to use the member.
# The default value is: NO.
SHOW_GROUPED_MEMB_INC = NO
# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include
# files with double quotes in the documentation rather than with sharp brackets.
# The default value is: NO.
FORCE_LOCAL_INCLUDES = NO
# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the
# documentation for inline members.
# The default value is: YES.
INLINE_INFO = YES
# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the
# (detailed) documentation of file and class members alphabetically by member
# name. If set to NO, the members will appear in declaration order.
# The default value is: YES.
SORT_MEMBER_DOCS = YES
# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief
# descriptions of file, namespace and class members alphabetically by member
# name. If set to NO, the members will appear in declaration order. Note that
# this will also influence the order of the classes in the class list.
# The default value is: NO.
SORT_BRIEF_DOCS = NO
# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the
# (brief and detailed) documentation of class members so that constructors and
# destructors are listed first. If set to NO the constructors will appear in the
# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS.
# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief
# member documentation.
# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting
# detailed member documentation.
# The default value is: NO.
SORT_MEMBERS_CTORS_1ST = NO
# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy
# of group names into alphabetical order. If set to NO the group names will
# appear in their defined order.
# The default value is: NO.
SORT_GROUP_NAMES = NO
# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by
# fully-qualified names, including namespaces. If set to NO, the class list will
# be sorted only by class name, not including the namespace part.
# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
# Note: This option applies only to the class list, not to the alphabetical
# list.
# The default value is: NO.
SORT_BY_SCOPE_NAME = NO
# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper
# type resolution of all parameters of a function it will reject a match between
# the prototype and the implementation of a member function even if there is
# only one candidate or it is obvious which candidate to choose by doing a
# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still
# accept a match between prototype and implementation in such cases.
# The default value is: NO.
STRICT_PROTO_MATCHING = NO
# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo
# list. This list is created by putting \todo commands in the documentation.
# The default value is: YES.
GENERATE_TODOLIST = YES
# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test
# list. This list is created by putting \test commands in the documentation.
# The default value is: YES.
GENERATE_TESTLIST = YES
# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug
# list. This list is created by putting \bug commands in the documentation.
# The default value is: YES.
GENERATE_BUGLIST = YES
# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO)
# the deprecated list. This list is created by putting \deprecated commands in
# the documentation.
# The default value is: YES.
GENERATE_DEPRECATEDLIST= YES
# The ENABLED_SECTIONS tag can be used to enable conditional documentation
# sections, marked by \if <section_label> ... \endif and \cond <section_label>
# ... \endcond blocks.
ENABLED_SECTIONS =
# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the
# initial value of a variable or macro / define can have for it to appear in the
# documentation. If the initializer consists of more lines than specified here
# it will be hidden. Use a value of 0 to hide initializers completely. The
# appearance of the value of individual variables and macros / defines can be
# controlled using \showinitializer or \hideinitializer command in the
# documentation regardless of this setting.
# Minimum value: 0, maximum value: 10000, default value: 30.
MAX_INITIALIZER_LINES = 30
# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at
# the bottom of the documentation of classes and structs. If set to YES, the
# list will mention the files that were used to generate the documentation.
# The default value is: YES.
SHOW_USED_FILES = YES
# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This
# will remove the Files entry from the Quick Index and from the Folder Tree View
# (if specified).
# The default value is: YES.
SHOW_FILES = YES
# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces
# page. This will remove the Namespaces entry from the Quick Index and from the
# Folder Tree View (if specified).
# The default value is: YES.
SHOW_NAMESPACES = YES
# The FILE_VERSION_FILTER tag can be used to specify a program or script that
# doxygen should invoke to get the current version for each file (typically from
# the version control system). Doxygen will invoke the program by executing (via
# popen()) the command command input-file, where command is the value of the
# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided
# by doxygen. Whatever the program writes to standard output is used as the file
# version. For an example see the documentation.
FILE_VERSION_FILTER =
# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
# by doxygen. The layout file controls the global structure of the generated
# output files in an output format independent way. To create the layout file
# that represents doxygen's defaults, run doxygen with the -l option. You can
# optionally specify a file name after the option, if omitted DoxygenLayout.xml
# will be used as the name of the layout file.
#
# Note that if you run doxygen from a directory containing a file called
# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE
# tag is left empty.
LAYOUT_FILE =
# The CITE_BIB_FILES tag can be used to specify one or more bib files containing
# the reference definitions. This must be a list of .bib files. The .bib
# extension is automatically appended if omitted. This requires the bibtex tool
# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info.
# For LaTeX the style of the bibliography can be controlled using
# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
# search path. See also \cite for info how to create references.
CITE_BIB_FILES =
#---------------------------------------------------------------------------
# Configuration options related to warning and progress messages
#---------------------------------------------------------------------------
# The QUIET tag can be used to turn on/off the messages that are generated to
# standard output by doxygen. If QUIET is set to YES this implies that the
# messages are off.
# The default value is: NO.
QUIET = NO
# The WARNINGS tag can be used to turn on/off the warning messages that are
# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES
# this implies that the warnings are on.
#
# Tip: Turn warnings on while writing the documentation.
# The default value is: YES.
WARNINGS = YES
# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate
# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag
# will automatically be disabled.
# The default value is: YES.
WARN_IF_UNDOCUMENTED = YES
# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for
# potential errors in the documentation, such as not documenting some parameters
# in a documented function, or documenting parameters that don't exist or using
# markup commands wrongly.
# The default value is: YES.
WARN_IF_DOC_ERROR = YES
# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that
# are documented, but have no documentation for their parameters or return
# value. If set to NO, doxygen will only warn about wrong or incomplete
# parameter documentation, but not about the absence of documentation.
# The default value is: NO.
WARN_NO_PARAMDOC = NO
# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when
# a warning is encountered.
# The default value is: NO.
WARN_AS_ERROR = NO
# The WARN_FORMAT tag determines the format of the warning messages that doxygen
# can produce. The string should contain the $file, $line, and $text tags, which
# will be replaced by the file and line number from which the warning originated
# and the warning text. Optionally the format may contain $version, which will
# be replaced by the version of the file (if it could be obtained via
# FILE_VERSION_FILTER)
# The default value is: $file:$line: $text.
WARN_FORMAT = "$file:$line: $text"
# The WARN_LOGFILE tag can be used to specify a file to which warning and error
# messages should be written. If left blank the output is written to standard
# error (stderr).
WARN_LOGFILE =
#---------------------------------------------------------------------------
# Configuration options related to the input files
#---------------------------------------------------------------------------
# The INPUT tag is used to specify the files and/or directories that contain
# documented source files. You may enter file names like myfile.cpp or
# directories like /usr/src/myproject. Separate the files or directories with
# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
# Note: If this tag is empty the current directory is searched.
INPUT =
# This tag can be used to specify the character encoding of the source files
# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
# libiconv (or the iconv built into libc) for the transcoding. See the libiconv
# documentation (see: http://www.gnu.org/software/libiconv) for the list of
# possible encodings.
# The default value is: UTF-8.
INPUT_ENCODING = UTF-8
# If the value of the INPUT tag contains directories, you can use the
# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and
# *.h) to filter out the source-files in the directories.
#
# Note that for custom extensions or not directly supported extensions you also
# need to set EXTENSION_MAPPING for the extension otherwise the files are not
# read by doxygen.
#
# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp,
# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h,
# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc,
# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f95, *.f03, *.f08,
# *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf and *.qsf.
FILE_PATTERNS = *.c \
*.cc \
*.cxx \
*.cpp \
*.c++ \
*.java \
*.ii \
*.ixx \
*.ipp \
*.i++ \
*.inl \
*.idl \
*.ddl \
*.odl \
*.h \
*.hh \
*.hxx \
*.hpp \
*.h++ \
*.cs \
*.d \
*.php \
*.php4 \
*.php5 \
*.phtml \
*.inc \
*.m \
*.markdown \
*.md \
*.mm \
*.dox \
*.py \
*.pyw \
*.f90 \
*.f95 \
*.f03 \
*.f08 \
*.f \
*.for \
*.tcl \
*.vhd \
*.vhdl \
*.ucf \
*.qsf
# The RECURSIVE tag can be used to specify whether or not subdirectories should
# be searched for input files as well.
# The default value is: NO.
RECURSIVE = YES
# The EXCLUDE tag can be used to specify files and/or directories that should be
# excluded from the INPUT source files. This way you can easily exclude a
# subdirectory from a directory tree whose root is specified with the INPUT tag.
#
# Note that relative paths are relative to the directory from which doxygen is
# run.
EXCLUDE =
# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
# directories that are symbolic links (a Unix file system feature) are excluded
# from the input.
# The default value is: NO.
EXCLUDE_SYMLINKS = NO
# If the value of the INPUT tag contains directories, you can use the
# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
# certain files from those directories.
#
# Note that the wildcards are matched against the file with absolute path, so to
# exclude all test directories for example use the pattern */test/*
EXCLUDE_PATTERNS =
# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
# (namespaces, classes, functions, etc.) that should be excluded from the
# output. The symbol name can be a fully qualified name, a word, or if the
# wildcard * is used, a substring. Examples: ANamespace, AClass,
# AClass::ANamespace, ANamespace::*Test
#
# Note that the wildcards are matched against the file with absolute path, so to
# exclude all test directories use the pattern */test/*
EXCLUDE_SYMBOLS =
# The EXAMPLE_PATH tag can be used to specify one or more files or directories
# that contain example code fragments that are included (see the \include
# command).
EXAMPLE_PATH =
# If the value of the EXAMPLE_PATH tag contains directories, you can use the
# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and
# *.h) to filter out the source-files in the directories. If left blank all
# files are included.
EXAMPLE_PATTERNS = *
# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
# searched for input files to be used with the \include or \dontinclude commands
# irrespective of the value of the RECURSIVE tag.
# The default value is: NO.
EXAMPLE_RECURSIVE = YES
# The IMAGE_PATH tag can be used to specify one or more files or directories
# that contain images that are to be included in the documentation (see the
# \image command).
IMAGE_PATH =
# The INPUT_FILTER tag can be used to specify a program that doxygen should
# invoke to filter for each input file. Doxygen will invoke the filter program
# by executing (via popen()) the command:
#
# <filter> <input-file>
#
# where <filter> is the value of the INPUT_FILTER tag, and <input-file> is the
# name of an input file. Doxygen will then use the output that the filter
# program writes to standard output. If FILTER_PATTERNS is specified, this tag
# will be ignored.
#
# Note that the filter must not add or remove lines; it is applied before the
# code is scanned, but not when the output code is generated. If lines are added
# or removed, the anchors will not be placed correctly.
#
# Note that for custom extensions or not directly supported extensions you also
# need to set EXTENSION_MAPPING for the extension otherwise the files are not
# properly processed by doxygen.
INPUT_FILTER =
# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
# basis. Doxygen will compare the file name with each pattern and apply the
# filter if there is a match. The filters are a list of the form: pattern=filter
# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how
# filters are used. If the FILTER_PATTERNS tag is empty or if none of the
# patterns match the file name, INPUT_FILTER is applied.
#
# Note that for custom extensions or not directly supported extensions you also
# need to set EXTENSION_MAPPING for the extension otherwise the files are not
# properly processed by doxygen.
FILTER_PATTERNS =
# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
# INPUT_FILTER) will also be used to filter the input files that are used for
# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES).
# The default value is: NO.
FILTER_SOURCE_FILES = NO
# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and
# it is also possible to disable source filtering for a specific pattern using
# *.ext= (so without naming a filter).
# This tag requires that the tag FILTER_SOURCE_FILES is set to YES.
FILTER_SOURCE_PATTERNS =
# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that
# is part of the input, its contents will be placed on the main page
# (index.html). This can be useful if you have a project on for instance GitHub
# and want to reuse the introduction page also for the doxygen output.
USE_MDFILE_AS_MAINPAGE =
#---------------------------------------------------------------------------
# Configuration options related to source browsing
#---------------------------------------------------------------------------
# If the SOURCE_BROWSER tag is set to YES then a list of source files will be
# generated. Documented entities will be cross-referenced with these sources.
#
# Note: To get rid of all source code in the generated output, make sure that
# also VERBATIM_HEADERS is set to NO.
# The default value is: NO.
SOURCE_BROWSER = NO
# Setting the INLINE_SOURCES tag to YES will include the body of functions,
# classes and enums directly into the documentation.
# The default value is: NO.
INLINE_SOURCES = NO
# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any
# special comment blocks from generated source code fragments. Normal C, C++ and
# Fortran comments will always remain visible.
# The default value is: YES.
STRIP_CODE_COMMENTS = YES
# If the REFERENCED_BY_RELATION tag is set to YES then for each documented
# function all documented functions referencing it will be listed.
# The default value is: NO.
REFERENCED_BY_RELATION = NO
# If the REFERENCES_RELATION tag is set to YES then for each documented function
# all documented entities called/used by that function will be listed.
# The default value is: NO.
REFERENCES_RELATION = NO
# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set
# to YES then the hyperlinks from functions in REFERENCES_RELATION and
# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will
# link to the documentation.
# The default value is: YES.
REFERENCES_LINK_SOURCE = YES
# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the
# source code will show a tooltip with additional information such as prototype,
# brief description and links to the definition and documentation. Since this
# will make the HTML file larger and loading of large files a bit slower, you
# can opt to disable this feature.
# The default value is: YES.
# This tag requires that the tag SOURCE_BROWSER is set to YES.
SOURCE_TOOLTIPS = YES
# If the USE_HTAGS tag is set to YES then the references to source code will
# point to the HTML generated by the htags(1) tool instead of doxygen built-in
# source browser. The htags tool is part of GNU's global source tagging system
# (see http://www.gnu.org/software/global/global.html). You will need version
# 4.8.6 or higher.
#
# To use it do the following:
# - Install the latest version of global
# - Enable SOURCE_BROWSER and USE_HTAGS in the config file
# - Make sure the INPUT points to the root of the source tree
# - Run doxygen as normal
#
# Doxygen will invoke htags (and that will in turn invoke gtags), so these
# tools must be available from the command line (i.e. in the search path).
#
# The result: instead of the source browser generated by doxygen, the links to
# source code will now point to the output of htags.
# The default value is: NO.
# This tag requires that the tag SOURCE_BROWSER is set to YES.
USE_HTAGS = NO
# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a
# verbatim copy of the header file for each class for which an include is
# specified. Set to NO to disable this.
# See also: Section \class.
# The default value is: YES.
VERBATIM_HEADERS = YES
# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the
# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the
# cost of reduced performance. This can be particularly helpful with template
# rich C++ code for which doxygen's built-in parser lacks the necessary type
# information.
# Note: The availability of this option depends on whether or not doxygen was
# generated with the -Duse-libclang=ON option for CMake.
# The default value is: NO.
CLANG_ASSISTED_PARSING = NO
# If clang assisted parsing is enabled you can provide the compiler with command
# line options that you would normally use when invoking the compiler. Note that
# the include paths will already be set by doxygen for the files and directories
# specified with INPUT and INCLUDE_PATH.
# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES.
CLANG_OPTIONS =
#---------------------------------------------------------------------------
# Configuration options related to the alphabetical class index
#---------------------------------------------------------------------------
# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all
# compounds will be generated. Enable this if the project contains a lot of
# classes, structs, unions or interfaces.
# The default value is: YES.
ALPHABETICAL_INDEX = YES
# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in
# which the alphabetical index list will be split.
# Minimum value: 1, maximum value: 20, default value: 5.
# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
COLS_IN_ALPHA_INDEX = 5
# In case all classes in a project start with a common prefix, all classes will
# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag
# can be used to specify a prefix (or a list of prefixes) that should be ignored
# while generating the index headers.
# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
IGNORE_PREFIX =
#---------------------------------------------------------------------------
# Configuration options related to the HTML output
#---------------------------------------------------------------------------
# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output
# The default value is: YES.
GENERATE_HTML = YES
# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a
# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
# it.
# The default directory is: html.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_OUTPUT = html
# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each
# generated HTML page (for example: .htm, .php, .asp).
# The default value is: .html.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_FILE_EXTENSION = .html
# The HTML_HEADER tag can be used to specify a user-defined HTML header file for
# each generated HTML page. If the tag is left blank doxygen will generate a
# standard header.
#
# To get valid HTML the header file that includes any scripts and style sheets
# that doxygen needs, which is dependent on the configuration options used (e.g.
# the setting GENERATE_TREEVIEW). It is highly recommended to start with a
# default header using
# doxygen -w html new_header.html new_footer.html new_stylesheet.css
# YourConfigFile
# and then modify the file new_header.html. See also section "Doxygen usage"
# for information on how to generate the default header that doxygen normally
# uses.
# Note: The header is subject to change so you typically have to regenerate the
# default header when upgrading to a newer version of doxygen. For a description
# of the possible markers and block names see the documentation.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_HEADER =
# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each
# generated HTML page. If the tag is left blank doxygen will generate a standard
# footer. See HTML_HEADER for more information on how to generate a default
# footer and what special commands can be used inside the footer. See also
# section "Doxygen usage" for information on how to generate the default footer
# that doxygen normally uses.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_FOOTER =
# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style
# sheet that is used by each HTML page. It can be used to fine-tune the look of
# the HTML output. If left blank doxygen will generate a default style sheet.
# See also section "Doxygen usage" for information on how to generate the style
# sheet that doxygen normally uses.
# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as
# it is more robust and this tag (HTML_STYLESHEET) will in the future become
# obsolete.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_STYLESHEET =
# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined
# cascading style sheets that are included after the standard style sheets
# created by doxygen. Using this option one can overrule certain style aspects.
# This is preferred over using HTML_STYLESHEET since it does not replace the
# standard style sheet and is therefore more robust against future updates.
# Doxygen will copy the style sheet files to the output directory.
# Note: The order of the extra style sheet files is of importance (e.g. the last
# style sheet in the list overrules the setting of the previous ones in the
# list). For an example see the documentation.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_EXTRA_STYLESHEET =
# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
# other source files which should be copied to the HTML output directory. Note
# that these files will be copied to the base HTML output directory. Use the
# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
# files. In the HTML_STYLESHEET file, use the file name only. Also note that the
# files will be copied as-is; there are no commands or markers available.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_EXTRA_FILES =
# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
# will adjust the colors in the style sheet and background images according to
# this color. Hue is specified as an angle on a colorwheel, see
# http://en.wikipedia.org/wiki/Hue for more information. For instance the value
# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
# purple, and 360 is red again.
# Minimum value: 0, maximum value: 359, default value: 220.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_COLORSTYLE_HUE = 220
# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors
# in the HTML output. For a value of 0 the output will use grayscales only. A
# value of 255 will produce the most vivid colors.
# Minimum value: 0, maximum value: 255, default value: 100.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_COLORSTYLE_SAT = 100
# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the
# luminance component of the colors in the HTML output. Values below 100
# gradually make the output lighter, whereas values above 100 make the output
# darker. The value divided by 100 is the actual gamma applied, so 80 represents
# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not
# change the gamma.
# Minimum value: 40, maximum value: 240, default value: 80.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_COLORSTYLE_GAMMA = 80
# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
# page will contain the date and time when the page was generated. Setting this
# to YES can help to show when doxygen was last run and thus if the
# documentation is up to date.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_TIMESTAMP = NO
# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
# documentation will contain sections that can be hidden and shown after the
# page has loaded.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_DYNAMIC_SECTIONS = NO
# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries
# shown in the various tree structured indices initially; the user can expand
# and collapse entries dynamically later on. Doxygen will expand the tree to
# such a level that at most the specified number of entries are visible (unless
# a fully collapsed tree already exceeds this amount). So setting the number of
# entries 1 will produce a full collapsed tree by default. 0 is a special value
# representing an infinite number of entries and will result in a full expanded
# tree by default.
# Minimum value: 0, maximum value: 9999, default value: 100.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_INDEX_NUM_ENTRIES = 100
# If the GENERATE_DOCSET tag is set to YES, additional index files will be
# generated that can be used as input for Apple's Xcode 3 integrated development
# environment (see: http://developer.apple.com/tools/xcode/), introduced with
# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a
# Makefile in the HTML output directory. Running make will produce the docset in
# that directory and running make install will install the docset in
# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
# for more information.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTML is set to YES.
GENERATE_DOCSET = NO
# This tag determines the name of the docset feed. A documentation feed provides
# an umbrella under which multiple documentation sets from a single provider
# (such as a company or product suite) can be grouped.
# The default value is: Doxygen generated docs.
# This tag requires that the tag GENERATE_DOCSET is set to YES.
DOCSET_FEEDNAME = "Doxygen generated docs"
# This tag specifies a string that should uniquely identify the documentation
# set bundle. This should be a reverse domain-name style string, e.g.
# com.mycompany.MyDocSet. Doxygen will append .docset to the name.
# The default value is: org.doxygen.Project.
# This tag requires that the tag GENERATE_DOCSET is set to YES.
DOCSET_BUNDLE_ID = org.doxygen.Project
# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify
# the documentation publisher. This should be a reverse domain-name style
# string, e.g. com.mycompany.MyDocSet.documentation.
# The default value is: org.doxygen.Publisher.
# This tag requires that the tag GENERATE_DOCSET is set to YES.
DOCSET_PUBLISHER_ID = org.doxygen.Publisher
# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher.
# The default value is: Publisher.
# This tag requires that the tag GENERATE_DOCSET is set to YES.
DOCSET_PUBLISHER_NAME = Publisher
# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
# additional HTML index files: index.hhp, index.hhc, and index.hhk. The
# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop
# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on
# Windows.
#
# The HTML Help Workshop contains a compiler that can convert all HTML output
# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML
# files are now used as the Windows 98 help format, and will replace the old
# Windows help format (.hlp) on all Windows platforms in the future. Compressed
# HTML files also contain an index, a table of contents, and you can search for
# words in the documentation. The HTML workshop also contains a viewer for
# compressed HTML files.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTML is set to YES.
GENERATE_HTMLHELP = NO
# The CHM_FILE tag can be used to specify the file name of the resulting .chm
# file. You can add a path in front of the file if the result should not be
# written to the html output directory.
# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
CHM_FILE =
# The HHC_LOCATION tag can be used to specify the location (absolute path
# including file name) of the HTML help compiler (hhc.exe). If non-empty,
# doxygen will try to run the HTML help compiler on the generated index.hhp.
# The file has to be specified with full path.
# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
HHC_LOCATION =
# The GENERATE_CHI flag controls if a separate .chi index file is generated
# (YES) or that it should be included in the master .chm file (NO).
# The default value is: NO.
# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
GENERATE_CHI = NO
# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc)
# and project file content.
# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
CHM_INDEX_ENCODING =
# The BINARY_TOC flag controls whether a binary table of contents is generated
# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it
# enables the Previous and Next buttons.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
BINARY_TOC = NO
# The TOC_EXPAND flag can be set to YES to add extra items for group members to
# the table of contents of the HTML help documentation and to the tree view.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
TOC_EXPAND = NO
# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that
# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help
# (.qch) of the generated HTML documentation.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTML is set to YES.
GENERATE_QHP = NO
# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify
# the file name of the resulting .qch file. The path specified is relative to
# the HTML output folder.
# This tag requires that the tag GENERATE_QHP is set to YES.
QCH_FILE =
# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
# Project output. For more information please see Qt Help Project / Namespace
# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace).
# The default value is: org.doxygen.Project.
# This tag requires that the tag GENERATE_QHP is set to YES.
QHP_NAMESPACE = org.doxygen.Project
# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt
# Help Project output. For more information please see Qt Help Project / Virtual
# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual-
# folders).
# The default value is: doc.
# This tag requires that the tag GENERATE_QHP is set to YES.
QHP_VIRTUAL_FOLDER = doc
# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
# filter to add. For more information please see Qt Help Project / Custom
# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
# filters).
# This tag requires that the tag GENERATE_QHP is set to YES.
QHP_CUST_FILTER_NAME =
# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
# custom filter to add. For more information please see Qt Help Project / Custom
# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
# filters).
# This tag requires that the tag GENERATE_QHP is set to YES.
QHP_CUST_FILTER_ATTRS =
# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
# project's filter section matches. Qt Help Project / Filter Attributes (see:
# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes).
# This tag requires that the tag GENERATE_QHP is set to YES.
QHP_SECT_FILTER_ATTRS =
# The QHG_LOCATION tag can be used to specify the location of Qt's
# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the
# generated .qhp file.
# This tag requires that the tag GENERATE_QHP is set to YES.
QHG_LOCATION =
# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be
# generated, together with the HTML files, they form an Eclipse help plugin. To
# install this plugin and make it available under the help contents menu in
# Eclipse, the contents of the directory containing the HTML and XML files needs
# to be copied into the plugins directory of eclipse. The name of the directory
# within the plugins directory should be the same as the ECLIPSE_DOC_ID value.
# After copying Eclipse needs to be restarted before the help appears.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTML is set to YES.
GENERATE_ECLIPSEHELP = NO
# A unique identifier for the Eclipse help plugin. When installing the plugin
# the directory name containing the HTML and XML files should also have this
# name. Each documentation set should have its own identifier.
# The default value is: org.doxygen.Project.
# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES.
ECLIPSE_DOC_ID = org.doxygen.Project
# If you want full control over the layout of the generated HTML pages it might
# be necessary to disable the index and replace it with your own. The
# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top
# of each HTML page. A value of NO enables the index and the value YES disables
# it. Since the tabs in the index contain the same information as the navigation
# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTML is set to YES.
DISABLE_INDEX = NO
# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
# structure should be generated to display hierarchical information. If the tag
# value is set to YES, a side panel will be generated containing a tree-like
# index structure (just like the one that is generated for HTML Help). For this
# to work a browser that supports JavaScript, DHTML, CSS and frames is required
# (i.e. any modern browser). Windows users are probably better off using the
# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can
# further fine-tune the look of the index. As an example, the default style
# sheet generated by doxygen has an example that shows how to put an image at
# the root of the tree instead of the PROJECT_NAME. Since the tree basically has
# the same information as the tab index, you could consider setting
# DISABLE_INDEX to YES when enabling this option.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTML is set to YES.
GENERATE_TREEVIEW = NO
# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that
# doxygen will group on one line in the generated HTML documentation.
#
# Note that a value of 0 will completely suppress the enum values from appearing
# in the overview section.
# Minimum value: 0, maximum value: 20, default value: 4.
# This tag requires that the tag GENERATE_HTML is set to YES.
ENUM_VALUES_PER_LINE = 4
# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used
# to set the initial width (in pixels) of the frame in which the tree is shown.
# Minimum value: 0, maximum value: 1500, default value: 250.
# This tag requires that the tag GENERATE_HTML is set to YES.
TREEVIEW_WIDTH = 250
# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to
# external symbols imported via tag files in a separate window.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTML is set to YES.
EXT_LINKS_IN_WINDOW = NO
# Use this tag to change the font size of LaTeX formulas included as images in
# the HTML documentation. When you change the font size after a successful
# doxygen run you need to manually remove any form_*.png images from the HTML
# output directory to force them to be regenerated.
# Minimum value: 8, maximum value: 50, default value: 10.
# This tag requires that the tag GENERATE_HTML is set to YES.
FORMULA_FONTSIZE = 10
# Use the FORMULA_TRANPARENT tag to determine whether or not the images
# generated for formulas are transparent PNGs. Transparent PNGs are not
# supported properly for IE 6.0, but are supported on all modern browsers.
#
# Note that when changing this option you need to delete any form_*.png files in
# the HTML output directory before the changes have effect.
# The default value is: YES.
# This tag requires that the tag GENERATE_HTML is set to YES.
FORMULA_TRANSPARENT = YES
# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
# http://www.mathjax.org) which uses client side Javascript for the rendering
# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX
# installed or if you want to formulas look prettier in the HTML output. When
# enabled you may also need to install MathJax separately and configure the path
# to it using the MATHJAX_RELPATH option.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTML is set to YES.
USE_MATHJAX = NO
# When MathJax is enabled you can set the default output format to be used for
# the MathJax output. See the MathJax site (see:
# http://docs.mathjax.org/en/latest/output.html) for more details.
# Possible values are: HTML-CSS (which is slower, but has the best
# compatibility), NativeMML (i.e. MathML) and SVG.
# The default value is: HTML-CSS.
# This tag requires that the tag USE_MATHJAX is set to YES.
MATHJAX_FORMAT = HTML-CSS
# When MathJax is enabled you need to specify the location relative to the HTML
# output directory using the MATHJAX_RELPATH option. The destination directory
# should contain the MathJax.js script. For instance, if the mathjax directory
# is located at the same level as the HTML output directory, then
# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
# Content Delivery Network so you can quickly see the result without installing
# MathJax. However, it is strongly recommended to install a local copy of
# MathJax from http://www.mathjax.org before deployment.
# The default value is: http://cdn.mathjax.org/mathjax/latest.
# This tag requires that the tag USE_MATHJAX is set to YES.
MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest
# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
# extension names that should be enabled during MathJax rendering. For example
# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols
# This tag requires that the tag USE_MATHJAX is set to YES.
MATHJAX_EXTENSIONS =
# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces
# of code that will be used on startup of the MathJax code. See the MathJax site
# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an
# example see the documentation.
# This tag requires that the tag USE_MATHJAX is set to YES.
MATHJAX_CODEFILE =
# When the SEARCHENGINE tag is enabled doxygen will generate a search box for
# the HTML output. The underlying search engine uses javascript and DHTML and
# should work on any modern browser. Note that when using HTML help
# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET)
# there is already a search function so this one should typically be disabled.
# For large projects the javascript based search engine can be slow, then
# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to
# search using the keyboard; to jump to the search box use <access key> + S
# (what the <access key> is depends on the OS and browser, but it is typically
# <CTRL>, <ALT>/<option>, or both). Inside the search box use the <cursor down
# key> to jump into the search results window, the results can be navigated
# using the <cursor keys>. Press <Enter> to select an item or <escape> to cancel
# the search. The filter options can be selected when the cursor is inside the
# search box by pressing <Shift>+<cursor down>. Also here use the <cursor keys>
# to select a filter and <Enter> or <escape> to activate or cancel the filter
# option.
# The default value is: YES.
# This tag requires that the tag GENERATE_HTML is set to YES.
SEARCHENGINE = YES
# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
# implemented using a web server instead of a web client using Javascript. There
# are two flavors of web server based searching depending on the EXTERNAL_SEARCH
# setting. When disabled, doxygen will generate a PHP script for searching and
# an index file used by the script. When EXTERNAL_SEARCH is enabled the indexing
# and searching needs to be provided by external tools. See the section
# "External Indexing and Searching" for details.
# The default value is: NO.
# This tag requires that the tag SEARCHENGINE is set to YES.
SERVER_BASED_SEARCH = NO
# When EXTERNAL_SEARCH tag is enabled doxygen will no longer generate the PHP
# script for searching. Instead the search results are written to an XML file
# which needs to be processed by an external indexer. Doxygen will invoke an
# external search engine pointed to by the SEARCHENGINE_URL option to obtain the
# search results.
#
# Doxygen ships with an example indexer (doxyindexer) and search engine
# (doxysearch.cgi) which are based on the open source search engine library
# Xapian (see: http://xapian.org/).
#
# See the section "External Indexing and Searching" for details.
# The default value is: NO.
# This tag requires that the tag SEARCHENGINE is set to YES.
EXTERNAL_SEARCH = NO
# The SEARCHENGINE_URL should point to a search engine hosted by a web server
# which will return the search results when EXTERNAL_SEARCH is enabled.
#
# Doxygen ships with an example indexer (doxyindexer) and search engine
# (doxysearch.cgi) which are based on the open source search engine library
# Xapian (see: http://xapian.org/). See the section "External Indexing and
# Searching" for details.
# This tag requires that the tag SEARCHENGINE is set to YES.
SEARCHENGINE_URL =
# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed
# search data is written to a file for indexing by an external tool. With the
# SEARCHDATA_FILE tag the name of this file can be specified.
# The default file is: searchdata.xml.
# This tag requires that the tag SEARCHENGINE is set to YES.
SEARCHDATA_FILE = searchdata.xml
# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the
# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is
# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple
# projects and redirect the results back to the right project.
# This tag requires that the tag SEARCHENGINE is set to YES.
EXTERNAL_SEARCH_ID =
# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen
# projects other than the one defined by this configuration file, but that are
# all added to the same external search index. Each project needs to have a
# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id of
# to a relative location where the documentation can be found. The format is:
# EXTRA_SEARCH_MAPPINGS = tagname1=loc1 tagname2=loc2 ...
# This tag requires that the tag SEARCHENGINE is set to YES.
EXTRA_SEARCH_MAPPINGS =
#---------------------------------------------------------------------------
# Configuration options related to the LaTeX output
#---------------------------------------------------------------------------
# If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
# The default value is: YES.
GENERATE_LATEX = YES
# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a
# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
# it.
# The default directory is: latex.
# This tag requires that the tag GENERATE_LATEX is set to YES.
LATEX_OUTPUT = latex
# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
# invoked.
#
# Note that when enabling USE_PDFLATEX this option is only used for generating
# bitmaps for formulas in the HTML output, but not in the Makefile that is
# written to the output directory.
# The default file is: latex.
# This tag requires that the tag GENERATE_LATEX is set to YES.
LATEX_CMD_NAME = latex
# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to generate
# index for LaTeX.
# The default file is: makeindex.
# This tag requires that the tag GENERATE_LATEX is set to YES.
MAKEINDEX_CMD_NAME = makeindex
# If the COMPACT_LATEX tag is set to YES, doxygen generates more compact LaTeX
# documents. This may be useful for small projects and may help to save some
# trees in general.
# The default value is: NO.
# This tag requires that the tag GENERATE_LATEX is set to YES.
COMPACT_LATEX = NO
# The PAPER_TYPE tag can be used to set the paper type that is used by the
# printer.
# Possible values are: a4 (210 x 297 mm), letter (8.5 x 11 inches), legal (8.5 x
# 14 inches) and executive (7.25 x 10.5 inches).
# The default value is: a4.
# This tag requires that the tag GENERATE_LATEX is set to YES.
PAPER_TYPE = a4
# The EXTRA_PACKAGES tag can be used to specify one or more LaTeX package names
# that should be included in the LaTeX output. The package can be specified just
# by its name or with the correct syntax as to be used with the LaTeX
# \usepackage command. To get the times font for instance you can specify :
# EXTRA_PACKAGES=times or EXTRA_PACKAGES={times}
# To use the option intlimits with the amsmath package you can specify:
# EXTRA_PACKAGES=[intlimits]{amsmath}
# If left blank no extra packages will be included.
# This tag requires that the tag GENERATE_LATEX is set to YES.
EXTRA_PACKAGES =
# The LATEX_HEADER tag can be used to specify a personal LaTeX header for the
# generated LaTeX document. The header should contain everything until the first
# chapter. If it is left blank doxygen will generate a standard header. See
# section "Doxygen usage" for information on how to let doxygen write the
# default header to a separate file.
#
# Note: Only use a user-defined header if you know what you are doing! The
# following commands have a special meaning inside the header: $title,
# $datetime, $date, $doxygenversion, $projectname, $projectnumber,
# $projectbrief, $projectlogo. Doxygen will replace $title with the empty
# string, for the replacement values of the other commands the user is referred
# to HTML_HEADER.
# This tag requires that the tag GENERATE_LATEX is set to YES.
LATEX_HEADER =
# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for the
# generated LaTeX document. The footer should contain everything after the last
# chapter. If it is left blank doxygen will generate a standard footer. See
# LATEX_HEADER for more information on how to generate a default footer and what
# special commands can be used inside the footer.
#
# Note: Only use a user-defined footer if you know what you are doing!
# This tag requires that the tag GENERATE_LATEX is set to YES.
LATEX_FOOTER =
# The LATEX_EXTRA_STYLESHEET tag can be used to specify additional user-defined
# LaTeX style sheets that are included after the standard style sheets created
# by doxygen. Using this option one can overrule certain style aspects. Doxygen
# will copy the style sheet files to the output directory.
# Note: The order of the extra style sheet files is of importance (e.g. the last
# style sheet in the list overrules the setting of the previous ones in the
# list).
# This tag requires that the tag GENERATE_LATEX is set to YES.
LATEX_EXTRA_STYLESHEET =
# The LATEX_EXTRA_FILES tag can be used to specify one or more extra images or
# other source files which should be copied to the LATEX_OUTPUT output
# directory. Note that the files will be copied as-is; there are no commands or
# markers available.
# This tag requires that the tag GENERATE_LATEX is set to YES.
LATEX_EXTRA_FILES =
# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated is
# prepared for conversion to PDF (using ps2pdf or pdflatex). The PDF file will
# contain links (just like the HTML output) instead of page references. This
# makes the output suitable for online browsing using a PDF viewer.
# The default value is: YES.
# This tag requires that the tag GENERATE_LATEX is set to YES.
PDF_HYPERLINKS = YES
# If the USE_PDFLATEX tag is set to YES, doxygen will use pdflatex to generate
# the PDF file directly from the LaTeX files. Set this option to YES, to get a
# higher quality PDF documentation.
# The default value is: YES.
# This tag requires that the tag GENERATE_LATEX is set to YES.
USE_PDFLATEX = YES
# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \batchmode
# command to the generated LaTeX files. This will instruct LaTeX to keep running
# if errors occur, instead of asking the user for help. This option is also used
# when generating formulas in HTML.
# The default value is: NO.
# This tag requires that the tag GENERATE_LATEX is set to YES.
LATEX_BATCHMODE = NO
# If the LATEX_HIDE_INDICES tag is set to YES then doxygen will not include the
# index chapters (such as File Index, Compound Index, etc.) in the output.
# The default value is: NO.
# This tag requires that the tag GENERATE_LATEX is set to YES.
LATEX_HIDE_INDICES = NO
# If the LATEX_SOURCE_CODE tag is set to YES then doxygen will include source
# code with syntax highlighting in the LaTeX output.
#
# Note that which sources are shown also depends on other settings such as
# SOURCE_BROWSER.
# The default value is: NO.
# This tag requires that the tag GENERATE_LATEX is set to YES.
LATEX_SOURCE_CODE = NO
# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
# bibliography, e.g. plainnat, or ieeetr. See
# http://en.wikipedia.org/wiki/BibTeX and \cite for more info.
# The default value is: plain.
# This tag requires that the tag GENERATE_LATEX is set to YES.
LATEX_BIB_STYLE = plain
# If the LATEX_TIMESTAMP tag is set to YES then the footer of each generated
# page will contain the date and time when the page was generated. Setting this
# to NO can help when comparing the output of multiple runs.
# The default value is: NO.
# This tag requires that the tag GENERATE_LATEX is set to YES.
LATEX_TIMESTAMP = NO
#---------------------------------------------------------------------------
# Configuration options related to the RTF output
#---------------------------------------------------------------------------
# If the GENERATE_RTF tag is set to YES, doxygen will generate RTF output. The
# RTF output is optimized for Word 97 and may not look too pretty with other RTF
# readers/editors.
# The default value is: NO.
GENERATE_RTF = NO
# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. If a
# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
# it.
# The default directory is: rtf.
# This tag requires that the tag GENERATE_RTF is set to YES.
RTF_OUTPUT = rtf
# If the COMPACT_RTF tag is set to YES, doxygen generates more compact RTF
# documents. This may be useful for small projects and may help to save some
# trees in general.
# The default value is: NO.
# This tag requires that the tag GENERATE_RTF is set to YES.
COMPACT_RTF = NO
# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated will
# contain hyperlink fields. The RTF file will contain links (just like the HTML
# output) instead of page references. This makes the output suitable for online
# browsing using Word or some other Word compatible readers that support those
# fields.
#
# Note: WordPad (write) and others do not support links.
# The default value is: NO.
# This tag requires that the tag GENERATE_RTF is set to YES.
RTF_HYPERLINKS = NO
# Load stylesheet definitions from file. Syntax is similar to doxygen's config
# file, i.e. a series of assignments. You only have to provide replacements,
# missing definitions are set to their default value.
#
# See also section "Doxygen usage" for information on how to generate the
# default style sheet that doxygen normally uses.
# This tag requires that the tag GENERATE_RTF is set to YES.
RTF_STYLESHEET_FILE =
# Set optional variables used in the generation of an RTF document. Syntax is
# similar to doxygen's config file. A template extensions file can be generated
# using doxygen -e rtf extensionFile.
# This tag requires that the tag GENERATE_RTF is set to YES.
RTF_EXTENSIONS_FILE =
# If the RTF_SOURCE_CODE tag is set to YES then doxygen will include source code
# with syntax highlighting in the RTF output.
#
# Note that which sources are shown also depends on other settings such as
# SOURCE_BROWSER.
# The default value is: NO.
# This tag requires that the tag GENERATE_RTF is set to YES.
RTF_SOURCE_CODE = NO
#---------------------------------------------------------------------------
# Configuration options related to the man page output
#---------------------------------------------------------------------------
# If the GENERATE_MAN tag is set to YES, doxygen will generate man pages for
# classes and files.
# The default value is: NO.
GENERATE_MAN = NO
# The MAN_OUTPUT tag is used to specify where the man pages will be put. If a
# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
# it. A directory man3 will be created inside the directory specified by
# MAN_OUTPUT.
# The default directory is: man.
# This tag requires that the tag GENERATE_MAN is set to YES.
MAN_OUTPUT = man
# The MAN_EXTENSION tag determines the extension that is added to the generated
# man pages. In case the manual section does not start with a number, the number
# 3 is prepended. The dot (.) at the beginning of the MAN_EXTENSION tag is
# optional.
# The default value is: .3.
# This tag requires that the tag GENERATE_MAN is set to YES.
MAN_EXTENSION = .3
# The MAN_SUBDIR tag determines the name of the directory created within
# MAN_OUTPUT in which the man pages are placed. If defaults to man followed by
# MAN_EXTENSION with the initial . removed.
# This tag requires that the tag GENERATE_MAN is set to YES.
MAN_SUBDIR =
# If the MAN_LINKS tag is set to YES and doxygen generates man output, then it
# will generate one additional man file for each entity documented in the real
# man page(s). These additional files only source the real man page, but without
# them the man command would be unable to find the correct page.
# The default value is: NO.
# This tag requires that the tag GENERATE_MAN is set to YES.
MAN_LINKS = NO
#---------------------------------------------------------------------------
# Configuration options related to the XML output
#---------------------------------------------------------------------------
# If the GENERATE_XML tag is set to YES, doxygen will generate an XML file that
# captures the structure of the code including all documentation.
# The default value is: NO.
GENERATE_XML = NO
# The XML_OUTPUT tag is used to specify where the XML pages will be put. If a
# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
# it.
# The default directory is: xml.
# This tag requires that the tag GENERATE_XML is set to YES.
XML_OUTPUT = xml
# If the XML_PROGRAMLISTING tag is set to YES, doxygen will dump the program
# listings (including syntax highlighting and cross-referencing information) to
# the XML output. Note that enabling this will significantly increase the size
# of the XML output.
# The default value is: YES.
# This tag requires that the tag GENERATE_XML is set to YES.
XML_PROGRAMLISTING = YES
#---------------------------------------------------------------------------
# Configuration options related to the DOCBOOK output
#---------------------------------------------------------------------------
# If the GENERATE_DOCBOOK tag is set to YES, doxygen will generate Docbook files
# that can be used to generate PDF.
# The default value is: NO.
GENERATE_DOCBOOK = NO
# The DOCBOOK_OUTPUT tag is used to specify where the Docbook pages will be put.
# If a relative path is entered the value of OUTPUT_DIRECTORY will be put in
# front of it.
# The default directory is: docbook.
# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
DOCBOOK_OUTPUT = docbook
# If the DOCBOOK_PROGRAMLISTING tag is set to YES, doxygen will include the
# program listings (including syntax highlighting and cross-referencing
# information) to the DOCBOOK output. Note that enabling this will significantly
# increase the size of the DOCBOOK output.
# The default value is: NO.
# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
DOCBOOK_PROGRAMLISTING = NO
#---------------------------------------------------------------------------
# Configuration options for the AutoGen Definitions output
#---------------------------------------------------------------------------
# If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an
# AutoGen Definitions (see http://autogen.sf.net) file that captures the
# structure of the code including all documentation. Note that this feature is
# still experimental and incomplete at the moment.
# The default value is: NO.
GENERATE_AUTOGEN_DEF = NO
#---------------------------------------------------------------------------
# Configuration options related to the Perl module output
#---------------------------------------------------------------------------
# If the GENERATE_PERLMOD tag is set to YES, doxygen will generate a Perl module
# file that captures the structure of the code including all documentation.
#
# Note that this feature is still experimental and incomplete at the moment.
# The default value is: NO.
GENERATE_PERLMOD = NO
# If the PERLMOD_LATEX tag is set to YES, doxygen will generate the necessary
# Makefile rules, Perl scripts and LaTeX code to be able to generate PDF and DVI
# output from the Perl module output.
# The default value is: NO.
# This tag requires that the tag GENERATE_PERLMOD is set to YES.
PERLMOD_LATEX = NO
# If the PERLMOD_PRETTY tag is set to YES, the Perl module output will be nicely
# formatted so it can be parsed by a human reader. This is useful if you want to
# understand what is going on. On the other hand, if this tag is set to NO, the
# size of the Perl module output will be much smaller and Perl will parse it
# just the same.
# The default value is: YES.
# This tag requires that the tag GENERATE_PERLMOD is set to YES.
PERLMOD_PRETTY = YES
# The names of the make variables in the generated doxyrules.make file are
# prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. This is useful
# so different doxyrules.make files included by the same Makefile don't
# overwrite each other's variables.
# This tag requires that the tag GENERATE_PERLMOD is set to YES.
PERLMOD_MAKEVAR_PREFIX =
#---------------------------------------------------------------------------
# Configuration options related to the preprocessor
#---------------------------------------------------------------------------
# If the ENABLE_PREPROCESSING tag is set to YES, doxygen will evaluate all
# C-preprocessor directives found in the sources and include files.
# The default value is: YES.
ENABLE_PREPROCESSING = YES
# If the MACRO_EXPANSION tag is set to YES, doxygen will expand all macro names
# in the source code. If set to NO, only conditional compilation will be
# performed. Macro expansion can be done in a controlled way by setting
# EXPAND_ONLY_PREDEF to YES.
# The default value is: NO.
# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
MACRO_EXPANSION = NO
# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES then
# the macro expansion is limited to the macros specified with the PREDEFINED and
# EXPAND_AS_DEFINED tags.
# The default value is: NO.
# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
EXPAND_ONLY_PREDEF = NO
# If the SEARCH_INCLUDES tag is set to YES, the include files in the
# INCLUDE_PATH will be searched if a #include is found.
# The default value is: YES.
# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
SEARCH_INCLUDES = YES
# The INCLUDE_PATH tag can be used to specify one or more directories that
# contain include files that are not input files but should be processed by the
# preprocessor.
# This tag requires that the tag SEARCH_INCLUDES is set to YES.
INCLUDE_PATH =
# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
# patterns (like *.h and *.hpp) to filter out the header-files in the
# directories. If left blank, the patterns specified with FILE_PATTERNS will be
# used.
# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
INCLUDE_FILE_PATTERNS =
# The PREDEFINED tag can be used to specify one or more macro names that are
# defined before the preprocessor is started (similar to the -D option of e.g.
# gcc). The argument of the tag is a list of macros of the form: name or
# name=definition (no spaces). If the definition and the "=" are omitted, "=1"
# is assumed. To prevent a macro definition from being undefined via #undef or
# recursively expanded use the := operator instead of the = operator.
# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
PREDEFINED =
# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
# tag can be used to specify a list of macro names that should be expanded. The
# macro definition that is found in the sources will be used. Use the PREDEFINED
# tag if you want to use a different macro definition that overrules the
# definition found in the source code.
# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
EXPAND_AS_DEFINED =
# If the SKIP_FUNCTION_MACROS tag is set to YES then doxygen's preprocessor will
# remove all references to function-like macros that are alone on a line, have
# an all uppercase name, and do not end with a semicolon. Such function macros
# are typically used for boiler-plate code, and will confuse the parser if not
# removed.
# The default value is: YES.
# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
SKIP_FUNCTION_MACROS = YES
#---------------------------------------------------------------------------
# Configuration options related to external references
#---------------------------------------------------------------------------
# The TAGFILES tag can be used to specify one or more tag files. For each tag
# file the location of the external documentation should be added. The format of
# a tag file without this location is as follows:
# TAGFILES = file1 file2 ...
# Adding location for the tag files is done as follows:
# TAGFILES = file1=loc1 "file2 = loc2" ...
# where loc1 and loc2 can be relative or absolute paths or URLs. See the
# section "Linking to external documentation" for more information about the use
# of tag files.
# Note: Each tag file must have a unique name (where the name does NOT include
# the path). If a tag file is not located in the directory in which doxygen is
# run, you must also specify the path to the tagfile here.
TAGFILES =
# When a file name is specified after GENERATE_TAGFILE, doxygen will create a
# tag file that is based on the input files it reads. See section "Linking to
# external documentation" for more information about the usage of tag files.
GENERATE_TAGFILE =
# If the ALLEXTERNALS tag is set to YES, all external class will be listed in
# the class index. If set to NO, only the inherited external classes will be
# listed.
# The default value is: NO.
ALLEXTERNALS = NO
# If the EXTERNAL_GROUPS tag is set to YES, all external groups will be listed
# in the modules index. If set to NO, only the current project's groups will be
# listed.
# The default value is: YES.
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================================================
FILE: README.md
================================================
# EVO: Event based Visual Odometry
[](https://www.youtube.com/watch?v=bYqD2qZJlxE)
<a name="license"></a>
## Credit, License, and Patent
### Citation
This code implements the event-based visual odometry pipeline described in the paper [EVO: A Geometric Approach to Event-Based 6-DOF Parallel Tracking and Mapping in Real-time](http://rpg.ifi.uzh.ch/docs/RAL16_EVO.pdf) by [Henri Rebecq](https://supitalp.github.io/research/), Timo Horstschaefer, [Guillermo Gallego](https://sites.google.com/view/guillermogallego) and [Davide Scaramuzza](http://rpg.ifi.uzh.ch/people_scaramuzza.html).
If you use any of this code, please cite the following publications:
```bibtex
@Article{RebecqEVO,
author = {Rebecq, Henri and Horstschaefer, Timo and Gallego, Guillermo and Scaramuzza, Davide},
journal = {IEEE Robotics and Automation Letters},
title = {EVO: A Geometric Approach to Event-Based 6-DOF Parallel Tracking and Mapping in Real Time},
year = {2017},
volume = {2},
number = {2},
pages = {593-600},
doi = {10.1109/LRA.2016.2645143}
}
```
```bibtex
@InProceedings{Gehrig_2020_CVPR,
author = {Daniel Gehrig and Mathias Gehrig and Javier Hidalgo-Carri\'o and Davide Scaramuzza},
title = {Video to Events: Recycling Video Datasets for Event Cameras},
booktitle = {{IEEE} Conf. Comput. Vis. Pattern Recog. (CVPR)},
month = {June},
year = {2020}
}
```
The code comes with a test dataset. If you don't have an event camera and want to run the code on more data, you can do one of the following:
* Using one of our event camera datasets:
* http://rpg.ifi.uzh.ch/davis_data.html
* https://dsec.ifi.uzh.ch/
* https://fpv.ifi.uzh.ch/
* http://rpg.ifi.uzh.ch/E2VID.html
* http://rpg.ifi.uzh.ch/CED.html
* http://rpg.ifi.uzh.ch/direct_event_camera_tracking/index.html
* http://rpg.ifi.uzh.ch/ECCV18_stereo_davis.html
* Generate one using event-camera simulator: http://rpg.ifi.uzh.ch/esim/index.html
* Convert a standard video to events using our "Video to Events: Recycling Video Datasets for Event Cameras." cited above, code here: https://github.com/uzh-rpg/rpg_vid2e
### Patent & License
- The proposed EVO method is [patented](https://patentscope.wipo.int/search/en/detail.jsf?docId=WO2018037079).
H. Rebecq, G. Gallego, D. Scaramuzza
Simultaneous Localization and Mapping with an Event Camera
Pub. No.: WO/2018/037079. International Application No.: PCT/EP2017/071331
- The license is [available here](LICENSE).
### Acknowledgements
The open sourcing was curated by [Antonio Terpin](https://antonioterpin.github.io) and [Daniel Gehrig](https://danielgehrig18.github.io).
#### Table of contents
1. [Getting started](#getstarted)
2. [Examples](#examples)
3. [Running live](#live)
4. [Further improvements](#todo)
5. [Additional resources on Event Cameras](#ref)
Remark that this is **research** code, any fitness for a particular purpose is disclaimed.
<a name="getstarted"></a>
## Getting started
This software depends on [ROS](https://www.ros.org/). Installation instructions can be found [here](http://wiki.ros.org/melodic/Installation/Ubuntu). We have tested this software on Ubuntu 18.04 and ROS Melodic.
1. Create and initialize a new catkin workspace if needed
mkdir -p ~/catkin_ws/src && cd ~/catkin_ws/
catkin config \
--init --mkdirs --extend /opt/ros/melodic \
--merge-devel --cmake-args \
-DCMAKE_BUILD_TYPE=Release
2. Clone this repository
cd src/ && git clone git@github.com:uzh-rpg/rpg_dvs_evo_open.git
3. Clone (and fix) dependencies
./rpg_dvs_evo_open/install.sh [ros-version] # [ros-version]: melodic, ..
Substitute `[ros-version]` with your actual ROS distribution. For instance:
./rpg_dvs_evo_open/install.sh melodic
Make sure to install ROS and the commonly used packages (such as rviz, rqt, ..).
The above commands do the following:
* First, we install the required packages.
* Second, we clone the [repositories](dependencies.yaml) evo relies on.
Remark that with the above commands we install also the dependencies required to run the pipeline live. If you do not need them, you can comment the unnecessary packages from the dependencies.yaml file ([davis driver](https://github.com/uzh-rpg/rpg_dvs_ros)).
Please refer to [this repo](https://github.com/uzh-rpg/rpg_dvs_ros) if there are issues with the driver installation (required for the live).
4. Build the packages
catkin build dvs_tracking
Building everything might take some time... this might be the right time for a coffee! :)
... and do not forget to source the workspace afterwards!
source ../devel/setup.bash
<a name="examples"></a>
## Examples
| Example | Launch file | Rosbag |
|:----- |:----- |:-----|
| Multi-keyframe sequence | [flyingroom.launch](dvs_tracking/launch/flyingroom.launch) | [538 MB](http://rpg.ifi.uzh.ch/data/EVO/code_examples/evo_flyingroom.bag)|
| Desk sequence | [desk.launch](dvs_tracking/launch/desk.launch) | [145 MB](http://rpg.ifi.uzh.ch/data/EVO/code_examples/evo_desk.bag)|
To download the rosbags, you can use the following command:
wget [rosbag link] -O /path/to/download/folder/
For instance, the following will download the multi-keyframe sequence rosbag:
wget http://rpg.ifi.uzh.ch/data/EVO/code_examples/evo_flyingroom.bag -O /tmp/evo_flyingroom.bag
To run the pipeline from a rosbag, first start the pipeline as
roslaunch dvs_tracking [launch-file] auto_trigger:=true
where the specific launch file (fine-tuned) for each example is listed in the following table. The most interesting and repeatible one (due to the bootstrapping sequence, see [further improvements](#todo)) is the multi-keyframe sequence.
Then, once the everything is loaded, run the rosbag as
rosbag play -r 0.7 [rosbag-file]
For instance,
rosbag play -r 0.7 /tmp/evo_flyingroom.bag
Remark that we set the ```auto_trigger``` parameter to true. You can also set it to false and follow the instruction on [how to run it live](#live).
If anything fails, just try it again (give it a couple of chances!), and make sure to follow exactly the above instructions.
In the [further improvements](#todo) section are outlined the things that might go wrong when running the code. To improve the reliability when playing the rosbags (running live is easier), consider using ```-r .7```, to reduce the rate. This helps especially when the hardware is not powerful enough.
For instance,
rosbag play /tmp/evo_flyingroom -r .7
Eventually, setting ```bootstrap_image_topic:=/dvs/image_raw``` will bootstrap from traditional frames and later switch to only events. This is the most reliable way currently available to bootstrap.
roslaunch dvs_tracking [launch-file] bootstrap_image_topic:=/dvs/image_raw auto_trigger:=true
<a name="live"></a>
## Running live
### Run
The procedure is analogous to the one explained in the examples:
1. Run the ros core on the first terminal.
roscore
2. On a second terminal, launch the event camera driver.
rosrun davis_ros_driver davis_ros_driver
3. On another terminal, launch the pipeline, disabling the auto-triggering.
roslaunch dvs_tracking live.launch auto_trigger:=false camera_name:=[calibration filename] events_topic:=[events topic]
For instance:
roslaunch dvs_tracking live.launch auto_trigger:=false camera_name:=DAVIS-ijrr events_topic:=/dvs/events
If your calibrations filenames are `my_camera.yaml`, then use `camera_name:=my_camera`. Make sure to use the same name for both calibration files. If your sensor outputs events under the topic `/my_sensor/events`, then use `events_topic:=/my_sensor/events`.
For the SVO based bootstrapper, proceed with step 4. For the fronto-planar bootstrapper, go to step 5. How to set up the fronto-planar bootstrapper is explained in the [live.launch](dvs_tracking/launch/live.launch) file.
If you want to bootstrap from traditional frames, you can use the command:
roslaunch dvs_tracking live.launch bootstrap_image_topic:=[topic raw frames] auto_trigger:=false
For instance `bootstrap_image_topic:=/dvs/image_raw`.
In this case, it makes sense to use the SVO-based bootstrapping only. This option is recommended to debug/improve/extend the rest of the EVO pipeline, without worrying about the quality of the bootstrapping.
4. You should see two rqt GUI. One is the SVO GUI. Reset and start the pipeline until it tracks decently well. Make sure to set the namespace to `svo`.
5. Press the `Bootstrap` button in the EVO GUI. This will automatically trigger the pipeline.
Alternatively, it is also possible to trigger one module at the time:
- Press the `Start/Reset` button in `rqt_evo`. Perform a circle (or more), and then press `Update`. This will trigger a map creation.
- If the map looks correct, press `Switch to tracking` to start tracking with EVO. If not, reiterate the map creation.
- As the camera moves out of the current map, the latter will be automatically updated if the `Map-Expansion` is enabled. You may disable `Map-Expansion` to track high-speed motions using the current map (single keyframe tracking).
- The scene should have enough texture and the motions should recall the ones that you can see in the provided examples.
6. If anything fails, just press ```Ctrl+C``` and restart the live node ;)
Some remarks:
- The calibration files paths will be built as `$(find dvs_tracking)/parameters/calib/ncamera/$(arg camera_name).yaml` and `$(find dvs_tracking)/parameters/calib/$(arg camera_name).yaml`, where `camera_name` is specified as argument to the launch file. You can also set it as default in `live.launch`.
- If your sensor provides frames under a topic `/my_sensor/image_raw`, and you want to bootstrap from the traditional frames, you can use `bootstrap_image_topic:=/my_sensor/image_raw`.
To run the pipeline live, first adjust the template [live.launch](dvs_tracking/launch/live.launch) to your sensor and scene. You can follow the following steps. Further customization, such as which bootstrapper to use, are explained in the launch file itself.
### Calibration
Make sure you have updated calibration files for your event camera, in the ```dvs_tracking/parameters/calib``` folder.
Make sure your ```.yaml``` files have the same format as the provided ones ([single camera format](dvs_tracking/parameters/calib/DAVIS-evo.yaml), [multiple cameras format](dvs_tracking/parameters/calib/ncamera/DAVIS-evo.yaml)).
Remark that we have two calibration files in two different format for the same sensor. The single camera format has to be placed in the ```dvs_tracking/parameters/calib``` folder and the multiple cameras format in the ```dvs_tracking/parameters/calib/ncamera``` folder.
See [this section](#ref) for further references on calibration.
### Tuning
Adjust the parameters in the launch file [```dvs_tracking/launch/template.launch```](dvs_tracking/launch/template.launch).
Tuning is crucial for a good performance of the pipeline, in particular the ```min_depth``` and ```max_depth``` parameters in the mapping node, and the ```bootstrap``` node parameters.
An explanation of all the parameters for each module of the pipeline can be found in the [Wiki](https://github.com/uzh-rpg/rpg_dvs_evo_open/wiki).
The main parameters can be found in the template launch file, and are explained contextually. We still invite you to have a look at the Wiki, to discover further interesting features ;)
| Module |
|:-----|
| [Global parameters](https://github.com/uzh-rpg/rpg_dvs_evo_open/wiki/Global-parameters) |
| [Bootstrapping](https://github.com/uzh-rpg/rpg_dvs_evo_open/wiki/Bootstrapping) |
| [Mapping](https://github.com/uzh-rpg/rpg_dvs_evo_open/wiki/Mapping) |
| [Tracking](https://github.com/uzh-rpg/rpg_dvs_evo_open/wiki/Tracking) |
If you are not using the fronto-planar bootstrapper, then you might need to tune SVO.
Remark that this might not be needed. You can test the svo tuning bootstrapping from traditional frames:
roslaunch dvs_tracking live.launch bootstrap_image_topic:=[topic of raw frames] auto_trigger:=[true/false]
For instance, `bootstrap_image_topic:=/dvs/image_raw`.
<a name="todo"></a>
## Further improvements
In the following we outline the main problems currently known and possible remedies. You are very welcome to contribute to this pipeline to make it even better!
|What can go wrong|TODO|
|:----- |:-----|
|Randomness due to OS scheduler, unreliable rosbags| Implement rosbag data provider pattern, and ensure correctness of events consumption|
||Currently the pipeline uses multiple nodes. Switching to nodelets or using a single node could improve the repeatability of the rosbags.|
|Robustness| bootstrapping: catch whenever SVO does not converge and trigger an automatic restart (what a human operator would eventually do manually).|
|| tracking: catch whenever the tracker diverges, and re-initialize. Currently we have two parameters to predict this situation, namely `min_map_size` and `min_n_keypoints`.|
|Improve bootstrapping robustness|Currently we have two working ways to bootstrap the pipeline from events: from SVO (feeding it with events frames) and with a fronto-planar assumption.|
||Reducing the assumptions required and making them more reliable would allow a better bootstrapping, reducing the gap to the bootstrapping from traditional frames (`bootstrap_image_topic:=/dvs/image_raw`).|
<a name="ref"></a>
## Additional resources on Event Cameras
* [Event-based Vision Survey](http://rpg.ifi.uzh.ch/docs/EventVisionSurvey.pdf)
* [List of Event-based Vision Resources](https://github.com/uzh-rpg/event-based_vision_resources)
* [Event Camera Dataset](http://rpg.ifi.uzh.ch/davis_data.html)
* [Event Camera Simulator](http://rpg.ifi.uzh.ch/esim)
* [RPG research page on Event Cameras](http://rpg.ifi.uzh.ch/research_dvs.html)
* [RPG research page on sensor calibration](http://rpg.ifi.uzh.ch/research_calib.html)
================================================
FILE: dependencies.yaml
================================================
repositories:
catkin_simple:
type: git
url: git@github.com:catkin/catkin_simple.git
version: master
rpg_dvs_ros:
type: git
url: git@github.com:uzh-rpg/rpg_dvs_ros.git
version: master
glog_catkin:
type: git
url: git@github.com:zurich-eye/glog_catkin.git
version: master
gflags_catkin:
type: git
url: git@github.com:zurich-eye/gflags_catkin.git
version: master
cmake_external_project_catkin:
type: git
url: git@github.com:zurich-eye/cmake_external_project_catkin.git
version: master
eigen_catkin:
type: git
url: git@github.com:ethz-asl/eigen_catkin.git
version: master
eigen_checks:
type: git
url: git@github.com:ethz-asl/eigen_checks.git
version: master
minkindr:
type: git
url: git@github.com:ethz-asl/minkindr.git
version: master
minkindr_ros:
type: git
url: git@github.com:ethz-asl/minkindr_ros.git
version: master
# SVO extra dependencies
fast_neon:
type: git
url: git@github.com:uzh-rpg/fast_neon.git
version: master
nanoflann_catkin:
type: git
url: git@github.com:cfo/nanoflann_catkin.git
version: master
opengv:
type: git
url: git@github.com:ethz-asl/opengv.git
version: master
catkin_boost_python_buildtool:
type: git
url: git@github.com:ethz-asl/catkin_boost_python_buildtool.git
version: master
numpy_eigen:
type: git
url: git@github.com:ethz-asl/numpy_eigen.git
version: master
================================================
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================================================
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> </div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#ifndef BOOTSTRAPPING_HPP</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#define BOOTSTRAPPING_HPP</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> </div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <dvs_msgs/EventArray.h></span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <geometry_msgs/PoseStamped.h></span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <gflags/gflags.h></span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <glog/logging.h></span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <image_geometry/pinhole_camera_model.h></span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include <ros/node_handle.h></span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include <ros/ros.h></span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <std_msgs/String.h></span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> </div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include "evo_utils/camera.hpp"</span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">// #include <deque></span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include <mutex></span></div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> </div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="keyword">namespace </span><a class="code" href="namespacedvs__bootstrapping.html">dvs_bootstrapping</a> {</div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> </div><div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classdvs__bootstrapping_1_1Bootstrapper.html"> 21</a></span> <span class="keyword">class </span><a class="code" href="classdvs__bootstrapping_1_1Bootstrapper.html">Bootstrapper</a> {</div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <span class="keyword">public</span>:</div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <a class="code" href="classdvs__bootstrapping_1_1Bootstrapper.html">Bootstrapper</a>(ros::NodeHandle &nh, ros::NodeHandle &nh_private);</div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="keyword">virtual</span> ~<a class="code" href="classdvs__bootstrapping_1_1Bootstrapper.html">Bootstrapper</a>() {}</div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span> </div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keywordtype">void</span> <a class="code" href="classdvs__bootstrapping_1_1Bootstrapper.html#a5c336fde4d52b1b75b1b7d43ebd9e103">startCommandCallback</a>(<span class="keyword">const</span> std_msgs::String::ConstPtr &msg);</div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span> </div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="keywordtype">void</span> <a class="code" href="classdvs__bootstrapping_1_1Bootstrapper.html#a58380879400517719b855d1bb4dbe99a">cameraInfoCallback</a>(<span class="keyword">const</span> sensor_msgs::CameraInfo::ConstPtr &msg);</div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span> </div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keywordtype">void</span> <a class="code" href="classdvs__bootstrapping_1_1Bootstrapper.html#a5ee5d565b59f276e03aaa79e89445a70">pauseBootstrapper</a>();</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span> </div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="keyword">protected</span>:</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classdvs__bootstrapping_1_1Bootstrapper.html#a1f0451b7574f6c8dc9fe8276728f481b"> 56</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classdvs__bootstrapping_1_1Bootstrapper.html#a1f0451b7574f6c8dc9fe8276728f481b">postCameraLoaded</a>() {}</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span> </div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classdvs__bootstrapping_1_1Bootstrapper.html#a67eded4cb8f32792941afb66a8cc1582"> 62</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classdvs__bootstrapping_1_1Bootstrapper.html#a67eded4cb8f32792941afb66a8cc1582">postBootstrapCalled</a>() {}</div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span> </div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="comment">/* ROS */</span></div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  ros::NodeHandle nh_, nhp_;</div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  image_geometry::PinholeCameraModel cam_;</div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span> </div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classdvs__bootstrapping_1_1Bootstrapper.html#a656b62b448a0104a78299d1b09852803"> 68</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classdvs__bootstrapping_1_1Bootstrapper.html#a656b62b448a0104a78299d1b09852803">idle_</a> = <span class="keyword">true</span>; </div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span> </div><div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classdvs__bootstrapping_1_1Bootstrapper.html#a9ee3a994f2d517ef2211aaafeb6bba24"> 70</a></span>  std::vector<dvs_msgs::Event> <a class="code" href="classdvs__bootstrapping_1_1Bootstrapper.html#a9ee3a994f2d517ef2211aaafeb6bba24">eventQueue_</a>; </div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classdvs__bootstrapping_1_1Bootstrapper.html#a43b38251f208c52f2cc4d1fc00f4f219"> 71</a></span>  std::mutex <a class="code" href="classdvs__bootstrapping_1_1Bootstrapper.html#a43b38251f208c52f2cc4d1fc00f4f219">data_mutex_</a>; </div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span> </div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classdvs__bootstrapping_1_1Bootstrapper.html#a617aa089e6e345edacaee8b9b8266490"> 73</a></span>  ros::Publisher <a class="code" href="classdvs__bootstrapping_1_1Bootstrapper.html#a617aa089e6e345edacaee8b9b8266490">remote_key_pub_</a>; </div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  std::string <a class="code" href="classdvs__bootstrapping_1_1Bootstrapper.html#ab4a986f20504628105d325b21e34a7b3">world_frame_id_</a>; </div><div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classdvs__bootstrapping_1_1Bootstrapper.html#ad0d0db5b5ce5de0f444dfd3279da55d9"> 76</a></span>  std::string <a class="code" href="classdvs__bootstrapping_1_1Bootstrapper.html#ad0d0db5b5ce5de0f444dfd3279da55d9">bootstrap_frame_id_</a>; </div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span> </div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keyword">private</span>:</div><div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classdvs__bootstrapping_1_1Bootstrapper.html#a40a55b3f3cb917d0446aead2985c7d13"> 79</a></span>  ros::Subscriber <a class="code" href="classdvs__bootstrapping_1_1Bootstrapper.html#a40a55b3f3cb917d0446aead2985c7d13">event_sub_</a>; </div><div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classdvs__bootstrapping_1_1Bootstrapper.html#a43e4d4fde4163801103a9cce9dd6c3b4"> 80</a></span>  ros::Subscriber <a class="code" href="classdvs__bootstrapping_1_1Bootstrapper.html#a43e4d4fde4163801103a9cce9dd6c3b4">remote_sub_</a>; </div><div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classdvs__bootstrapping_1_1Bootstrapper.html#a1ef8c557470ea848c4a5ce0b495712b3"> 81</a></span>  ros::Subscriber <a class="code" href="classdvs__bootstrapping_1_1Bootstrapper.html#a1ef8c557470ea848c4a5ce0b495712b3">camera_info_sub_</a>; </div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span> </div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keywordtype">void</span> <a class="code" href="classdvs__bootstrapping_1_1Bootstrapper.html#a1914b9e59081004b2ad114fb7bb94b23">eventCallback</a>(<span class="keyword">const</span> dvs_msgs::EventArray::ConstPtr &msg);</div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span> };</div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span> </div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span> } <span class="comment">// namespace dvs_bootstrapping</span></div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span> </div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span> <span class="preprocessor">#endif</span></div><div class="ttc" id="classdvs__bootstrapping_1_1Bootstrapper_html_a40a55b3f3cb917d0446aead2985c7d13"><div class="ttname"><a href="classdvs__bootstrapping_1_1Bootstrapper.html#a40a55b3f3cb917d0446aead2985c7d13">dvs_bootstrapping::Bootstrapper::event_sub_</a></div><div class="ttdeci">ros::Subscriber event_sub_</div><div class="ttdef"><b>Definition:</b> Bootstrapper.hpp:79</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1Bootstrapper_html_a58380879400517719b855d1bb4dbe99a"><div class="ttname"><a href="classdvs__bootstrapping_1_1Bootstrapper.html#a58380879400517719b855d1bb4dbe99a">dvs_bootstrapping::Bootstrapper::cameraInfoCallback</a></div><div class="ttdeci">void cameraInfoCallback(const sensor_msgs::CameraInfo::ConstPtr &msg)</div><div class="ttdef"><b>Definition:</b> Bootstrapper.cpp:55</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1Bootstrapper_html_a656b62b448a0104a78299d1b09852803"><div class="ttname"><a href="classdvs__bootstrapping_1_1Bootstrapper.html#a656b62b448a0104a78299d1b09852803">dvs_bootstrapping::Bootstrapper::idle_</a></div><div class="ttdeci">bool idle_</div><div class="ttdoc">Whether it is bootstrapping the pipeline. </div><div class="ttdef"><b>Definition:</b> Bootstrapper.hpp:68</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1Bootstrapper_html_a9ee3a994f2d517ef2211aaafeb6bba24"><div class="ttname"><a href="classdvs__bootstrapping_1_1Bootstrapper.html#a9ee3a994f2d517ef2211aaafeb6bba24">dvs_bootstrapping::Bootstrapper::eventQueue_</a></div><div class="ttdeci">std::vector< dvs_msgs::Event > eventQueue_</div><div class="ttdef"><b>Definition:</b> Bootstrapper.hpp:70</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1Bootstrapper_html_ab4a986f20504628105d325b21e34a7b3"><div class="ttname"><a href="classdvs__bootstrapping_1_1Bootstrapper.html#ab4a986f20504628105d325b21e34a7b3">dvs_bootstrapping::Bootstrapper::world_frame_id_</a></div><div class="ttdeci">std::string world_frame_id_</div><div class="ttdoc">The root of the tf system. </div><div class="ttdef"><b>Definition:</b> Bootstrapper.hpp:75</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1Bootstrapper_html_a617aa089e6e345edacaee8b9b8266490"><div class="ttname"><a href="classdvs__bootstrapping_1_1Bootstrapper.html#a617aa089e6e345edacaee8b9b8266490">dvs_bootstrapping::Bootstrapper::remote_key_pub_</a></div><div class="ttdeci">ros::Publisher remote_key_pub_</div><div class="ttdef"><b>Definition:</b> Bootstrapper.hpp:73</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1Bootstrapper_html_a5ee5d565b59f276e03aaa79e89445a70"><div class="ttname"><a href="classdvs__bootstrapping_1_1Bootstrapper.html#a5ee5d565b59f276e03aaa79e89445a70">dvs_bootstrapping::Bootstrapper::pauseBootstrapper</a></div><div class="ttdeci">void pauseBootstrapper()</div><div class="ttdef"><b>Definition:</b> Bootstrapper.cpp:69</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1Bootstrapper_html_ad0d0db5b5ce5de0f444dfd3279da55d9"><div class="ttname"><a href="classdvs__bootstrapping_1_1Bootstrapper.html#ad0d0db5b5ce5de0f444dfd3279da55d9">dvs_bootstrapping::Bootstrapper::bootstrap_frame_id_</a></div><div class="ttdeci">std::string bootstrap_frame_id_</div><div class="ttdoc">child frame id for bootstrap </div><div class="ttdef"><b>Definition:</b> Bootstrapper.hpp:76</div></div>
<div class="ttc" id="namespacedvs__bootstrapping_html"><div class="ttname"><a href="namespacedvs__bootstrapping.html">dvs_bootstrapping</a></div><div class="ttdef"><b>Definition:</b> Bootstrapper.hpp:19</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1Bootstrapper_html_a1914b9e59081004b2ad114fb7bb94b23"><div class="ttname"><a href="classdvs__bootstrapping_1_1Bootstrapper.html#a1914b9e59081004b2ad114fb7bb94b23">dvs_bootstrapping::Bootstrapper::eventCallback</a></div><div class="ttdeci">void eventCallback(const dvs_msgs::EventArray::ConstPtr &msg)</div><div class="ttdef"><b>Definition:</b> Bootstrapper.cpp:74</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1Bootstrapper_html_a43e4d4fde4163801103a9cce9dd6c3b4"><div class="ttname"><a href="classdvs__bootstrapping_1_1Bootstrapper.html#a43e4d4fde4163801103a9cce9dd6c3b4">dvs_bootstrapping::Bootstrapper::remote_sub_</a></div><div class="ttdeci">ros::Subscriber remote_sub_</div><div class="ttdef"><b>Definition:</b> Bootstrapper.hpp:80</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1Bootstrapper_html_a1f0451b7574f6c8dc9fe8276728f481b"><div class="ttname"><a href="classdvs__bootstrapping_1_1Bootstrapper.html#a1f0451b7574f6c8dc9fe8276728f481b">dvs_bootstrapping::Bootstrapper::postCameraLoaded</a></div><div class="ttdeci">virtual void postCameraLoaded()</div><div class="ttdef"><b>Definition:</b> Bootstrapper.hpp:56</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1Bootstrapper_html_a1ef8c557470ea848c4a5ce0b495712b3"><div class="ttname"><a href="classdvs__bootstrapping_1_1Bootstrapper.html#a1ef8c557470ea848c4a5ce0b495712b3">dvs_bootstrapping::Bootstrapper::camera_info_sub_</a></div><div class="ttdeci">ros::Subscriber camera_info_sub_</div><div class="ttdef"><b>Definition:</b> Bootstrapper.hpp:81</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1Bootstrapper_html_a5c336fde4d52b1b75b1b7d43ebd9e103"><div class="ttname"><a href="classdvs__bootstrapping_1_1Bootstrapper.html#a5c336fde4d52b1b75b1b7d43ebd9e103">dvs_bootstrapping::Bootstrapper::startCommandCallback</a></div><div class="ttdeci">void startCommandCallback(const std_msgs::String::ConstPtr &msg)</div><div class="ttdef"><b>Definition:</b> Bootstrapper.cpp:37</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1Bootstrapper_html_a67eded4cb8f32792941afb66a8cc1582"><div class="ttname"><a href="classdvs__bootstrapping_1_1Bootstrapper.html#a67eded4cb8f32792941afb66a8cc1582">dvs_bootstrapping::Bootstrapper::postBootstrapCalled</a></div><div class="ttdeci">virtual void postBootstrapCalled()</div><div class="ttdef"><b>Definition:</b> Bootstrapper.hpp:62</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1Bootstrapper_html_a43b38251f208c52f2cc4d1fc00f4f219"><div class="ttname"><a href="classdvs__bootstrapping_1_1Bootstrapper.html#a43b38251f208c52f2cc4d1fc00f4f219">dvs_bootstrapping::Bootstrapper::data_mutex_</a></div><div class="ttdeci">std::mutex data_mutex_</div><div class="ttdoc">to grant exclusive access to eventQueue_ </div><div class="ttdef"><b>Definition:</b> Bootstrapper.hpp:71</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1Bootstrapper_html"><div class="ttname"><a href="classdvs__bootstrapping_1_1Bootstrapper.html">dvs_bootstrapping::Bootstrapper</a></div><div class="ttdef"><b>Definition:</b> Bootstrapper.hpp:21</div></div>
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<li class="navelem"><a class="el" href="dir_516a7f4e30cbe24e1a7beeb3c3044b88.html">dvs_bootstrapping</a></li><li class="navelem"><a class="el" href="dir_77d0aaa9b1a808cb652b0b7308189d7e.html">include</a></li><li class="navelem"><a class="el" href="dir_135e35ac0bac6dfe4cb773674dae4da2.html">dvs_bootstrapping</a></li> </ul>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> </div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#ifndef KLT_BOOTSTRAPPER_HPP</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#define KLT_BOOTSTRAPPER_HPP</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> </div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <image_transport/image_transport.h></span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <tf/tf.h></span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <tf/transform_broadcaster.h></span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> </div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <deque></span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include <opencv2/core.hpp></span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include <vector></span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> </div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include "dvs_bootstrapping/Bootstrapper.hpp"</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include "motion_correction.hpp"</span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> </div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="keyword">namespace </span><a class="code" href="namespacedvs__bootstrapping.html">dvs_bootstrapping</a> {</div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> </div><div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html"> 22</a></span> <span class="keyword">class </span><a class="code" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html">EventsFramesBootstrapper</a> : <span class="keyword">public</span> <a class="code" href="classdvs__bootstrapping_1_1Bootstrapper.html">Bootstrapper</a> {</div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keyword">public</span>:</div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <a class="code" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html">EventsFramesBootstrapper</a>(ros::NodeHandle &nh, ros::NodeHandle &nhp);</div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="keyword">virtual</span> ~<a class="code" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html">EventsFramesBootstrapper</a>();</div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> </div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keyword">protected</span>:</div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  <span class="keywordtype">void</span> <a class="code" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#a5cb2328ccca4540592a7e462d4503991">postCameraLoaded</a>() <span class="keyword">override</span>;</div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#a15cf181171b6e147d51fb3d34b1459c3"> 29</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#a15cf181171b6e147d51fb3d34b1459c3">width_</a>; </div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#aff0a99868ff4ca68ee8cb63d68025236"> 30</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#aff0a99868ff4ca68ee8cb63d68025236">height_</a>; </div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  cv::Size sensor_size_;</div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  std::vector<cv::Point2f> rectified_points_;</div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <span class="keywordtype">bool</span> keep_frames_ = <span class="keyword">false</span>;</div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  std::mutex img_mutex_;</div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#a6cfaf0e56d549c48c06334efbd04ab49"> 35</a></span>  std::deque<cv::Mat> <a class="code" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#a6cfaf0e56d549c48c06334efbd04ab49">frames_</a>; </div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <span class="keywordtype">int</span> rate_hz_;</div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#a425dc08fd4e0100eba904dd3a7503d4a"> 37</a></span>  ros::Time <a class="code" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#a425dc08fd4e0100eba904dd3a7503d4a">ts_</a>; </div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span> </div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keyword">private</span>:</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  tf::Transformer tf_;</div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  tf::TransformBroadcaster tf_pub_;</div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  image_transport::ImageTransport it_;</div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  image_transport::Publisher pub_event_img_, pub_optical_flow_;</div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span> </div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#ab94f6fda052003d3d3a3c9782aa04301"> 45</a></span>  <span class="keywordtype">int</span> <a class="code" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#ab94f6fda052003d3d3a3c9782aa04301">frame_size_</a>; </div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keywordtype">int</span> <a class="code" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#ae6a7f21a3b5b5dff875b0f6573c47dcf">local_frame_size_</a>; </div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keywordtype">int</span> <a class="code" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#aaafb56114b190f10a32e49ef7042c46d">newest_processed_event_</a>; </div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keywordtype">bool</span> <a class="code" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#abc3eaa3b946e04185c10bcefb931e0f3">enable_visuals_</a>; </div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  cv::Mat <a class="code" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#a685a6a728974af53157f9373aa463838">undistort_mapx_</a>; </div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#a709741806ccfc7d9a4157b6547ba81b7"> 55</a></span>  cv::Mat <a class="code" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#a709741806ccfc7d9a4157b6547ba81b7">undistort_mapy_</a>; </div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span> </div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <a class="code" href="classmotion__correction_1_1WarpUpdateParams.html">motion_correction::WarpUpdateParams</a></div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  unwarp_params_; </div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span> </div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="keywordtype">void</span> <a class="code" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#a5f7a1ab3f8226687166d6fe5b8520b01">integratingThread</a>();</div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span> </div><div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keywordtype">bool</span> <a class="code" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#af4746b4fc632d898bfab5dc8e63b708d">integrateEvents</a>();</div><div class="line"><a name="l00104"></a><span class="lineno"> 104</span> </div><div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keywordtype">void</span> <a class="code" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#a26dd5dfdba38a4c1d0e79c40a516ebde">clearEventQueue</a>();</div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span> </div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keywordtype">void</span> <a class="code" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#ad90caac7628ef0bc3dec5e963f60053e">publishEventImage</a>(<span class="keyword">const</span> cv::Mat &img, <span class="keyword">const</span> ros::Time &ts);</div><div class="line"><a name="l00120"></a><span class="lineno"> 120</span> </div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="keywordtype">void</span> <a class="code" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#aaeb941155dfff9dc9ab9f8a87590f6fe">publishOpticalFlowVectors</a>(<span class="keyword">const</span> cv::Mat &flow_field);</div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span> };</div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span> </div><div class="line"><a name="l00132"></a><span class="lineno"> 132</span> } <span class="comment">// namespace dvs_bootstrapping</span></div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span> </div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span> <span class="preprocessor">#endif</span></div><div class="ttc" id="classdvs__bootstrapping_1_1EventsFramesBootstrapper_html_ae6a7f21a3b5b5dff875b0f6573c47dcf"><div class="ttname"><a href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#ae6a7f21a3b5b5dff875b0f6573c47dcf">dvs_bootstrapping::EventsFramesBootstrapper::local_frame_size_</a></div><div class="ttdeci">int local_frame_size_</div><div class="ttdef"><b>Definition:</b> EventsFramesBootstrapper.hpp:47</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1EventsFramesBootstrapper_html_af4746b4fc632d898bfab5dc8e63b708d"><div class="ttname"><a href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#af4746b4fc632d898bfab5dc8e63b708d">dvs_bootstrapping::EventsFramesBootstrapper::integrateEvents</a></div><div class="ttdeci">bool integrateEvents()</div><div class="ttdef"><b>Definition:</b> EventsFramesBootstrapper.cpp:103</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1EventsFramesBootstrapper_html_ad90caac7628ef0bc3dec5e963f60053e"><div class="ttname"><a href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#ad90caac7628ef0bc3dec5e963f60053e">dvs_bootstrapping::EventsFramesBootstrapper::publishEventImage</a></div><div class="ttdeci">void publishEventImage(const cv::Mat &img, const ros::Time &ts)</div><div class="ttdef"><b>Definition:</b> EventsFramesBootstrapper.cpp:203</div></div>
<div class="ttc" id="classmotion__correction_1_1WarpUpdateParams_html"><div class="ttname"><a href="classmotion__correction_1_1WarpUpdateParams.html">motion_correction::WarpUpdateParams</a></div><div class="ttdef"><b>Definition:</b> motion_correction.hpp:52</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1EventsFramesBootstrapper_html_a26dd5dfdba38a4c1d0e79c40a516ebde"><div class="ttname"><a href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#a26dd5dfdba38a4c1d0e79c40a516ebde">dvs_bootstrapping::EventsFramesBootstrapper::clearEventQueue</a></div><div class="ttdeci">void clearEventQueue()</div><div class="ttdef"><b>Definition:</b> EventsFramesBootstrapper.cpp:94</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1EventsFramesBootstrapper_html_a6cfaf0e56d549c48c06334efbd04ab49"><div class="ttname"><a href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#a6cfaf0e56d549c48c06334efbd04ab49">dvs_bootstrapping::EventsFramesBootstrapper::frames_</a></div><div class="ttdeci">std::deque< cv::Mat > frames_</div><div class="ttdoc">images obtained aggregating events </div><div class="ttdef"><b>Definition:</b> EventsFramesBootstrapper.hpp:35</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1EventsFramesBootstrapper_html_abc3eaa3b946e04185c10bcefb931e0f3"><div class="ttname"><a href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#abc3eaa3b946e04185c10bcefb931e0f3">dvs_bootstrapping::EventsFramesBootstrapper::enable_visuals_</a></div><div class="ttdeci">bool enable_visuals_</div><div class="ttdef"><b>Definition:</b> EventsFramesBootstrapper.hpp:52</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1EventsFramesBootstrapper_html_aaafb56114b190f10a32e49ef7042c46d"><div class="ttname"><a href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#aaafb56114b190f10a32e49ef7042c46d">dvs_bootstrapping::EventsFramesBootstrapper::newest_processed_event_</a></div><div class="ttdeci">int newest_processed_event_</div><div class="ttdef"><b>Definition:</b> EventsFramesBootstrapper.hpp:50</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1EventsFramesBootstrapper_html_a5cb2328ccca4540592a7e462d4503991"><div class="ttname"><a href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#a5cb2328ccca4540592a7e462d4503991">dvs_bootstrapping::EventsFramesBootstrapper::postCameraLoaded</a></div><div class="ttdeci">void postCameraLoaded() override</div><div class="ttdef"><b>Definition:</b> EventsFramesBootstrapper.cpp:52</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1EventsFramesBootstrapper_html_ab94f6fda052003d3d3a3c9782aa04301"><div class="ttname"><a href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#ab94f6fda052003d3d3a3c9782aa04301">dvs_bootstrapping::EventsFramesBootstrapper::frame_size_</a></div><div class="ttdeci">int frame_size_</div><div class="ttdef"><b>Definition:</b> EventsFramesBootstrapper.hpp:45</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1EventsFramesBootstrapper_html_a15cf181171b6e147d51fb3d34b1459c3"><div class="ttname"><a href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#a15cf181171b6e147d51fb3d34b1459c3">dvs_bootstrapping::EventsFramesBootstrapper::width_</a></div><div class="ttdeci">size_t width_</div><div class="ttdoc">image size: width </div><div class="ttdef"><b>Definition:</b> EventsFramesBootstrapper.hpp:29</div></div>
<div class="ttc" id="namespacedvs__bootstrapping_html"><div class="ttname"><a href="namespacedvs__bootstrapping.html">dvs_bootstrapping</a></div><div class="ttdef"><b>Definition:</b> Bootstrapper.hpp:19</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1EventsFramesBootstrapper_html"><div class="ttname"><a href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html">dvs_bootstrapping::EventsFramesBootstrapper</a></div><div class="ttdef"><b>Definition:</b> EventsFramesBootstrapper.hpp:22</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1EventsFramesBootstrapper_html_a685a6a728974af53157f9373aa463838"><div class="ttname"><a href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#a685a6a728974af53157f9373aa463838">dvs_bootstrapping::EventsFramesBootstrapper::undistort_mapx_</a></div><div class="ttdeci">cv::Mat undistort_mapx_</div><div class="ttdoc">distorted to undistorted pixels (x) </div><div class="ttdef"><b>Definition:</b> EventsFramesBootstrapper.hpp:54</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1EventsFramesBootstrapper_html_a709741806ccfc7d9a4157b6547ba81b7"><div class="ttname"><a href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#a709741806ccfc7d9a4157b6547ba81b7">dvs_bootstrapping::EventsFramesBootstrapper::undistort_mapy_</a></div><div class="ttdeci">cv::Mat undistort_mapy_</div><div class="ttdoc">distorted to undistorted pixels (y) </div><div class="ttdef"><b>Definition:</b> EventsFramesBootstrapper.hpp:55</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1EventsFramesBootstrapper_html_a5f7a1ab3f8226687166d6fe5b8520b01"><div class="ttname"><a href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#a5f7a1ab3f8226687166d6fe5b8520b01">dvs_bootstrapping::EventsFramesBootstrapper::integratingThread</a></div><div class="ttdeci">void integratingThread()</div><div class="ttdoc">motion undistortion params </div><div class="ttdef"><b>Definition:</b> EventsFramesBootstrapper.cpp:78</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1EventsFramesBootstrapper_html_a425dc08fd4e0100eba904dd3a7503d4a"><div class="ttname"><a href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#a425dc08fd4e0100eba904dd3a7503d4a">dvs_bootstrapping::EventsFramesBootstrapper::ts_</a></div><div class="ttdeci">ros::Time ts_</div><div class="ttdoc">last timestamped image (last received event) </div><div class="ttdef"><b>Definition:</b> EventsFramesBootstrapper.hpp:37</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1EventsFramesBootstrapper_html_aff0a99868ff4ca68ee8cb63d68025236"><div class="ttname"><a href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#aff0a99868ff4ca68ee8cb63d68025236">dvs_bootstrapping::EventsFramesBootstrapper::height_</a></div><div class="ttdeci">size_t height_</div><div class="ttdoc">image size: height </div><div class="ttdef"><b>Definition:</b> EventsFramesBootstrapper.hpp:30</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1Bootstrapper_html"><div class="ttname"><a href="classdvs__bootstrapping_1_1Bootstrapper.html">dvs_bootstrapping::Bootstrapper</a></div><div class="ttdef"><b>Definition:</b> Bootstrapper.hpp:21</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1EventsFramesBootstrapper_html_aaeb941155dfff9dc9ab9f8a87590f6fe"><div class="ttname"><a href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html#aaeb941155dfff9dc9ab9f8a87590f6fe">dvs_bootstrapping::EventsFramesBootstrapper::publishOpticalFlowVectors</a></div><div class="ttdeci">void publishOpticalFlowVectors(const cv::Mat &flow_field)</div><div class="ttdef"><b>Definition:</b> EventsFramesBootstrapper.cpp:217</div></div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> </div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#ifndef HARRIS_BOOTSTRAPPER_HPP</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#define HARRIS_BOOTSTRAPPER_HPP</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> </div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <image_transport/image_transport.h></span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <pcl/point_types.h></span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <pcl_ros/point_cloud.h></span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <tf/tf.h></span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <tf/transform_broadcaster.h></span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> </div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include <opencv2/core.hpp></span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> </div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include "dvs_bootstrapping/EventsFramesBootstrapper.hpp"</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> </div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="keyword">namespace </span><a class="code" href="namespacedvs__bootstrapping.html">dvs_bootstrapping</a> {</div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> </div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="keyword">typedef</span> pcl::PointXYZI PointType;</div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="keyword">typedef</span> pcl::PointCloud<PointType> PointCloud;</div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> </div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper.html"> 29</a></span> <span class="keyword">class </span><a class="code" href="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper.html">FrontoPlanarBootstrapper</a> : <span class="keyword">public</span> <a class="code" href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html">EventsFramesBootstrapper</a> {</div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="keyword">public</span>:</div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <a class="code" href="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper.html">FrontoPlanarBootstrapper</a>(ros::NodeHandle &nh, ros::NodeHandle &nhp);</div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <span class="keyword">virtual</span> ~<a class="code" href="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper.html">FrontoPlanarBootstrapper</a>();</div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span> </div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keyword">protected</span>:</div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keywordtype">void</span> <a class="code" href="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper.html#a7705cc27f5576a7cbce05cd42fd5e9c3">postBootstrapCalled</a>() <span class="keyword">override</span>;</div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span> </div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keyword">private</span>:</div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  ros::Publisher</div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper.html#a43637fc6e2b7f7e05d92a9f5132970c7"> 39</a></span>  <a class="code" href="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper.html#a43637fc6e2b7f7e05d92a9f5132970c7">pub_pc_</a>; </div><div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper.html#aea843038e505012562c626cd1c25424b"> 40</a></span>  PointCloud::Ptr <a class="code" href="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper.html#aea843038e505012562c626cd1c25424b">pcl_</a>; </div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span> </div><div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper.html#ae5a697b3f40227821f98b245ec212275"> 42</a></span>  tf::TransformBroadcaster <a class="code" href="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper.html#ae5a697b3f40227821f98b245ec212275">pub_tf_</a>; </div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span> </div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keywordtype">bool</span> start_ = <span class="keyword">false</span>;</div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span> </div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keywordtype">bool</span> <a class="code" href="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper.html#a2c3eec8aa1e1647d9f1520046dbbcbd7">bootstrap</a>();</div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span> </div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keywordtype">void</span> <a class="code" href="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper.html#acfc193401e2a3b820b866c5d52a943a8">bootstrappingThread</a>();</div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span> </div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keywordtype">bool</span> <a class="code" href="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper.html#aaf4d0a5f39993ade1e9d3c38f0e34b6b">publishPcl</a>();</div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span> };</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span> </div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span> } <span class="comment">// namespace dvs_bootstrapping</span></div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span> </div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span> <span class="preprocessor">#endif</span></div><div class="ttc" id="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper_html_a7705cc27f5576a7cbce05cd42fd5e9c3"><div class="ttname"><a href="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper.html#a7705cc27f5576a7cbce05cd42fd5e9c3">dvs_bootstrapping::FrontoPlanarBootstrapper::postBootstrapCalled</a></div><div class="ttdeci">void postBootstrapCalled() override</div><div class="ttdef"><b>Definition:</b> FrontoPlanarBootstrapper.cpp:67</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper_html_ae5a697b3f40227821f98b245ec212275"><div class="ttname"><a href="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper.html#ae5a697b3f40227821f98b245ec212275">dvs_bootstrapping::FrontoPlanarBootstrapper::pub_tf_</a></div><div class="ttdeci">tf::TransformBroadcaster pub_tf_</div><div class="ttdoc">to send the first pose </div><div class="ttdef"><b>Definition:</b> FrontoPlanarBootstrapper.hpp:42</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper_html_a43637fc6e2b7f7e05d92a9f5132970c7"><div class="ttname"><a href="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper.html#a43637fc6e2b7f7e05d92a9f5132970c7">dvs_bootstrapping::FrontoPlanarBootstrapper::pub_pc_</a></div><div class="ttdeci">ros::Publisher pub_pc_</div><div class="ttdoc">publisher of the first approximation of the map </div><div class="ttdef"><b>Definition:</b> FrontoPlanarBootstrapper.hpp:39</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper_html_aaf4d0a5f39993ade1e9d3c38f0e34b6b"><div class="ttname"><a href="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper.html#aaf4d0a5f39993ade1e9d3c38f0e34b6b">dvs_bootstrapping::FrontoPlanarBootstrapper::publishPcl</a></div><div class="ttdeci">bool publishPcl()</div><div class="ttdef"><b>Definition:</b> FrontoPlanarBootstrapper.cpp:99</div></div>
<div class="ttc" id="namespacedvs__bootstrapping_html"><div class="ttname"><a href="namespacedvs__bootstrapping.html">dvs_bootstrapping</a></div><div class="ttdef"><b>Definition:</b> Bootstrapper.hpp:19</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1EventsFramesBootstrapper_html"><div class="ttname"><a href="classdvs__bootstrapping_1_1EventsFramesBootstrapper.html">dvs_bootstrapping::EventsFramesBootstrapper</a></div><div class="ttdef"><b>Definition:</b> EventsFramesBootstrapper.hpp:22</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper_html_aea843038e505012562c626cd1c25424b"><div class="ttname"><a href="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper.html#aea843038e505012562c626cd1c25424b">dvs_bootstrapping::FrontoPlanarBootstrapper::pcl_</a></div><div class="ttdeci">PointCloud::Ptr pcl_</div><div class="ttdoc">map </div><div class="ttdef"><b>Definition:</b> FrontoPlanarBootstrapper.hpp:40</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper_html"><div class="ttname"><a href="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper.html">dvs_bootstrapping::FrontoPlanarBootstrapper</a></div><div class="ttdef"><b>Definition:</b> FrontoPlanarBootstrapper.hpp:29</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper_html_acfc193401e2a3b820b866c5d52a943a8"><div class="ttname"><a href="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper.html#acfc193401e2a3b820b866c5d52a943a8">dvs_bootstrapping::FrontoPlanarBootstrapper::bootstrappingThread</a></div><div class="ttdeci">void bootstrappingThread()</div><div class="ttdef"><b>Definition:</b> FrontoPlanarBootstrapper.cpp:34</div></div>
<div class="ttc" id="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper_html_a2c3eec8aa1e1647d9f1520046dbbcbd7"><div class="ttname"><a href="classdvs__bootstrapping_1_1FrontoPlanarBootstrapper.html#a2c3eec8aa1e1647d9f1520046dbbcbd7">dvs_bootstrapping::FrontoPlanarBootstrapper::bootstrap</a></div><div class="ttdeci">bool bootstrap()</div><div class="ttdef"><b>Definition:</b> FrontoPlanarBootstrapper.cpp:69</div></div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// This file is part of SVO - Semi-direct Visual Odometry.</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">//</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch></span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">// (Robotics and Perception Group, University of Zurich, Switzerland).</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">//</span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">// This file is subject to the terms and conditions defined in the file</span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// 'LICENSE', which is part of this source code package.</span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> </div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> </div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">// svo</span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include <svo/global.h></span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> </div><div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="namespacesvo.html"> 14</a></span> <span class="keyword">namespace </span><a class="code" href="namespacesvo.html">svo</a></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> {</div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> </div><div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="classsvo_1_1AbstractBundleAdjustment.html"> 18</a></span> <span class="keyword">class </span><a class="code" href="classsvo_1_1AbstractBundleAdjustment.html">AbstractBundleAdjustment</a></div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> {</div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span> </div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <span class="keyword">typedef</span> std::shared_ptr<AbstractBundleAdjustment> Ptr;</div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> </div><div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classsvo_1_1AbstractBundleAdjustment.html#a35e01f583c981f080f5145d1ef48eab2"> 25</a></span>  <a class="code" href="classsvo_1_1AbstractBundleAdjustment.html#a35e01f583c981f080f5145d1ef48eab2">AbstractBundleAdjustment</a>() {}</div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> </div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keyword">virtual</span> ~<a class="code" href="classsvo_1_1AbstractBundleAdjustment.html">AbstractBundleAdjustment</a>() {}</div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span> </div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  <span class="comment">// no copy</span></div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <a class="code" href="classsvo_1_1AbstractBundleAdjustment.html#a35e01f583c981f080f5145d1ef48eab2">AbstractBundleAdjustment</a>(<span class="keyword">const</span> <a class="code" href="classsvo_1_1AbstractBundleAdjustment.html">AbstractBundleAdjustment</a>&) = <span class="keyword">delete</span>;</div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <a class="code" href="classsvo_1_1AbstractBundleAdjustment.html">AbstractBundleAdjustment</a>& operator=(<span class="keyword">const</span> <a class="code" href="classsvo_1_1AbstractBundleAdjustment.html">AbstractBundleAdjustment</a>&) = <span class="keyword">delete</span>;</div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span> </div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classsvo_1_1AbstractBundleAdjustment.html#ad40025b532afd75ecfc2b0b5a71e0c4b">bundleAdjustment</a>(</div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keyword">const</span> FrameBundlePtr& frame_bundle) = 0;</div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span> </div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classsvo_1_1AbstractBundleAdjustment.html#a355647c9d3d43586cd285825e1422227">loadMapFromBundleAdjustment</a>(</div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keyword">const</span> FrameBundlePtr& new_frames,</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keyword">const</span> FrameBundlePtr& last_frames,</div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keyword">const</span> MapPtr& map) = 0;</div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span> </div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classsvo_1_1AbstractBundleAdjustment.html#acda25a78c893ab4eb9cb509b4e85e6fc">reset</a>() = 0;</div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span> </div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classsvo_1_1AbstractBundleAdjustment.html#a04334dbebb83a25bb96ffccb23be155b">startThread</a>() = 0;</div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span> </div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classsvo_1_1AbstractBundleAdjustment.html#a66493d4508f097b99b90c241db10db0b">quitThread</a>() = 0;</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span> };</div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span> </div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span> } <span class="comment">// namespace svo</span></div><div class="ttc" id="classsvo_1_1AbstractBundleAdjustment_html_a04334dbebb83a25bb96ffccb23be155b"><div class="ttname"><a href="classsvo_1_1AbstractBundleAdjustment.html#a04334dbebb83a25bb96ffccb23be155b">svo::AbstractBundleAdjustment::startThread</a></div><div class="ttdeci">virtual void startThread()=0</div><div class="ttdoc">Bundle adjustment can run completely in parallel. Start the thread to do so. </div></div>
<div class="ttc" id="classsvo_1_1AbstractBundleAdjustment_html_a355647c9d3d43586cd285825e1422227"><div class="ttname"><a href="classsvo_1_1AbstractBundleAdjustment.html#a355647c9d3d43586cd285825e1422227">svo::AbstractBundleAdjustment::loadMapFromBundleAdjustment</a></div><div class="ttdeci">virtual void loadMapFromBundleAdjustment(const FrameBundlePtr &new_frames, const FrameBundlePtr &last_frames, const MapPtr &map)=0</div><div class="ttdoc">Update map with results from bundle adjustment. </div></div>
<div class="ttc" id="classsvo_1_1AbstractBundleAdjustment_html_a66493d4508f097b99b90c241db10db0b"><div class="ttname"><a href="classsvo_1_1AbstractBundleAdjustment.html#a66493d4508f097b99b90c241db10db0b">svo::AbstractBundleAdjustment::quitThread</a></div><div class="ttdeci">virtual void quitThread()=0</div><div class="ttdoc">Stop and join the bundle adjustment thread. </div></div>
<div class="ttc" id="classsvo_1_1AbstractBundleAdjustment_html"><div class="ttname"><a href="classsvo_1_1AbstractBundleAdjustment.html">svo::AbstractBundleAdjustment</a></div><div class="ttdoc">EXPERIMENTAL Defines interface for various bundle adjustment methods. </div><div class="ttdef"><b>Definition:</b> abstract_bundle_adjustment.h:18</div></div>
<div class="ttc" id="classsvo_1_1AbstractBundleAdjustment_html_a35e01f583c981f080f5145d1ef48eab2"><div class="ttname"><a href="classsvo_1_1AbstractBundleAdjustment.html#a35e01f583c981f080f5145d1ef48eab2">svo::AbstractBundleAdjustment::AbstractBundleAdjustment</a></div><div class="ttdeci">AbstractBundleAdjustment()</div><div class="ttdoc">Default constructor. </div><div class="ttdef"><b>Definition:</b> abstract_bundle_adjustment.h:25</div></div>
<div class="ttc" id="classsvo_1_1AbstractBundleAdjustment_html_ad40025b532afd75ecfc2b0b5a71e0c4b"><div class="ttname"><a href="classsvo_1_1AbstractBundleAdjustment.html#ad40025b532afd75ecfc2b0b5a71e0c4b">svo::AbstractBundleAdjustment::bundleAdjustment</a></div><div class="ttdeci">virtual void bundleAdjustment(const FrameBundlePtr &frame_bundle)=0</div><div class="ttdoc">Invoke bundle adjustment. </div></div>
<div class="ttc" id="namespacesvo_html"><div class="ttname"><a href="namespacesvo.html">svo</a></div><div class="ttdoc">< for FloatTypeGpu </div><div class="ttdef"><b>Definition:</b> abstract_bundle_adjustment.h:14</div></div>
<div class="ttc" id="classsvo_1_1AbstractBundleAdjustment_html_acda25a78c893ab4eb9cb509b4e85e6fc"><div class="ttname"><a href="classsvo_1_1AbstractBundleAdjustment.html#acda25a78c893ab4eb9cb509b4e85e6fc">svo::AbstractBundleAdjustment::reset</a></div><div class="ttdeci">virtual void reset()=0</div><div class="ttdoc">Reset bundle adjustment. </div></div>
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gitextract_xxqg6hiq/
├── .gitignore
├── Doxygen
├── README.md
├── SOURCE CODE LICENSE AGREEMENT_evo.doc
├── dependencies.yaml
├── docs/
│ ├── Bootstrapper_8hpp_source.html
│ ├── EventsFramesBootstrapper_8hpp_source.html
│ ├── FrontoPlanarBootstrapper_8hpp_source.html
│ ├── abstract__bundle__adjustment_8h_source.html
│ ├── annotated.html
│ ├── atan__distortion_8h_source.html
│ ├── backend__factory_8h_source.html
│ ├── backend__interface_8h_source.html
│ ├── backend__optimizer_8h_source.html
│ ├── backend__types_8h_source.html
│ ├── backend__visualizer_8h_source.html
│ ├── backtrace_8h_source.html
│ ├── batch__worker_8h_source.html
│ ├── blender__utils_8h_source.html
│ ├── callback__host_8h_source.html
│ ├── camera-yaml-serialization_8h_source.html
│ ├── camera_8h_source.html
│ ├── camera_8hpp_source.html
│ ├── camera__factory_8h_source.html
│ ├── camera__fwd_8h_source.html
│ ├── camera__geometry_8h_source.html
│ ├── camera__geometry_8hpp_source.html
│ ├── camera__geometry__base_8h_source.html
│ ├── camera__geometry__base_8hpp_source.html
│ ├── cameras_8h_source.html
│ ├── classCamerasTest-members.html
│ ├── classCamerasTest.html
│ ├── classCamerasTest__coll__graph.md5
│ ├── classCamerasTest__inherit__graph.md5
│ ├── classDvsReconstruction-members.html
│ ├── classDvsReconstruction.html
│ ├── classDvsReconstruction__coll__graph.md5
│ ├── classDvsTrackingNodelet-members.html
│ ├── classDvsTrackingNodelet.html
│ ├── classDvsTrackingNodelet__coll__graph.md5
│ ├── classDvsTrackingNodelet__inherit__graph.md5
│ ├── classLKSE3-members.html
│ ├── classLKSE3.html
│ ├── classLKSE3__coll__graph.md5
│ ├── classLKSE3__inherit__graph.md5
│ ├── classMedianFilterTest-members.html
│ ├── classMedianFilterTest.html
│ ├── classMedianFilterTest__coll__graph.md5
│ ├── classMedianFilterTest__inherit__graph.md5
│ ├── classMosaic-members.html
│ ├── classMosaic.html
│ ├── classMosaic__coll__graph.md5
│ ├── classTracker-members.html
│ ├── classTracker.html
│ ├── classTracker__coll__graph.md5
│ ├── classTracker__inherit__graph.md5
│ ├── classaslam_1_1common_1_1NumericalDiff-members.html
│ ├── classaslam_1_1common_1_1NumericalDiff.html
│ ├── classaslam_1_1common_1_1NumericalDiff__coll__graph.md5
│ ├── classaslam_1_1common_1_1NumericalDiff__inherit__graph.md5
│ ├── classaslam_1_1common_1_1ZeroNumericalDiff-members.html
│ ├── classaslam_1_1common_1_1ZeroNumericalDiff.html
│ ├── classcv_1_1HomographyDecomposition_1_1HomographyDecomp-members.html
│ ├── classcv_1_1HomographyDecomposition_1_1HomographyDecomp.html
│ ├── classcv_1_1HomographyDecomposition_1_1HomographyDecompInria-members.html
│ ├── classcv_1_1HomographyDecomposition_1_1HomographyDecompInria.html
│ ├── classcv_1_1HomographyDecomposition_1_1HomographyDecompInria__coll__graph.md5
│ ├── classcv_1_1HomographyDecomposition_1_1HomographyDecompInria__inherit__graph.md5
│ ├── classcv_1_1HomographyDecomposition_1_1HomographyDecompZhang-members.html
│ ├── classcv_1_1HomographyDecomposition_1_1HomographyDecompZhang.html
│ ├── classcv_1_1HomographyDecomposition_1_1HomographyDecompZhang__coll__graph.md5
│ ├── classcv_1_1HomographyDecomposition_1_1HomographyDecompZhang__inherit__graph.md5
│ ├── classcv_1_1HomographyDecomposition_1_1HomographyDecomp__inherit__graph.md5
│ ├── classdepth__from__defocus_1_1DepthFromDefocusNode-members.html
│ ├── classdepth__from__defocus_1_1DepthFromDefocusNode.html
│ ├── classdepth__from__defocus_1_1DepthFromDefocusNode__coll__graph.md5
│ ├── classdepth__from__defocus_1_1DepthVector-members.html
│ ├── classdepth__from__defocus_1_1DepthVector.html
│ ├── classdepth__from__defocus_1_1DepthVector__coll__graph.md5
│ ├── classdepth__from__defocus_1_1DvsMappingNodelet-members.html
│ ├── classdepth__from__defocus_1_1DvsMappingNodelet.html
│ ├── classdepth__from__defocus_1_1DvsMappingNodelet__coll__graph.md5
│ ├── classdepth__from__defocus_1_1DvsMappingNodelet__inherit__graph.md5
│ ├── classdepth__from__defocus_1_1InverseDepthVector-members.html
│ ├── classdepth__from__defocus_1_1InverseDepthVector.html
│ ├── classdepth__from__defocus_1_1InverseDepthVector__coll__graph.md5
│ ├── classdepth__from__defocus_1_1InverseDepthVector__inherit__graph.md5
│ ├── classdepth__from__defocus_1_1LinearDepthVector-members.html
│ ├── classdepth__from__defocus_1_1LinearDepthVector.html
│ ├── classdepth__from__defocus_1_1LinearDepthVector__coll__graph.md5
│ ├── classdepth__from__defocus_1_1LinearDepthVector__inherit__graph.md5
│ ├── classdvs__bootstrapping_1_1Bootstrapper-members.html
│ ├── classdvs__bootstrapping_1_1Bootstrapper.html
│ ├── classdvs__bootstrapping_1_1Bootstrapper__inherit__graph.md5
│ ├── classdvs__bootstrapping_1_1EventsFramesBootstrapper-members.html
│ ├── classdvs__bootstrapping_1_1EventsFramesBootstrapper.html
│ ├── classdvs__bootstrapping_1_1EventsFramesBootstrapper__coll__graph.md5
│ ├── classdvs__bootstrapping_1_1EventsFramesBootstrapper__inherit__graph.md5
│ ├── classdvs__bootstrapping_1_1FrontoPlanarBootstrapper-members.html
│ ├── classdvs__bootstrapping_1_1FrontoPlanarBootstrapper.html
│ ├── classdvs__bootstrapping_1_1FrontoPlanarBootstrapper__coll__graph.md5
│ ├── classdvs__bootstrapping_1_1FrontoPlanarBootstrapper__inherit__graph.md5
│ ├── classes.html
│ ├── classevo__utils_1_1camera_1_1PinholeCamera-members.html
│ ├── classevo__utils_1_1camera_1_1PinholeCamera.html
│ ├── classevo__utils_1_1select__exposure__DAVIS_1_1ExposureSelector-members.html
│ ├── classevo__utils_1_1select__exposure__DAVIS_1_1ExposureSelector.html
│ ├── classevo__utils_1_1snakify_1_1snakify-members.html
│ ├── classevo__utils_1_1snakify_1_1snakify.html
│ ├── classevo__utils_1_1tf__to__camera__markers_1_1tfToCamera-members.html
│ ├── classevo__utils_1_1tf__to__camera__markers_1_1tfToCamera.html
│ ├── classgtsam_1_1FastMap.html
│ ├── classgtsam_1_1GenericProjectionFactor.html
│ ├── classgtsam_1_1SmartProjectionPoseFactor.html
│ ├── classmotion__correction_1_1WarpUpdateParams-members.html
│ ├── classmotion__correction_1_1WarpUpdateParams.html
│ ├── classpose__to__tf_1_1Boostrapper-members.html
│ ├── classpose__to__tf_1_1Boostrapper.html
│ ├── classrpg__common_1_1BatchWorker-members.html
│ ├── classrpg__common_1_1BatchWorker.html
│ ├── classrpg__common_1_1BatchWorker__coll__graph.md5
│ ├── classrpg__common_1_1BatchWorker__inherit__graph.md5
│ ├── classrpg__common_1_1CallbackHost-members.html
│ ├── classrpg__common_1_1CallbackHost.html
│ ├── classrpg__common_1_1RealtimeWorker-members.html
│ ├── classrpg__common_1_1RealtimeWorker.html
│ ├── classrpg__common_1_1ThreadSafeQueue-members.html
│ ├── classrpg__common_1_1ThreadSafeQueue.html
│ ├── classrpg__common_1_1WorkerBase-members.html
│ ├── classrpg__common_1_1WorkerBase.html
│ ├── classrpg__common_1_1WorkerBase__inherit__graph.md5
│ ├── classrqt__evo_1_1evo_1_1Evo-members.html
│ ├── classrqt__evo_1_1evo_1_1Evo.html
│ ├── classrqt__evo_1_1evo_1_1Evo__coll__graph.md5
│ ├── classrqt__evo_1_1evo_1_1Evo__inherit__graph.md5
│ ├── classrqt__evo_1_1evo__widget_1_1EvoWidget-members.html
│ ├── classrqt__evo_1_1evo__widget_1_1EvoWidget.html
│ ├── classrqt__evo_1_1evo__widget_1_1EvoWidget__coll__graph.md5
│ ├── classrqt__evo_1_1evo__widget_1_1EvoWidget__inherit__graph.md5
│ ├── classrqt__svo_1_1svo_1_1Svo-members.html
│ ├── classrqt__svo_1_1svo_1_1Svo.html
│ ├── classrqt__svo_1_1svo_1_1Svo__coll__graph.md5
│ ├── classrqt__svo_1_1svo_1_1Svo__inherit__graph.md5
│ ├── classrqt__svo_1_1svo__widget_1_1SvoWidget-members.html
│ ├── classrqt__svo_1_1svo__widget_1_1SvoWidget.html
│ ├── classrqt__svo_1_1svo__widget_1_1SvoWidget__coll__graph.md5
│ ├── classrqt__svo_1_1svo__widget_1_1SvoWidget__inherit__graph.md5
│ ├── classsvo_1_1AbstractBundleAdjustment-members.html
│ ├── classsvo_1_1AbstractBundleAdjustment.html
│ ├── classsvo_1_1AbstractBundleAdjustment__inherit__graph.md5
│ ├── classsvo_1_1AbstractDetector-members.html
│ ├── classsvo_1_1AbstractDetector.html
│ ├── classsvo_1_1AbstractDetector__coll__graph.md5
│ ├── classsvo_1_1AbstractDetector__inherit__graph.md5
│ ├── classsvo_1_1AbstractInitialization-members.html
│ ├── classsvo_1_1AbstractInitialization.html
│ ├── classsvo_1_1AbstractInitialization__coll__graph.md5
│ ├── classsvo_1_1AbstractInitialization__inherit__graph.md5
│ ├── classsvo_1_1AllPixelsDetector-members.html
│ ├── classsvo_1_1AllPixelsDetector.html
│ ├── classsvo_1_1AllPixelsDetector__coll__graph.md5
│ ├── classsvo_1_1AllPixelsDetector__inherit__graph.md5
│ ├── classsvo_1_1ArrayInitGeometric-members.html
│ ├── classsvo_1_1ArrayInitGeometric.html
│ ├── classsvo_1_1ArrayInitGeometric__coll__graph.md5
│ ├── classsvo_1_1ArrayInitGeometric__inherit__graph.md5
│ ├── classsvo_1_1ArrayInitOptimization-members.html
│ ├── classsvo_1_1ArrayInitOptimization.html
│ ├── classsvo_1_1ArrayInitOptimization__coll__graph.md5
│ ├── classsvo_1_1ArrayInitOptimization__inherit__graph.md5
│ ├── classsvo_1_1BackendInterface-members.html
│ ├── classsvo_1_1BackendInterface.html
│ ├── classsvo_1_1BackendInterface__coll__graph.md5
│ ├── classsvo_1_1BackendInterface__inherit__graph.md5
│ ├── classsvo_1_1BackendOptimizer-members.html
│ ├── classsvo_1_1BackendOptimizer.html
│ ├── classsvo_1_1BackendOptimizer__coll__graph.md5
│ ├── classsvo_1_1BackendVisualizer-members.html
│ ├── classsvo_1_1BackendVisualizer.html
│ ├── classsvo_1_1BackendVisualizer__coll__graph.md5
│ ├── classsvo_1_1BenchmarkNode-members.html
│ ├── classsvo_1_1BenchmarkNode.html
│ ├── classsvo_1_1BenchmarkNode__coll__graph.md5
│ ├── classsvo_1_1BenchmarkNode__inherit__graph.md5
│ ├── classsvo_1_1CannyDetector-members.html
│ ├── classsvo_1_1CannyDetector.html
│ ├── classsvo_1_1CannyDetector__coll__graph.md5
│ ├── classsvo_1_1CannyDetector__inherit__graph.md5
│ ├── classsvo_1_1CsvDatasetReader-members.html
│ ├── classsvo_1_1CsvDatasetReader.html
│ ├── classsvo_1_1DepthEstimator-members.html
│ ├── classsvo_1_1DepthEstimator.html
│ ├── classsvo_1_1DepthEstimator__coll__graph.md5
│ ├── classsvo_1_1DepthEstimator__inherit__graph.md5
│ ├── classsvo_1_1DepthFilter-members.html
│ ├── classsvo_1_1DepthFilter.html
│ ├── classsvo_1_1DepthFilter__coll__graph.md5
│ ├── classsvo_1_1FastDetector-members.html
│ ├── classsvo_1_1FastDetector.html
│ ├── classsvo_1_1FastDetector__coll__graph.md5
│ ├── classsvo_1_1FastDetector__inherit__graph.md5
│ ├── classsvo_1_1FastGradDetector-members.html
│ ├── classsvo_1_1FastGradDetector.html
│ ├── classsvo_1_1FastGradDetector__coll__graph.md5
│ ├── classsvo_1_1FastGradDetector__inherit__graph.md5
│ ├── classsvo_1_1FeatureRef-members.html
│ ├── classsvo_1_1FeatureRef.html
│ ├── classsvo_1_1FeatureRef__coll__graph.md5
│ ├── classsvo_1_1FeatureTrack-members.html
│ ├── classsvo_1_1FeatureTrack.html
│ ├── classsvo_1_1FeatureTracker-members.html
│ ├── classsvo_1_1FeatureTracker.html
│ ├── classsvo_1_1FeatureTracker__coll__graph.md5
│ ├── classsvo_1_1FivePointInit-members.html
│ ├── classsvo_1_1FivePointInit.html
│ ├── classsvo_1_1FivePointInit__coll__graph.md5
│ ├── classsvo_1_1FivePointInit__inherit__graph.md5
│ ├── classsvo_1_1Frame-members.html
│ ├── classsvo_1_1Frame.html
│ ├── classsvo_1_1FrameBundle-members.html
│ ├── classsvo_1_1FrameBundle.html
│ ├── classsvo_1_1FrameGpu-members.html
│ ├── classsvo_1_1FrameGpu.html
│ ├── classsvo_1_1FrameGpu__coll__graph.md5
│ ├── classsvo_1_1FrameGpu__inherit__graph.md5
│ ├── classsvo_1_1FrameHandlerArray-members.html
│ ├── classsvo_1_1FrameHandlerArray.html
│ ├── classsvo_1_1FrameHandlerArray__coll__graph.md5
│ ├── classsvo_1_1FrameHandlerArray__inherit__graph.md5
│ ├── classsvo_1_1FrameHandlerBase-members.html
│ ├── classsvo_1_1FrameHandlerBase.html
│ ├── classsvo_1_1FrameHandlerBase__coll__graph.md5
│ ├── classsvo_1_1FrameHandlerBase__inherit__graph.md5
│ ├── classsvo_1_1FrameHandlerMono-members.html
│ ├── classsvo_1_1FrameHandlerMono.html
│ ├── classsvo_1_1FrameHandlerMono__coll__graph.md5
│ ├── classsvo_1_1FrameHandlerMono__inherit__graph.md5
│ ├── classsvo_1_1FrameHandlerStereo-members.html
│ ├── classsvo_1_1FrameHandlerStereo.html
│ ├── classsvo_1_1FrameHandlerStereo__coll__graph.md5
│ ├── classsvo_1_1FrameHandlerStereo__inherit__graph.md5
│ ├── classsvo_1_1Frame__coll__graph.md5
│ ├── classsvo_1_1Frame__inherit__graph.md5
│ ├── classsvo_1_1GradientDetector-members.html
│ ├── classsvo_1_1GradientDetector.html
│ ├── classsvo_1_1GradientDetectorGrid-members.html
│ ├── classsvo_1_1GradientDetectorGrid.html
│ ├── classsvo_1_1GradientDetectorGrid__coll__graph.md5
│ ├── classsvo_1_1GradientDetectorGrid__inherit__graph.md5
│ ├── classsvo_1_1GradientDetector__coll__graph.md5
│ ├── classsvo_1_1GradientDetector__inherit__graph.md5
│ ├── classsvo_1_1GradientHuangMumfordDetector-members.html
│ ├── classsvo_1_1GradientHuangMumfordDetector.html
│ ├── classsvo_1_1GradientHuangMumfordDetector__coll__graph.md5
│ ├── classsvo_1_1GradientHuangMumfordDetector__inherit__graph.md5
│ ├── classsvo_1_1GraphManager-members.html
│ ├── classsvo_1_1GraphManager.html
│ ├── classsvo_1_1GraphManager__coll__graph.md5
│ ├── classsvo_1_1HomographyInit-members.html
│ ├── classsvo_1_1HomographyInit.html
│ ├── classsvo_1_1HomographyInit__coll__graph.md5
│ ├── classsvo_1_1HomographyInit__inherit__graph.md5
│ ├── classsvo_1_1ImuCalibration-members.html
│ ├── classsvo_1_1ImuCalibration.html
│ ├── classsvo_1_1ImuCalibration__coll__graph.md5
│ ├── classsvo_1_1ImuHandler-members.html
│ ├── classsvo_1_1ImuHandler.html
│ ├── classsvo_1_1ImuHandler__coll__graph.md5
│ ├── classsvo_1_1ImuInitialization-members.html
│ ├── classsvo_1_1ImuInitialization.html
│ ├── classsvo_1_1ImuInitialization__coll__graph.md5
│ ├── classsvo_1_1Map-members.html
│ ├── classsvo_1_1Map.html
│ ├── classsvo_1_1Matcher-members.html
│ ├── classsvo_1_1Matcher.html
│ ├── classsvo_1_1Matcher__coll__graph.md5
│ ├── classsvo_1_1OccupandyGrid2D-members.html
│ ├── classsvo_1_1OccupandyGrid2D.html
│ ├── classsvo_1_1OneShotInit-members.html
│ ├── classsvo_1_1OneShotInit.html
│ ├── classsvo_1_1OneShotInit__coll__graph.md5
│ ├── classsvo_1_1OneShotInit__inherit__graph.md5
│ ├── classsvo_1_1PatchNormal-members.html
│ ├── classsvo_1_1PatchNormal.html
│ ├── classsvo_1_1PatchNormal__coll__graph.md5
│ ├── classsvo_1_1PatchNormal__inherit__graph.md5
│ ├── classsvo_1_1Point-members.html
│ ├── classsvo_1_1Point.html
│ ├── classsvo_1_1PointIdProvider-members.html
│ ├── classsvo_1_1PointIdProvider.html
│ ├── classsvo_1_1Point__coll__graph.md5
│ ├── classsvo_1_1PoseOptimizer-members.html
│ ├── classsvo_1_1PoseOptimizer.html
│ ├── classsvo_1_1PoseOptimizer__coll__graph.md5
│ ├── classsvo_1_1PoseOptimizer__inherit__graph.md5
│ ├── classsvo_1_1PreintegratedImuMeasurement-members.html
│ ├── classsvo_1_1PreintegratedImuMeasurement.html
│ ├── classsvo_1_1PreintegratedImuMeasurement__coll__graph.md5
│ ├── classsvo_1_1Reprojector-members.html
│ ├── classsvo_1_1Reprojector.html
│ ├── classsvo_1_1Reprojector__coll__graph.md5
│ ├── classsvo_1_1SobelDetector-members.html
│ ├── classsvo_1_1SobelDetector.html
│ ├── classsvo_1_1SobelDetector__coll__graph.md5
│ ├── classsvo_1_1SobelDetector__inherit__graph.md5
│ ├── classsvo_1_1SparseImgAlign-members.html
│ ├── classsvo_1_1SparseImgAlign.html
│ ├── classsvo_1_1SparseImgAlignBase-members.html
│ ├── classsvo_1_1SparseImgAlignBase.html
│ ├── classsvo_1_1SparseImgAlignBase__coll__graph.md5
│ ├── classsvo_1_1SparseImgAlignBase__inherit__graph.md5
│ ├── classsvo_1_1SparseImgAlignGpu-members.html
│ ├── classsvo_1_1SparseImgAlignGpu.html
│ ├── classsvo_1_1SparseImgAlignGpu__coll__graph.md5
│ ├── classsvo_1_1SparseImgAlignGpu__inherit__graph.md5
│ ├── classsvo_1_1SparseImgAlign__coll__graph.md5
│ ├── classsvo_1_1SparseImgAlign__inherit__graph.md5
│ ├── classsvo_1_1StereoInit-members.html
│ ├── classsvo_1_1StereoInit.html
│ ├── classsvo_1_1StereoInit__coll__graph.md5
│ ├── classsvo_1_1StereoInit__inherit__graph.md5
│ ├── classsvo_1_1StereoTriangulation-members.html
│ ├── classsvo_1_1StereoTriangulation.html
│ ├── classsvo_1_1StereoTriangulation__coll__graph.md5
│ ├── classsvo_1_1SvoInterface-members.html
│ ├── classsvo_1_1SvoInterface.html
│ ├── classsvo_1_1SvoInterface__inherit__graph.md5
│ ├── classsvo_1_1SvoNodelet-members.html
│ ├── classsvo_1_1SvoNodelet.html
│ ├── classsvo_1_1SvoNodelet__coll__graph.md5
│ ├── classsvo_1_1SvoNodelet__inherit__graph.md5
│ ├── classsvo_1_1TwoPointInit-members.html
│ ├── classsvo_1_1TwoPointInit.html
│ ├── classsvo_1_1TwoPointInit__coll__graph.md5
│ ├── classsvo_1_1TwoPointInit__inherit__graph.md5
│ ├── classsvo_1_1ViNodeState-members.html
│ ├── classsvo_1_1ViNodeState.html
│ ├── classsvo_1_1ViNodeState__coll__graph.md5
│ ├── classsvo_1_1Visualizer-members.html
│ ├── classsvo_1_1Visualizer.html
│ ├── classsvo_1_1Visualizer__coll__graph.md5
│ ├── classsvo_1_1patch__score_1_1ZMSSD-members.html
│ ├── classsvo_1_1patch__score_1_1ZMSSD.html
│ ├── classsvo__ros_1_1SvoNodeBase-members.html
│ ├── classsvo__ros_1_1SvoNodeBase.html
│ ├── classsvo__ros_1_1SvoNodeBase__coll__graph.md5
│ ├── classtrigger__map__expansion_1_1TriggerMapExpansion-members.html
│ ├── classtrigger__map__expansion_1_1TriggerMapExpansion.html
│ ├── classvikit__py_1_1pinhole__camera_1_1PinholeCamera-members.html
│ ├── classvikit__py_1_1pinhole__camera_1_1PinholeCamera.html
│ ├── classvikit__py_1_1ros__node_1_1RosNode-members.html
│ ├── classvikit__py_1_1ros__node_1_1RosNode.html
│ ├── classvikit__py_1_1test__transformations_1_1TestTransformations-members.html
│ ├── classvikit__py_1_1test__transformations_1_1TestTransformations.html
│ ├── classvikit__py_1_1test__transformations_1_1TestTransformations__coll__graph.md5
│ ├── classvikit__py_1_1test__transformations_1_1TestTransformations__inherit__graph.md5
│ ├── classvikit__py_1_1transformations_1_1Arcball-members.html
│ ├── classvikit__py_1_1transformations_1_1Arcball.html
│ ├── classvikit__py_1_1transformations_1_1Arcball__coll__graph.md5
│ ├── classvikit__py_1_1transformations_1_1Arcball__inherit__graph.md5
│ ├── classvk_1_1PerformanceMonitor-members.html
│ ├── classvk_1_1PerformanceMonitor.html
│ ├── classvk_1_1RingBuffer-members.html
│ ├── classvk_1_1RingBuffer.html
│ ├── classvk_1_1Sample-members.html
│ ├── classvk_1_1Sample.html
│ ├── classvk_1_1Timer-members.html
│ ├── classvk_1_1Timer.html
│ ├── classvk_1_1UserInputThread-members.html
│ ├── classvk_1_1UserInputThread.html
│ ├── classvk_1_1cameras_1_1AtanDistortion-members.html
│ ├── classvk_1_1cameras_1_1AtanDistortion.html
│ ├── classvk_1_1cameras_1_1CameraGeometry-members.html
│ ├── classvk_1_1cameras_1_1CameraGeometry.html
│ ├── classvk_1_1cameras_1_1CameraGeometryBase-members.html
│ ├── classvk_1_1cameras_1_1CameraGeometryBase.html
│ ├── classvk_1_1cameras_1_1CameraGeometryBase__inherit__graph.md5
│ ├── classvk_1_1cameras_1_1CameraGeometry__coll__graph.md5
│ ├── classvk_1_1cameras_1_1CameraGeometry__inherit__graph.md5
│ ├── classvk_1_1cameras_1_1EquidistantDistortion-members.html
│ ├── classvk_1_1cameras_1_1EquidistantDistortion.html
│ ├── classvk_1_1cameras_1_1EquidistantFisheyeGeometry-members.html
│ ├── classvk_1_1cameras_1_1EquidistantFisheyeGeometry.html
│ ├── classvk_1_1cameras_1_1EquidistantFisheyeGeometry__coll__graph.md5
│ ├── classvk_1_1cameras_1_1EquidistantFisheyeGeometry__inherit__graph.md5
│ ├── classvk_1_1cameras_1_1EquidistantFisheyeProjection-members.html
│ ├── classvk_1_1cameras_1_1EquidistantFisheyeProjection.html
│ ├── classvk_1_1cameras_1_1NCamera-members.html
│ ├── classvk_1_1cameras_1_1NCamera.html
│ ├── classvk_1_1cameras_1_1NoDistortion-members.html
│ ├── classvk_1_1cameras_1_1NoDistortion.html
│ ├── classvk_1_1cameras_1_1OmniGeometry-members.html
│ ├── classvk_1_1cameras_1_1OmniGeometry.html
│ ├── classvk_1_1cameras_1_1OmniGeometry__coll__graph.md5
│ ├── classvk_1_1cameras_1_1OmniGeometry__inherit__graph.md5
│ ├── classvk_1_1cameras_1_1OmniProjection-members.html
│ ├── classvk_1_1cameras_1_1OmniProjection.html
│ ├── classvk_1_1cameras_1_1PinholeProjection-members.html
│ ├── classvk_1_1cameras_1_1PinholeProjection.html
│ ├── classvk_1_1cameras_1_1RadialTangentialDistortion-members.html
│ ├── classvk_1_1cameras_1_1RadialTangentialDistortion.html
│ ├── classvk_1_1solver_1_1HuberWeightFunction-members.html
│ ├── classvk_1_1solver_1_1HuberWeightFunction.html
│ ├── classvk_1_1solver_1_1HuberWeightFunction__coll__graph.md5
│ ├── classvk_1_1solver_1_1HuberWeightFunction__inherit__graph.md5
│ ├── classvk_1_1solver_1_1MADScaleEstimator-members.html
│ ├── classvk_1_1solver_1_1MADScaleEstimator.html
│ ├── classvk_1_1solver_1_1MADScaleEstimator__coll__graph.md5
│ ├── classvk_1_1solver_1_1MADScaleEstimator__inherit__graph.md5
│ ├── classvk_1_1solver_1_1MiniLeastSquaresSolver-members.html
│ ├── classvk_1_1solver_1_1MiniLeastSquaresSolver.html
│ ├── classvk_1_1solver_1_1MiniLeastSquaresSolver__coll__graph.md5
│ ├── classvk_1_1solver_1_1NormalDistributionScaleEstimator-members.html
│ ├── classvk_1_1solver_1_1NormalDistributionScaleEstimator.html
│ ├── classvk_1_1solver_1_1NormalDistributionScaleEstimator__coll__graph.md5
│ ├── classvk_1_1solver_1_1NormalDistributionScaleEstimator__inherit__graph.md5
│ ├── classvk_1_1solver_1_1ScaleEstimator-members.html
│ ├── classvk_1_1solver_1_1ScaleEstimator.html
│ ├── classvk_1_1solver_1_1ScaleEstimator__inherit__graph.md5
│ ├── classvk_1_1solver_1_1TukeyWeightFunction-members.html
│ ├── classvk_1_1solver_1_1TukeyWeightFunction.html
│ ├── classvk_1_1solver_1_1TukeyWeightFunction__coll__graph.md5
│ ├── classvk_1_1solver_1_1TukeyWeightFunction__inherit__graph.md5
│ ├── classvk_1_1solver_1_1UnitScaleEstimator-members.html
│ ├── classvk_1_1solver_1_1UnitScaleEstimator.html
│ ├── classvk_1_1solver_1_1UnitScaleEstimator__coll__graph.md5
│ ├── classvk_1_1solver_1_1UnitScaleEstimator__inherit__graph.md5
│ ├── classvk_1_1solver_1_1UnitWeightFunction-members.html
│ ├── classvk_1_1solver_1_1UnitWeightFunction.html
│ ├── classvk_1_1solver_1_1UnitWeightFunction__coll__graph.md5
│ ├── classvk_1_1solver_1_1UnitWeightFunction__inherit__graph.md5
│ ├── classvk_1_1solver_1_1WeightFunction-members.html
│ ├── classvk_1_1solver_1_1WeightFunction.html
│ ├── classvk_1_1solver_1_1WeightFunction__inherit__graph.md5
│ ├── config_8h_source.html
│ ├── container__helpers_8h_source.html
│ ├── conversions_8h_source.html
│ ├── csv__dataset__reader_8h_source.html
│ ├── csv__utils_8h_source.html
│ ├── deprecated.html
│ ├── depth__defocus__node_8hpp_source.html
│ ├── depth__estimation_8h_source.html
│ ├── depth__filter_8h_source.html
│ ├── depth__vector_8hpp_source.html
│ ├── dir_00bccb38bb6b7fdff7dd02fa42f449ef.html
│ ├── dir_01bba9aace411f414470092dbe8a8df0.html
│ ├── dir_0522c7746e0ceef7b3c0b43ca7537b32.html
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│ ├── dir_08e725bfe20e07dda02b556f17c6ee86.html
│ ├── dir_090a70428d2d57d74b0729d005431577.html
│ ├── dir_0c8cdf13dfedcfa43b275f2634fde742.html
│ ├── dir_1031d3994392a9f3ed0ed15ef4f28b8b.html
│ ├── dir_135e35ac0bac6dfe4cb773674dae4da2.html
│ ├── dir_169217caa56e152ba10678380c01ab08.html
│ ├── dir_1800fe653041b2911d1d15a9dffaa82f.html
│ ├── dir_1f4f0b46fbeb608ac8c8b3bfac8754a6.html
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│ ├── dir_21473b55bfd263bee22b451aafd2cda8.html
│ ├── dir_23210b07bafb6842e50e879bc7dbe909.html
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│ ├── dir_2b883add7b135c9e5e3bfc8f505b3884.html
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│ ├── dir_32a6d7527d2420ce0acc44dffffe9047.html
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│ ├── dir_55a428bb46f2406223b0af80b16b4378.html
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│ ├── dir_67894f11b58af1c3e86e30d6cd3b3055.html
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│ ├── dir_6a4873862b1aee04d6a77ca8dc5bb8a7.html
│ ├── dir_6c587c20a3a519c188b3d1694c38db1f.html
│ ├── dir_72b9375287706546ae7be5ce14c47d9b.html
│ ├── dir_765e0684aa6ba346986289c4d3dcff4a.html
│ ├── dir_76c80e76d40115c0ad9ee95ad75bb811.html
│ ├── dir_7745d19526f06578835c01082350e8c2.html
│ ├── dir_77d0aaa9b1a808cb652b0b7308189d7e.html
│ ├── dir_7c14fa4ee89d00dfd52aec81c0d799b7.html
│ ├── dir_7dcab72c99aa3a738c3fb8bef8ff1fdc.html
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│ ├── dir_8cdd923d87a6be48658e7bd05d68f366.html
│ ├── dir_8f1b1de06a10ceb7346648638cfa78d3.html
│ ├── dir_8f491c12e2a100af2306a4d4f8aa2ecb.html
│ ├── dir_94cf7cecc057ddaeac3dd116c524767b.html
│ ├── dir_9737aa21ba9518170fcfb577d1916604.html
│ ├── dir_9b2859c3cc702bea7061d419fab589ba.html
│ ├── dir_9f4824430b8c331aa9def5e4e9d9348a.html
│ ├── dir_9fec18ccfd53fd49ed8c627e6d4cc5c5.html
│ ├── dir_a206b88f6fff06f8985dc5261e376510.html
│ ├── dir_a5c9c0f87da09cf30452a0e93583eab8.html
│ ├── dir_aa8ce86781faf51067abaa50d870017f.html
│ ├── dir_ab54f8f0af1c0da3c45427edfd19be8d.html
│ ├── dir_acb962b3dae11f9b93c8652ea011ee88.html
│ ├── dir_acbe4d1a2cc998b711b62a692f7e8428.html
│ ├── dir_ad997d48941325ba506a317fee6c5d1a.html
│ ├── dir_ae34ae330844859b9e534674f347263f.html
│ ├── dir_aed134eeebc665a9f98c953e86ef8771.html
│ ├── dir_afd080127a8e68ee8c1a48146acfcb26.html
│ ├── dir_b1fc6689c0c87725dabec16410c0aa59.html
│ ├── dir_b52211d97cb29aa6c603e5e675788789.html
│ ├── dir_b598d949dc25b12c5aec33e1cc17b644.html
│ ├── dir_b7f658749c111965b15dc773c6251486.html
│ ├── dir_b81a846affbde9dec926dff04880a132.html
│ ├── dir_bc48aea3166a38dedd5eb54f9bd953e2.html
│ ├── dir_bdf1c342ef2ad1b49358e606779f2a0d.html
│ ├── dir_be044225ce3721f38f90ce22572be618.html
│ ├── dir_be791e848177ba57ad909d6369eab067.html
│ ├── dir_c8744c9302c531d173f9da8f492215a5.html
│ ├── dir_cb8abb0607e575903425528419f1c044.html
│ ├── dir_cecfcbe2e200602c07f926c3ce010d4e.html
│ ├── dir_cecfdde874a5fd435c34b7d3c386dfd0.html
│ ├── dir_d269052296156f872f6655a97b6d44f0.html
│ ├── dir_d384eab21aaa23c4b65ee34b4c32ed1c.html
│ ├── dir_d7c3d79efbbb5a2dfc1734ad2347fdcc.html
│ ├── dir_d9d3c50dad25936e4cdae23cc15ff37b.html
│ ├── dir_dc094115e9d0468308a8571c6218a725.html
│ ├── dir_dde38ef9573bb931f8f0cd681e345b93.html
│ ├── dir_df757cdcac57c54e21dfdd2610d1d82b.html
│ ├── dir_e0a052dcd0ac477d85c7eb4498e5864c.html
│ ├── dir_ea5f8ab27efd92f8105e8174a9eaf2ea.html
│ ├── dir_ebe0fced1784d1ab9a6de846e2b4455d.html
│ ├── dir_ee9fe11dde20c6b12dc04a2afc36bd07.html
│ ├── dir_f5bad920d3b42ab48c3bc48cccbc378a.html
│ ├── dir_ff6cf60add6ca546af6fb14882689851.html
│ ├── doxygen.css
│ ├── dvs__mapping__nodelet_8h_source.html
│ ├── dvs__tracking__nodelet_8h_source.html
│ ├── dynsections.js
│ ├── elder__zucker_8h_source.html
│ ├── entrypoint_8h_source.html
│ ├── equidistant__distortion_8h_source.html
│ ├── equidistant__fisheye__geometry_8h_source.html
│ ├── equidistant__fisheye__projection_8h_source.html
│ ├── feature__alignment_8h_source.html
│ ├── feature__detection_8h_source.html
│ ├── feature__detection__types_8h_source.html
│ ├── feature__detection__utils_8h_source.html
│ ├── feature__tracker_8h_source.html
│ ├── feature__tracking__types_8h_source.html
│ ├── feature__tracking__utils_8h_source.html
│ ├── feature__tracking__viz_8h_source.html
│ ├── feature__wrapper_8h_source.html
│ ├── files.html
│ ├── frame_8h_source.html
│ ├── frame__gpu_8h_source.html
│ ├── frame__handler__array_8h_source.html
│ ├── frame__handler__base_8h_source.html
│ ├── frame__handler__mono_8h_source.html
│ ├── frame__handler__stereo_8h_source.html
│ ├── functions.html
│ ├── functions_0x7e.html
│ ├── functions_a.html
│ ├── functions_b.html
│ ├── functions_c.html
│ ├── functions_d.html
│ ├── functions_e.html
│ ├── functions_enum.html
│ ├── functions_f.html
│ ├── functions_func.html
│ ├── functions_func_0x7e.html
│ ├── functions_func_a.html
│ ├── functions_func_b.html
│ ├── functions_func_c.html
│ ├── functions_func_d.html
│ ├── functions_func_e.html
│ ├── functions_func_f.html
│ ├── functions_func_g.html
│ ├── functions_func_h.html
│ ├── functions_func_i.html
│ ├── functions_func_j.html
│ ├── functions_func_l.html
│ ├── functions_func_m.html
│ ├── functions_func_n.html
│ ├── functions_func_o.html
│ ├── functions_func_p.html
│ ├── functions_func_q.html
│ ├── functions_func_r.html
│ ├── functions_func_s.html
│ ├── functions_func_t.html
│ ├── functions_func_u.html
│ ├── functions_func_v.html
│ ├── functions_g.html
│ ├── functions_h.html
│ ├── functions_i.html
│ ├── functions_j.html
│ ├── functions_k.html
│ ├── functions_l.html
│ ├── functions_m.html
│ ├── functions_n.html
│ ├── functions_o.html
│ ├── functions_p.html
│ ├── functions_q.html
│ ├── functions_r.html
│ ├── functions_rela.html
│ ├── functions_s.html
│ ├── functions_t.html
│ ├── functions_u.html
│ ├── functions_v.html
│ ├── functions_vars.html
│ ├── functions_vars_b.html
│ ├── functions_vars_c.html
│ ├── functions_vars_d.html
│ ├── functions_vars_e.html
│ ├── functions_vars_f.html
│ ├── functions_vars_g.html
│ ├── functions_vars_h.html
│ ├── functions_vars_i.html
│ ├── functions_vars_j.html
│ ├── functions_vars_k.html
│ ├── functions_vars_l.html
│ ├── functions_vars_m.html
│ ├── functions_vars_n.html
│ ├── functions_vars_o.html
│ ├── functions_vars_p.html
│ ├── functions_vars_q.html
│ ├── functions_vars_r.html
│ ├── functions_vars_s.html
│ ├── functions_vars_t.html
│ ├── functions_vars_u.html
│ ├── functions_vars_v.html
│ ├── functions_vars_w.html
│ ├── functions_vars_x.html
│ ├── functions_vars_y.html
│ ├── functions_w.html
│ ├── functions_x.html
│ ├── functions_y.html
│ ├── geometry_8hpp_source.html
│ ├── global_8h_source.html
│ ├── gpu__types__cuda_8h_source.html
│ ├── graph__manager_8h_source.html
│ ├── graph_legend.html
│ ├── graph_legend.md5
│ ├── hierarchy.html
│ ├── homography_8h_source.html
│ ├── homography__decomp_8h_source.html
│ ├── img__type__conversion_8h_source.html
│ ├── imu__calibration_8h_source.html
│ ├── imu__handler_8h_source.html
│ ├── index.html
│ ├── inherit_graph_0.md5
│ ├── inherit_graph_1.md5
│ ├── inherit_graph_10.md5
│ ├── inherit_graph_100.md5
│ ├── inherit_graph_101.md5
│ ├── inherit_graph_102.md5
│ ├── inherit_graph_103.md5
│ ├── inherit_graph_104.md5
│ ├── inherit_graph_105.md5
│ ├── inherit_graph_106.md5
│ ├── inherit_graph_107.md5
│ ├── inherit_graph_108.md5
│ ├── inherit_graph_109.md5
│ ├── inherit_graph_11.md5
│ ├── inherit_graph_110.md5
│ ├── inherit_graph_111.md5
│ ├── inherit_graph_112.md5
│ ├── inherit_graph_113.md5
│ ├── inherit_graph_114.md5
│ ├── inherit_graph_115.md5
│ ├── inherit_graph_116.md5
│ ├── inherit_graph_117.md5
│ ├── inherit_graph_118.md5
│ ├── inherit_graph_119.md5
│ ├── inherit_graph_12.md5
│ ├── inherit_graph_120.md5
│ ├── inherit_graph_121.md5
│ ├── inherit_graph_122.md5
│ ├── inherit_graph_123.md5
│ ├── inherit_graph_124.md5
│ ├── inherit_graph_125.md5
│ ├── inherit_graph_126.md5
│ ├── inherit_graph_127.md5
│ ├── inherit_graph_128.md5
│ ├── inherit_graph_129.md5
│ ├── inherit_graph_13.md5
│ ├── inherit_graph_130.md5
│ ├── inherit_graph_131.md5
│ ├── inherit_graph_132.md5
│ ├── inherit_graph_133.md5
│ ├── inherit_graph_134.md5
│ ├── inherit_graph_14.md5
│ ├── inherit_graph_15.md5
│ ├── inherit_graph_16.md5
│ ├── inherit_graph_17.md5
│ ├── inherit_graph_18.md5
│ ├── inherit_graph_19.md5
│ ├── inherit_graph_2.md5
│ ├── inherit_graph_20.md5
│ ├── inherit_graph_21.md5
│ ├── inherit_graph_22.md5
│ ├── inherit_graph_23.md5
│ ├── inherit_graph_24.md5
│ ├── inherit_graph_25.md5
│ ├── inherit_graph_26.md5
│ ├── inherit_graph_27.md5
│ ├── inherit_graph_28.md5
│ ├── inherit_graph_29.md5
│ ├── inherit_graph_3.md5
│ ├── inherit_graph_30.md5
│ ├── inherit_graph_31.md5
│ ├── inherit_graph_32.md5
│ ├── inherit_graph_33.md5
│ ├── inherit_graph_34.md5
│ ├── inherit_graph_35.md5
│ ├── inherit_graph_36.md5
│ ├── inherit_graph_37.md5
│ ├── inherit_graph_38.md5
│ ├── inherit_graph_39.md5
│ ├── inherit_graph_4.md5
│ ├── inherit_graph_40.md5
│ ├── inherit_graph_41.md5
│ ├── inherit_graph_42.md5
│ ├── inherit_graph_43.md5
│ ├── inherit_graph_44.md5
│ ├── inherit_graph_45.md5
│ ├── inherit_graph_46.md5
│ ├── inherit_graph_47.md5
│ ├── inherit_graph_48.md5
│ ├── inherit_graph_49.md5
│ ├── inherit_graph_5.md5
│ ├── inherit_graph_50.md5
│ ├── inherit_graph_51.md5
│ ├── inherit_graph_52.md5
│ ├── inherit_graph_53.md5
│ ├── inherit_graph_54.md5
│ ├── inherit_graph_55.md5
│ ├── inherit_graph_56.md5
│ ├── inherit_graph_57.md5
│ ├── inherit_graph_58.md5
│ ├── inherit_graph_59.md5
│ ├── inherit_graph_6.md5
│ ├── inherit_graph_60.md5
│ ├── inherit_graph_61.md5
│ ├── inherit_graph_62.md5
│ ├── inherit_graph_63.md5
│ ├── inherit_graph_64.md5
│ ├── inherit_graph_65.md5
│ ├── inherit_graph_66.md5
│ ├── inherit_graph_67.md5
│ ├── inherit_graph_68.md5
│ ├── inherit_graph_69.md5
│ ├── inherit_graph_7.md5
│ ├── inherit_graph_70.md5
│ ├── inherit_graph_71.md5
│ ├── inherit_graph_72.md5
│ ├── inherit_graph_73.md5
│ ├── inherit_graph_74.md5
│ ├── inherit_graph_75.md5
│ ├── inherit_graph_76.md5
│ ├── inherit_graph_77.md5
│ ├── inherit_graph_78.md5
│ ├── inherit_graph_79.md5
│ ├── inherit_graph_8.md5
│ ├── inherit_graph_80.md5
│ ├── inherit_graph_81.md5
│ ├── inherit_graph_82.md5
│ ├── inherit_graph_83.md5
│ ├── inherit_graph_84.md5
│ ├── inherit_graph_85.md5
│ ├── inherit_graph_86.md5
│ ├── inherit_graph_87.md5
│ ├── inherit_graph_88.md5
│ ├── inherit_graph_89.md5
│ ├── inherit_graph_9.md5
│ ├── inherit_graph_90.md5
│ ├── inherit_graph_91.md5
│ ├── inherit_graph_92.md5
│ ├── inherit_graph_93.md5
│ ├── inherit_graph_94.md5
│ ├── inherit_graph_95.md5
│ ├── inherit_graph_96.md5
│ ├── inherit_graph_97.md5
│ ├── inherit_graph_98.md5
│ ├── inherit_graph_99.md5
│ ├── inherits.html
│ ├── initialization_8h_source.html
│ ├── interpolation_8hpp_source.html
│ ├── io_8h_source.html
│ ├── jquery.js
│ ├── laplace_8h_source.html
│ ├── lk__se3_8hpp_source.html
│ ├── logging_8h_source.html
│ ├── macros_8h_source.html
│ ├── main_8hpp_source.html
│ ├── map_8h_source.html
│ ├── matcher_8h_source.html
│ ├── math__utils_8h_source.html
│ ├── md_README.html
│ ├── md_rqt_evo_README.html
│ ├── md_rqt_svo_README.html
│ ├── md_svo_vikit_README.html
│ ├── memory_8h_source.html
│ ├── menu.js
│ ├── menudata.js
│ ├── mini__least__squares__solver_8h_source.html
│ ├── mini__least__squares__solver_8hpp_source.html
│ ├── mosaic_8hpp_source.html
│ ├── motion__correction_8hpp_source.html
│ ├── namespacemembers.html
│ ├── namespacemembers_enum.html
│ ├── namespacemembers_func.html
│ ├── namespaces.html
│ ├── namespacesvo.html
│ ├── namespacesvo_1_1feature__alignment.html
│ ├── namespacesvo_1_1frame__utils.html
│ ├── namespacesvo_1_1warp.html
│ ├── ncamera-yaml-serialization_8h_source.html
│ ├── ncamera_8h_source.html
│ ├── no__distortion_8h_source.html
│ ├── numdiff-jacobian-tester_8h_source.html
│ ├── occupancy__grid__2d_8h_source.html
│ ├── omni__geometry_8h_source.html
│ ├── omni__projection_8h_source.html
│ ├── output__helper_8h_source.html
│ ├── pages.html
│ ├── params__helper_8h_source.html
│ ├── params__helper_8hpp_source.html
│ ├── patch__normal_8h_source.html
│ ├── patch__score_8h_source.html
│ ├── patch__utils_8h_source.html
│ ├── patch__warp_8h_source.html
│ ├── path__utils_8h_source.html
│ ├── performance__monitor_8h_source.html
│ ├── pinhole__projection_8h_source.html
│ ├── pinhole__projection_8hpp_source.html
│ ├── point_8h_source.html
│ ├── pose-types_8h_source.html
│ ├── pose__optimizer_8h_source.html
│ ├── radial__tangential__distortion_8h_source.html
│ ├── realtime__worker_8h_source.html
│ ├── reprojector_8h_source.html
│ ├── ringbuffer_8h_source.html
│ ├── robust__cost_8h_source.html
│ ├── sample_8h_source.html
│ ├── search/
│ │ ├── all_0.html
│ │ ├── all_0.js
│ │ ├── all_1.html
│ │ ├── all_1.js
│ │ ├── all_10.html
│ │ ├── all_10.js
│ │ ├── all_11.html
│ │ ├── all_11.js
│ │ ├── all_12.html
│ │ ├── all_12.js
│ │ ├── all_13.html
│ │ ├── all_13.js
│ │ ├── all_14.html
│ │ ├── all_14.js
│ │ ├── all_15.html
│ │ ├── all_15.js
│ │ ├── all_16.html
│ │ ├── all_16.js
│ │ ├── all_17.html
│ │ ├── all_17.js
│ │ ├── all_18.html
│ │ ├── all_18.js
│ │ ├── all_19.html
│ │ ├── all_19.js
│ │ ├── all_1a.html
│ │ ├── all_1a.js
│ │ ├── all_1b.html
│ │ ├── all_1b.js
│ │ ├── all_2.html
│ │ ├── all_2.js
│ │ ├── all_3.html
│ │ ├── all_3.js
│ │ ├── all_4.html
│ │ ├── all_4.js
│ │ ├── all_5.html
│ │ ├── all_5.js
│ │ ├── all_6.html
│ │ ├── all_6.js
│ │ ├── all_7.html
│ │ ├── all_7.js
│ │ ├── all_8.html
│ │ ├── all_8.js
│ │ ├── all_9.html
│ │ ├── all_9.js
│ │ ├── all_a.html
│ │ ├── all_a.js
│ │ ├── all_b.html
│ │ ├── all_b.js
│ │ ├── all_c.html
│ │ ├── all_c.js
│ │ ├── all_d.html
│ │ ├── all_d.js
│ │ ├── all_e.html
│ │ ├── all_e.js
│ │ ├── all_f.html
│ │ ├── all_f.js
│ │ ├── classes_0.html
│ │ ├── classes_0.js
│ │ ├── classes_1.html
│ │ ├── classes_1.js
│ │ ├── classes_10.html
│ │ ├── classes_10.js
│ │ ├── classes_11.html
│ │ ├── classes_11.js
│ │ ├── classes_12.html
│ │ ├── classes_12.js
│ │ ├── classes_13.html
│ │ ├── classes_13.js
│ │ ├── classes_14.html
│ │ ├── classes_14.js
│ │ ├── classes_15.html
│ │ ├── classes_15.js
│ │ ├── classes_16.html
│ │ ├── classes_16.js
│ │ ├── classes_17.html
│ │ ├── classes_17.js
│ │ ├── classes_2.html
│ │ ├── classes_2.js
│ │ ├── classes_3.html
│ │ ├── classes_3.js
│ │ ├── classes_4.html
│ │ ├── classes_4.js
│ │ ├── classes_5.html
│ │ ├── classes_5.js
│ │ ├── classes_6.html
│ │ ├── classes_6.js
│ │ ├── classes_7.html
│ │ ├── classes_7.js
│ │ ├── classes_8.html
│ │ ├── classes_8.js
│ │ ├── classes_9.html
│ │ ├── classes_9.js
│ │ ├── classes_a.html
│ │ ├── classes_a.js
│ │ ├── classes_b.html
│ │ ├── classes_b.js
│ │ ├── classes_c.html
│ │ ├── classes_c.js
│ │ ├── classes_d.html
│ │ ├── classes_d.js
│ │ ├── classes_e.html
│ │ ├── classes_e.js
│ │ ├── classes_f.html
│ │ ├── classes_f.js
│ │ ├── enums_0.html
│ │ ├── enums_0.js
│ │ ├── enums_1.html
│ │ ├── enums_1.js
│ │ ├── enums_2.html
│ │ ├── enums_2.js
│ │ ├── enums_3.html
│ │ ├── enums_3.js
│ │ ├── enumvalues_0.html
│ │ ├── enumvalues_0.js
│ │ ├── enumvalues_1.html
│ │ ├── enumvalues_1.js
│ │ ├── enumvalues_2.html
│ │ ├── enumvalues_2.js
│ │ ├── functions_0.html
│ │ ├── functions_0.js
│ │ ├── functions_1.html
│ │ ├── functions_1.js
│ │ ├── functions_10.html
│ │ ├── functions_10.js
│ │ ├── functions_11.html
│ │ ├── functions_11.js
│ │ ├── functions_12.html
│ │ ├── functions_12.js
│ │ ├── functions_13.html
│ │ ├── functions_13.js
│ │ ├── functions_14.html
│ │ ├── functions_14.js
│ │ ├── functions_15.html
│ │ ├── functions_15.js
│ │ ├── functions_16.html
│ │ ├── functions_16.js
│ │ ├── functions_2.html
│ │ ├── functions_2.js
│ │ ├── functions_3.html
│ │ ├── functions_3.js
│ │ ├── functions_4.html
│ │ ├── functions_4.js
│ │ ├── functions_5.html
│ │ ├── functions_5.js
│ │ ├── functions_6.html
│ │ ├── functions_6.js
│ │ ├── functions_7.html
│ │ ├── functions_7.js
│ │ ├── functions_8.html
│ │ ├── functions_8.js
│ │ ├── functions_9.html
│ │ ├── functions_9.js
│ │ ├── functions_a.html
│ │ ├── functions_a.js
│ │ ├── functions_b.html
│ │ ├── functions_b.js
│ │ ├── functions_c.html
│ │ ├── functions_c.js
│ │ ├── functions_d.html
│ │ ├── functions_d.js
│ │ ├── functions_e.html
│ │ ├── functions_e.js
│ │ ├── functions_f.html
│ │ ├── functions_f.js
│ │ ├── namespaces_0.html
│ │ ├── namespaces_0.js
│ │ ├── nomatches.html
│ │ ├── pages_0.html
│ │ ├── pages_0.js
│ │ ├── pages_1.html
│ │ ├── pages_1.js
│ │ ├── pages_2.html
│ │ ├── pages_2.js
│ │ ├── pages_3.html
│ │ ├── pages_3.js
│ │ ├── pages_4.html
│ │ ├── pages_4.js
│ │ ├── related_0.html
│ │ ├── related_0.js
│ │ ├── search.css
│ │ ├── search.js
│ │ ├── searchdata.js
│ │ ├── variables_0.html
│ │ ├── variables_0.js
│ │ ├── variables_1.html
│ │ ├── variables_1.js
│ │ ├── variables_10.html
│ │ ├── variables_10.js
│ │ ├── variables_11.html
│ │ ├── variables_11.js
│ │ ├── variables_12.html
│ │ ├── variables_12.js
│ │ ├── variables_13.html
│ │ ├── variables_13.js
│ │ ├── variables_14.html
│ │ ├── variables_14.js
│ │ ├── variables_15.html
│ │ ├── variables_15.js
│ │ ├── variables_16.html
│ │ ├── variables_16.js
│ │ ├── variables_17.html
│ │ ├── variables_17.js
│ │ ├── variables_18.html
│ │ ├── variables_18.js
│ │ ├── variables_2.html
│ │ ├── variables_2.js
│ │ ├── variables_3.html
│ │ ├── variables_3.js
│ │ ├── variables_4.html
│ │ ├── variables_4.js
│ │ ├── variables_5.html
│ │ ├── variables_5.js
│ │ ├── variables_6.html
│ │ ├── variables_6.js
│ │ ├── variables_7.html
│ │ ├── variables_7.js
│ │ ├── variables_8.html
│ │ ├── variables_8.js
│ │ ├── variables_9.html
│ │ ├── variables_9.js
│ │ ├── variables_a.html
│ │ ├── variables_a.js
│ │ ├── variables_b.html
│ │ ├── variables_b.js
│ │ ├── variables_c.html
│ │ ├── variables_c.js
│ │ ├── variables_d.html
│ │ ├── variables_d.js
│ │ ├── variables_e.html
│ │ ├── variables_e.js
│ │ ├── variables_f.html
│ │ └── variables_f.js
│ ├── seed_8h_source.html
│ ├── smart__factors__fwd_8h_source.html
│ ├── sparse__img__align_8h_source.html
│ ├── sparse__img__align__base_8h_source.html
│ ├── sparse__img__align__gpu_8h_source.html
│ ├── stereo__triangulation_8h_source.html
│ ├── structArgumentType.html
│ ├── structArgumentType_3_01T_07U_08_4-members.html
│ ├── structArgumentType_3_01T_07U_08_4.html
│ ├── structLKSE3_1_1Keypoint-members.html
│ ├── structLKSE3_1_1Keypoint.html
│ ├── structYAML_1_1convert_3_01Eigen_1_1Matrix_3_01Scalar___00_01A___00_01B___00_01C___00_01D___00_01E___01_4_01_4-members.html
│ ├── structYAML_1_1convert_3_01Eigen_1_1Matrix_3_01Scalar___00_01A___00_01B___00_01C___00_01D___00_01E___01_4_01_4.html
│ ├── structYAML_1_1convert_3_01std_1_1queue_3_01ValueType_01_4_01_4-members.html
│ ├── structYAML_1_1convert_3_01std_1_1queue_3_01ValueType_01_4_01_4.html
│ ├── structYAML_1_1convert_3_01std_1_1shared__ptr_3_01vk_1_1cameras_1_1CameraGeometryBase_01_4_01_4-members.html
│ ├── structYAML_1_1convert_3_01std_1_1shared__ptr_3_01vk_1_1cameras_1_1CameraGeometryBase_01_4_01_4.html
│ ├── structYAML_1_1convert_3_01std_1_1shared__ptr_3_01vk_1_1cameras_1_1NCamera_01_4_01_4-members.html
│ ├── structYAML_1_1convert_3_01std_1_1shared__ptr_3_01vk_1_1cameras_1_1NCamera_01_4_01_4.html
│ ├── structYAML_1_1convert_3_01std_1_1unordered__map_3_01KeyType_00_01ValueType_01_4_01_4-members.html
│ ├── structYAML_1_1convert_3_01std_1_1unordered__map_3_01KeyType_00_01ValueType_01_4_01_4.html
│ ├── structYAML_1_1convert_3_01std_1_1unordered__set_3_01KeyType_01_4_01_4-members.html
│ ├── structYAML_1_1convert_3_01std_1_1unordered__set_3_01KeyType_01_4_01_4.html
│ ├── structYAML_1_1convert_3_01vk_1_1cameras_1_1CameraGeometryBase_01_4-members.html
│ ├── structYAML_1_1convert_3_01vk_1_1cameras_1_1CameraGeometryBase_01_4.html
│ ├── structYAML_1_1convert_3_01vk_1_1cameras_1_1NCamera_01_4-members.html
│ ├── structYAML_1_1convert_3_01vk_1_1cameras_1_1NCamera_01_4.html
│ ├── structaslam_1_1Aligned-members.html
│ ├── structaslam_1_1Aligned.html
│ ├── structaslam_1_1AlignedMap-members.html
│ ├── structaslam_1_1AlignedMap.html
│ ├── structaslam_1_1AlignedUnorderedMap-members.html
│ ├── structaslam_1_1AlignedUnorderedMap.html
│ ├── structaslam_1_1common_1_1NumDiffFunctor-members.html
│ ├── structaslam_1_1common_1_1NumDiffFunctor.html
│ ├── structaslam_1_1common_1_1NumericalDiffTraits-members.html
│ ├── structaslam_1_1common_1_1NumericalDiffTraits.html
│ ├── structaslam_1_1common_1_1NumericalDiffTraitsSelector-members.html
│ ├── structaslam_1_1common_1_1NumericalDiffTraitsSelector.html
│ ├── structaslam_1_1common_1_1NumericalDiffTraitsSelector_3_01__Functor_00_01mode_00_010_01_4-members.html
│ ├── structaslam_1_1common_1_1NumericalDiffTraitsSelector_3_01__Functor_00_01mode_00_010_01_4.html
│ ├── structcv_1_1HomographyDecomposition_1_1__CameraMotion-members.html
│ ├── structcv_1_1HomographyDecomposition_1_1__CameraMotion.html
│ ├── structstd_1_1hash_3_01std_1_1function_3_01void_07CallbackArgs_8_8_8_08_4_01_4-members.html
│ ├── structstd_1_1hash_3_01std_1_1function_3_01void_07CallbackArgs_8_8_8_08_4_01_4.html
│ ├── structsvo_1_1BackendInterfaceOptions-members.html
│ ├── structsvo_1_1BackendInterfaceOptions.html
│ ├── structsvo_1_1BackendInterfaceOptions__coll__graph.md5
│ ├── structsvo_1_1BaseOptions-members.html
│ ├── structsvo_1_1BaseOptions.html
│ ├── structsvo_1_1BaseOptions__coll__graph.md5
│ ├── structsvo_1_1Corner-members.html
│ ├── structsvo_1_1Corner.html
│ ├── structsvo_1_1DepthFilterOptions-members.html
│ ├── structsvo_1_1DepthFilterOptions.html
│ ├── structsvo_1_1DepthFilterOptions__coll__graph.md5
│ ├── structsvo_1_1DepthFilter_1_1Job-members.html
│ ├── structsvo_1_1DepthFilter_1_1Job.html
│ ├── structsvo_1_1DepthFilter_1_1Job__coll__graph.md5
│ ├── structsvo_1_1DetectorOptions-members.html
│ ├── structsvo_1_1DetectorOptions.html
│ ├── structsvo_1_1DetectorOptions__coll__graph.md5
│ ├── structsvo_1_1FeatureTrackerOptions-members.html
│ ├── structsvo_1_1FeatureTrackerOptions.html
│ ├── structsvo_1_1FeatureTrackerOptions__coll__graph.md5
│ ├── structsvo_1_1FeatureWrapper-members.html
│ ├── structsvo_1_1FeatureWrapper.html
│ ├── structsvo_1_1FeatureWrapper__coll__graph.md5
│ ├── structsvo_1_1GraphManagerOptions-members.html
│ ├── structsvo_1_1GraphManagerOptions.html
│ ├── structsvo_1_1HostCacheHandler-members.html
│ ├── structsvo_1_1HostCacheHandler.html
│ ├── structsvo_1_1HostCacheHandler__coll__graph.md5
│ ├── structsvo_1_1ImuMeasurement-members.html
│ ├── structsvo_1_1ImuMeasurement.html
│ ├── structsvo_1_1ImuMeasurement__coll__graph.md5
│ ├── structsvo_1_1InitializationOptions-members.html
│ ├── structsvo_1_1InitializationOptions.html
│ ├── structsvo_1_1InitializationOptions__coll__graph.md5
│ ├── structsvo_1_1KeypointIdentifier-members.html
│ ├── structsvo_1_1KeypointIdentifier.html
│ ├── structsvo_1_1KeypointIdentifier__coll__graph.md5
│ ├── structsvo_1_1Matcher_1_1Options-members.html
│ ├── structsvo_1_1Matcher_1_1Options.html
│ ├── structsvo_1_1Matcher_1_1Options__coll__graph.md5
│ ├── structsvo_1_1OptimizerBackendOptions-members.html
│ ├── structsvo_1_1OptimizerBackendOptions.html
│ ├── structsvo_1_1OptimizerBackendOptions__coll__graph.md5
│ ├── structsvo_1_1PoseOptimizer_1_1Statistics-members.html
│ ├── structsvo_1_1PoseOptimizer_1_1Statistics.html
│ ├── structsvo_1_1ReprojectorOptions-members.html
│ ├── structsvo_1_1ReprojectorOptions.html
│ ├── structsvo_1_1ReprojectorOptions__coll__graph.md5
│ ├── structsvo_1_1Reprojector_1_1Candidate-members.html
│ ├── structsvo_1_1Reprojector_1_1Candidate.html
│ ├── structsvo_1_1Reprojector_1_1Candidate__coll__graph.md5
│ ├── structsvo_1_1Reprojector_1_1Statistics-members.html
│ ├── structsvo_1_1Reprojector_1_1Statistics.html
│ ├── structsvo_1_1Reprojector_1_1Statistics__coll__graph.md5
│ ├── structsvo_1_1SeedRef-members.html
│ ├── structsvo_1_1SeedRef.html
│ ├── structsvo_1_1SparseImgAlignOptions-members.html
│ ├── structsvo_1_1SparseImgAlignOptions.html
│ ├── structsvo_1_1SparseImgAlignState-members.html
│ ├── structsvo_1_1SparseImgAlignState.html
│ ├── structsvo_1_1StereoTriangulationOptions-members.html
│ ├── structsvo_1_1StereoTriangulationOptions.html
│ ├── structsvo_1_1StereoTriangulationOptions__coll__graph.md5
│ ├── structsvo_1_1dataset_1_1CameraMeasurement-members.html
│ ├── structsvo_1_1dataset_1_1CameraMeasurement.html
│ ├── structsvo_1_1dataset_1_1CameraMeasurement__coll__graph.md5
│ ├── structsvo_1_1dataset_1_1CameraMeasurement__inherit__graph.md5
│ ├── structsvo_1_1dataset_1_1FeatureTrackMeasurement-members.html
│ ├── structsvo_1_1dataset_1_1FeatureTrackMeasurement.html
│ ├── structsvo_1_1dataset_1_1FeatureTrackMeasurement__coll__graph.md5
│ ├── structsvo_1_1dataset_1_1FeatureTrackMeasurement__inherit__graph.md5
│ ├── structsvo_1_1dataset_1_1ImuMeasurement-members.html
│ ├── structsvo_1_1dataset_1_1ImuMeasurement.html
│ ├── structsvo_1_1dataset_1_1ImuMeasurement__coll__graph.md5
│ ├── structsvo_1_1dataset_1_1ImuMeasurement__inherit__graph.md5
│ ├── structsvo_1_1dataset_1_1MeasurementBase-members.html
│ ├── structsvo_1_1dataset_1_1MeasurementBase.html
│ ├── structsvo_1_1dataset_1_1MeasurementBase__inherit__graph.md5
│ ├── structvk_1_1Homography-members.html
│ ├── structvk_1_1Homography.html
│ ├── structvk_1_1Homography__coll__graph.md5
│ ├── structvk_1_1LogItem-members.html
│ ├── structvk_1_1LogItem.html
│ ├── structvk_1_1cameras_1_1ProjectionResult-members.html
│ ├── structvk_1_1cameras_1_1ProjectionResult.html
│ ├── structvk_1_1solver_1_1MiniLeastSquaresSolverOptions-members.html
│ ├── structvk_1_1solver_1_1MiniLeastSquaresSolverOptions.html
│ ├── structvk_1_1solver_1_1MiniLeastSquaresSolverOptions__coll__graph.md5
│ ├── svo_8h_source.html
│ ├── svo__factory_8h_source.html
│ ├── svo__interface_8h_source.html
│ ├── svo__node__base_8h_source.html
│ ├── svo__nodelet_8h_source.html
│ ├── tabs.css
│ ├── threadsafe__queue_8h_source.html
│ ├── timer_8h_source.html
│ ├── todo.html
│ ├── tracker_8hpp_source.html
│ ├── transformation_8h_source.html
│ ├── types_8h_source.html
│ ├── user__input__thread_8h_source.html
│ ├── vision_8h_source.html
│ ├── visualizer_8h_source.html
│ ├── weight__functions_8hpp_source.html
│ ├── worker__base_8h_source.html
│ ├── yaml-serialization-eigen_8h_source.html
│ └── yaml-serialization_8h_source.html
├── dvs_bootstrapping/
│ ├── CMakeLists.txt
│ ├── include/
│ │ ├── dvs_bootstrapping/
│ │ │ ├── Bootstrapper.hpp
│ │ │ ├── EventsFramesBootstrapper.hpp
│ │ │ └── FrontoPlanarBootstrapper.hpp
│ │ └── motion_correction.hpp
│ ├── package.xml
│ └── src/
│ ├── Bootstrapper.cpp
│ ├── EventsFramesBootstrapper.cpp
│ ├── FrontoPlanarBootstrapper.cpp
│ ├── dvs_bootstrapping_ef_ros.cpp
│ ├── dvs_bootstrapping_frontoplanar_ros.cpp
│ ├── motion_correction.cpp
│ └── pose_to_tf.py
├── dvs_mapping/
│ ├── CMakeLists.txt
│ ├── dvs_mapping_nodelet.xml
│ ├── include/
│ │ └── dvs_depth_from_defocus/
│ │ ├── depth_defocus_node.hpp
│ │ ├── depth_vector.hpp
│ │ └── dvs_mapping_nodelet.h
│ ├── package.xml
│ ├── src/
│ │ ├── depth_defocus_node.cpp
│ │ ├── dvs_mapping_nodelet.cpp
│ │ ├── dvs_mapping_ros.cpp
│ │ ├── tf_broadcaster.py
│ │ └── trigger_map_expansion.py
│ └── test/
│ ├── test_depth_vector.cpp
│ └── test_median_filter.cpp
├── dvs_reconstruction/
│ ├── CMakeLists.txt
│ ├── include/
│ │ └── dvs_reconstruction/
│ │ ├── mosaic.hpp
│ │ └── poisson_solver/
│ │ └── laplace.h
│ ├── package.xml
│ └── src/
│ ├── dvs_reconstruction_ros.cpp
│ ├── mosaic.cpp
│ └── poisson_solver/
│ └── laplace.cpp
├── dvs_slam_msgs/
│ ├── CMakeLists.txt
│ ├── msg/
│ │ └── VoxelGrid.msg
│ └── package.xml
├── dvs_tracking/
│ ├── CMakeLists.txt
│ ├── dvs_tracking_nodelet.xml
│ ├── include/
│ │ └── dvs_tracking/
│ │ ├── dvs_tracking_nodelet.h
│ │ ├── lk_se3.hpp
│ │ ├── tracker.hpp
│ │ └── weight_functions.hpp
│ ├── launch/
│ │ ├── desk.launch
│ │ ├── flyingroom.launch
│ │ └── live.launch
│ ├── package.xml
│ ├── parameters/
│ │ ├── calib/
│ │ │ ├── DAVIS-evo.yaml
│ │ │ ├── DAVIS-ijrr.yaml
│ │ │ └── ncamera/
│ │ │ ├── DAVIS-evo.yaml
│ │ │ └── DAVIS-ijrr.yaml
│ │ ├── svo_desk.yaml
│ │ ├── svo_flyingroom.yaml
│ │ └── svo_live.yaml
│ ├── rviz/
│ │ ├── live.rviz
│ │ └── rosbag.rviz
│ └── src/
│ ├── dvs_tracking_nodelet.cpp
│ ├── dvs_tracking_ros.cpp
│ ├── lk_se3.cpp
│ └── tracker.cpp
├── evo_utils/
│ ├── CMakeLists.txt
│ ├── include/
│ │ ├── evo_utils/
│ │ │ ├── camera.hpp
│ │ │ ├── geometry.hpp
│ │ │ ├── interpolation.hpp
│ │ │ └── main.hpp
│ │ └── rpg_common_ros/
│ │ └── params_helper.hpp
│ ├── package.xml
│ ├── setup.py
│ └── src/
│ ├── camera.cpp
│ ├── evo_utils/
│ │ ├── __init__.py
│ │ ├── colormaps.py
│ │ ├── display_DSI.py
│ │ ├── publish_confidence.py
│ │ ├── select_exposure_DAVIS.py
│ │ ├── snakify.py
│ │ └── tf_to_camera_markers.py
│ └── utils_geometry.cpp
├── install.sh
├── rqt_evo/
│ ├── CMakeLists.txt
│ ├── README.md
│ ├── package.xml
│ ├── plugin.xml
│ ├── resource/
│ │ └── widget.ui
│ ├── scripts/
│ │ ├── off_the_quad.sh
│ │ └── rqt_evo
│ ├── setup.py
│ └── src/
│ └── rqt_evo/
│ ├── .gitignore
│ ├── __init__.py
│ ├── evo.py
│ └── evo_widget.py
├── rqt_svo/
│ ├── CMakeLists.txt
│ ├── README.md
│ ├── package.xml
│ ├── plugin.xml
│ ├── resource/
│ │ └── widget.ui
│ ├── scripts/
│ │ └── rqt_svo
│ ├── setup.py
│ └── src/
│ └── rqt_svo/
│ ├── .gitignore
│ ├── __init__.py
│ ├── svo.py
│ └── svo_widget.py
├── svo/
│ ├── .gitignore
│ ├── CMakeLists.txt
│ ├── include/
│ │ ├── rpg_common/
│ │ │ ├── batch_worker.h
│ │ │ ├── callback_host.h
│ │ │ ├── realtime_worker.h
│ │ │ ├── threadsafe_queue.h
│ │ │ └── worker_base.h
│ │ └── svo/
│ │ ├── abstract_bundle_adjustment.h
│ │ ├── config.h.in
│ │ ├── frame_handler_array.h
│ │ ├── frame_handler_base.h
│ │ ├── frame_handler_mono.h
│ │ ├── frame_handler_stereo.h
│ │ ├── global.h
│ │ ├── imu_handler.h
│ │ ├── initialization.h
│ │ ├── io.h
│ │ ├── map.h
│ │ ├── pose_optimizer.h
│ │ ├── reprojector.h
│ │ ├── stereo_triangulation.h
│ │ └── svo.h
│ ├── package.xml
│ └── src/
│ ├── config.cpp
│ ├── frame_handler_array.cpp
│ ├── frame_handler_base.cpp
│ ├── frame_handler_mono.cpp
│ ├── frame_handler_stereo.cpp
│ ├── imu_handler.cpp
│ ├── initialization.cpp
│ ├── io.cpp
│ ├── map.cpp
│ ├── patch_normal.cpp
│ ├── pose_optimizer.cpp
│ ├── reprojector.cpp
│ └── stereo_triangulation.cpp
├── svo_backend/
│ ├── CATKIN_IGNORE
│ ├── CMakeLists.txt
│ ├── dependencies.yaml
│ ├── include/
│ │ └── svo/
│ │ └── backend/
│ │ ├── backend_interface.h
│ │ ├── backend_optimizer.h
│ │ ├── backend_types.h
│ │ ├── graph_manager.h
│ │ └── smart_factors_fwd.h
│ ├── package.xml
│ └── src/
│ ├── backend_interface.cpp
│ ├── backend_optimizer.cpp
│ ├── graph_manager.cpp
│ └── smart_factors.cpp
├── svo_cmake/
│ ├── CMakeLists.txt
│ ├── cmake/
│ │ ├── Modules/
│ │ │ ├── Findyaml-cpp.cmake
│ │ │ ├── Gtsam.cmake
│ │ │ ├── SlidingWindowEstimator.cmake
│ │ │ └── SvoSetup.cmake
│ │ ├── svo_cmake-extras.cmake.develspace.in
│ │ └── svo_cmake-extras.cmake.installspace.in
│ └── package.xml
├── svo_common/
│ ├── CMakeLists.txt
│ ├── include/
│ │ └── svo/
│ │ └── common/
│ │ ├── camera.h
│ │ ├── camera_fwd.h
│ │ ├── container_helpers.h
│ │ ├── conversions.h
│ │ ├── feature_wrapper.h
│ │ ├── frame.h
│ │ ├── imu_calibration.h
│ │ ├── logging.h
│ │ ├── occupancy_grid_2d.h
│ │ ├── point.h
│ │ ├── seed.h
│ │ ├── transformation.h
│ │ └── types.h
│ ├── package.xml
│ └── src/
│ ├── empty.cpp
│ ├── frame.cpp
│ └── point.cpp
├── svo_direct/
│ ├── CMakeLists.txt
│ ├── include/
│ │ └── svo/
│ │ └── direct/
│ │ ├── depth_estimation.h
│ │ ├── depth_filter.h
│ │ ├── elder_zucker.h
│ │ ├── feature_alignment.h
│ │ ├── feature_detection.h
│ │ ├── feature_detection_types.h
│ │ ├── feature_detection_utils.h
│ │ ├── matcher.h
│ │ ├── patch_normal.h
│ │ ├── patch_score.h
│ │ ├── patch_utils.h
│ │ └── patch_warp.h
│ ├── package.xml
│ └── src/
│ ├── depth_estimation.cpp
│ ├── depth_filter.cpp
│ ├── elder_zucker.cpp
│ ├── feature_alignment.cpp
│ ├── feature_detection.cpp
│ ├── feature_detection_utils.cpp
│ ├── matcher.cpp
│ └── patch_warp.cpp
├── svo_img_align/
│ ├── CMakeLists.txt
│ ├── include/
│ │ └── svo/
│ │ └── img_align/
│ │ ├── frame_gpu.h
│ │ ├── gpu_types_cuda.h
│ │ ├── sparse_img_align.h
│ │ ├── sparse_img_align_base.h
│ │ ├── sparse_img_align_device_utils.cuh
│ │ └── sparse_img_align_gpu.h
│ ├── package.xml
│ └── src/
│ ├── frame_gpu.cpp
│ ├── sparse_img_align.cpp
│ ├── sparse_img_align_base.cpp
│ ├── sparse_img_align_device_utils.cu
│ └── sparse_img_align_gpu.cpp
├── svo_msgs/
│ ├── CMakeLists.txt
│ ├── msg/
│ │ ├── DenseInput.msg
│ │ ├── DenseInputWithFeatures.msg
│ │ ├── Feature.msg
│ │ ├── Info.msg
│ │ └── NbvTrajectory.msg
│ └── package.xml
├── svo_ros/
│ ├── CMakeLists.txt
│ ├── include/
│ │ └── svo_ros/
│ │ ├── backend_factory.h
│ │ ├── backend_visualizer.h
│ │ ├── csv_dataset_reader.h
│ │ ├── svo_factory.h
│ │ ├── svo_interface.h
│ │ ├── svo_node_base.h
│ │ ├── svo_nodelet.h
│ │ └── visualizer.h
│ ├── package.xml
│ ├── rqt.perspective
│ ├── rviz_ba.rviz
│ ├── rviz_config.rviz
│ ├── src/
│ │ ├── backend_factory.cpp
│ │ ├── backend_visualizer.cpp
│ │ ├── benchmark_node.cpp
│ │ ├── csv_dataset_reader.cpp
│ │ ├── svo_factory.cpp
│ │ ├── svo_interface.cpp
│ │ ├── svo_node.cpp
│ │ ├── svo_node_base.cpp
│ │ ├── svo_nodelet.cpp
│ │ └── visualizer.cpp
│ └── svo_nodelet.xml
├── svo_tracker/
│ ├── CMakeLists.txt
│ ├── include/
│ │ └── svo/
│ │ └── tracker/
│ │ ├── feature_tracker.h
│ │ ├── feature_tracking_types.h
│ │ ├── feature_tracking_utils.h
│ │ └── feature_tracking_viz.h
│ ├── package.xml
│ └── src/
│ ├── feature_tracker.cpp
│ ├── feature_tracking_types.cpp
│ ├── feature_tracking_utils.cpp
│ └── feature_tracking_viz.cpp
└── svo_vikit/
├── LICENSE
├── README.md
├── vikit_cameras/
│ ├── CMakeLists.txt
│ ├── include/
│ │ └── vikit/
│ │ ├── cameras/
│ │ │ ├── atan_distortion.h
│ │ │ ├── camera_factory.h
│ │ │ ├── camera_geometry.h
│ │ │ ├── camera_geometry_base.h
│ │ │ ├── equidistant_distortion.h
│ │ │ ├── equidistant_fisheye_geometry.h
│ │ │ ├── equidistant_fisheye_projection.h
│ │ │ ├── implementation/
│ │ │ │ ├── camera_geometry.hpp
│ │ │ │ ├── camera_geometry_base.hpp
│ │ │ │ └── pinhole_projection.hpp
│ │ │ ├── ncamera.h
│ │ │ ├── no_distortion.h
│ │ │ ├── omni_geometry.h
│ │ │ ├── omni_projection.h
│ │ │ ├── pinhole_projection.h
│ │ │ ├── radial_tangential_distortion.h
│ │ │ └── yaml/
│ │ │ ├── camera-yaml-serialization.h
│ │ │ └── ncamera-yaml-serialization.h
│ │ └── cameras.h
│ ├── package.xml
│ ├── src/
│ │ ├── camera_factory.cpp
│ │ ├── camera_geometry_base.cpp
│ │ ├── camera_yaml_serialization.cpp
│ │ ├── equidistant_fisheye_geometry.cpp
│ │ ├── equidistant_fisheye_projection.cpp
│ │ ├── ncamera.cpp
│ │ ├── ncamera_yaml_serialization.cpp
│ │ ├── omni_geometry.cpp
│ │ └── omni_projection.cpp
│ └── test/
│ ├── data/
│ │ ├── calib_cam.yaml
│ │ ├── calib_kitti.yaml
│ │ ├── calib_omni.yaml
│ │ ├── calib_pinhole_atan.yaml
│ │ ├── calib_pinhole_equidistant.yaml
│ │ ├── calib_pinhole_nodistortion.yaml
│ │ └── calib_pinhole_radtan.yaml
│ └── test_cameras.cpp
├── vikit_common/
│ ├── CMakeLists.txt
│ ├── include/
│ │ ├── aslam/
│ │ │ └── common/
│ │ │ ├── entrypoint.h
│ │ │ ├── macros.h
│ │ │ ├── memory.h
│ │ │ ├── numdiff-jacobian-tester.h
│ │ │ ├── pose-types.h
│ │ │ ├── yaml-serialization-eigen.h
│ │ │ └── yaml-serialization.h
│ │ └── vikit/
│ │ ├── backtrace.h
│ │ ├── blender_utils.h
│ │ ├── csv_utils.h
│ │ ├── homography.h
│ │ ├── homography_decomp.h
│ │ ├── math_utils.h
│ │ ├── path_utils.h
│ │ ├── performance_monitor.h
│ │ ├── ringbuffer.h
│ │ ├── sample.h
│ │ ├── timer.h
│ │ ├── user_input_thread.h
│ │ └── vision.h
│ ├── package.xml
│ ├── src/
│ │ ├── homography.cpp
│ │ ├── math_utils.cpp
│ │ ├── performance_monitor.cpp
│ │ ├── sample.cpp
│ │ ├── user_input_thread.cpp
│ │ └── vision.cpp
│ ├── test/
│ │ ├── test_camera.cpp
│ │ ├── test_common.cpp
│ │ ├── test_homography.cpp
│ │ ├── test_math_utils.cpp
│ │ ├── test_timer.cpp
│ │ └── test_triangulation.cpp
│ └── vikit_commonConfig.cmake.in
├── vikit_py/
│ ├── CMakeLists.txt
│ ├── package.xml
│ ├── setup.py
│ └── src/
│ └── vikit_py/
│ ├── .gitignore
│ ├── __init__.py
│ ├── align_trajectory.py
│ ├── associate_timestamps.py
│ ├── cpu_info.py
│ ├── depth_estimation.py
│ ├── depthmap_utils.py
│ ├── math_utils.py
│ ├── pinhole_camera.py
│ ├── plot_utils.py
│ ├── ros_node.py
│ ├── rotation_utils.py
│ ├── test_transformations.py
│ └── transformations.py
├── vikit_ros/
│ ├── CMakeLists.txt
│ ├── include/
│ │ └── vikit/
│ │ ├── img_type_conversion.h
│ │ ├── output_helper.h
│ │ └── params_helper.h
│ ├── package.xml
│ └── src/
│ ├── img_type_conversion.cpp
│ └── output_helper.cpp
└── vikit_solver/
├── CMakeLists.txt
├── include/
│ └── vikit/
│ └── solver/
│ ├── implementation/
│ │ └── mini_least_squares_solver.hpp
│ ├── mini_least_squares_solver.h
│ └── robust_cost.h
├── package.xml
└── src/
└── robust_cost.cpp
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FILE: docs/menu.js
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FILE: docs/search/search.js
function convertToId (line 1) | function convertToId(search)
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function SearchResults (line 404) | function SearchResults(name)
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function createResults (line 722) | function createResults()
function init_search (line 777) | function init_search()
FILE: dvs_bootstrapping/include/dvs_bootstrapping/Bootstrapper.hpp
type dvs_bootstrapping (line 19) | namespace dvs_bootstrapping {
class Bootstrapper (line 21) | class Bootstrapper {
method postCameraLoaded (line 56) | virtual void postCameraLoaded() {}
method postBootstrapCalled (line 62) | virtual void postBootstrapCalled() {}
FILE: dvs_bootstrapping/include/dvs_bootstrapping/EventsFramesBootstrapper.hpp
type dvs_bootstrapping (line 17) | namespace dvs_bootstrapping {
class EventsFramesBootstrapper (line 22) | class EventsFramesBootstrapper : public Bootstrapper {
FILE: dvs_bootstrapping/include/dvs_bootstrapping/FrontoPlanarBootstrapper.hpp
type dvs_bootstrapping (line 16) | namespace dvs_bootstrapping {
class FrontoPlanarBootstrapper (line 29) | class FrontoPlanarBootstrapper : public EventsFramesBootstrapper {
FILE: dvs_bootstrapping/include/motion_correction.hpp
type motion_correction (line 16) | namespace motion_correction {
function int_floor (line 28) | static inline int int_floor(float x) {
function resetMat (line 40) | static inline void resetMat(cv::Mat& arr, const cv::Size& size,
class WarpUpdateParams (line 52) | class WarpUpdateParams {
method WarpUpdateParams (line 58) | WarpUpdateParams() {}
method WarpUpdateParams (line 60) | WarpUpdateParams(int nIt, double eps, int mode, int lvls,
FILE: dvs_bootstrapping/src/Bootstrapper.cpp
type dvs_bootstrapping (line 12) | namespace dvs_bootstrapping {
FILE: dvs_bootstrapping/src/EventsFramesBootstrapper.cpp
type dvs_bootstrapping (line 20) | namespace dvs_bootstrapping {
FILE: dvs_bootstrapping/src/FrontoPlanarBootstrapper.cpp
type dvs_bootstrapping (line 16) | namespace dvs_bootstrapping {
FILE: dvs_bootstrapping/src/motion_correction.cpp
type motion_correction (line 6) | namespace motion_correction {
function initWarp (line 8) | void initWarp(cv::Mat& warp, const WarpUpdateParams& params) {
function updateWarp (line 23) | void updateWarp(cv::Mat& warp, const cv::Mat& img0, const cv::Mat& img1,
function computeFlowFromWarp (line 78) | cv::Mat computeFlowFromWarp(const cv::Mat& warp, double dt,
function drawEventsUndistorted (line 146) | void drawEventsUndistorted(EventArray::iterator ev_first,
function drawEventsMotionCorrectedOpticalFlow (line 190) | void drawEventsMotionCorrectedOpticalFlow(
FILE: dvs_bootstrapping/src/pose_to_tf.py
class Boostrapper (line 14) | class Boostrapper:
method __init__ (line 16) | def __init__(self, tf_frame_name, tf_world_name, relative_to_first_pos...
method handle_dvs_pose (line 25) | def handle_dvs_pose(self, msg):
FILE: dvs_mapping/include/dvs_depth_from_defocus/depth_defocus_node.hpp
type depth_from_defocus (line 27) | namespace depth_from_defocus {
type MapperState (line 53) | enum MapperState { IDLE, MAPPING }
class DepthFromDefocusNode (line 58) | class DepthFromDefocusNode {
method voteForCell (line 227) | void voteForCell(const float x_f, const float y_f, Vote *grid) {
method voteForCellBilinear (line 249) | void voteForCellBilinear(const float x_f, const float y_f, Vote *gri...
method Vote (line 440) | inline const Vote &voxelGridAt(const std::vector<Vote> &grid, int x,...
method Vote (line 455) | inline Vote &voxelGridAt(std::vector<Vote> &grid, int x, int y, size...
FILE: dvs_mapping/include/dvs_depth_from_defocus/depth_vector.hpp
type depth_from_defocus (line 3) | namespace depth_from_defocus {
class DepthVector (line 19) | class DepthVector {
method DerivedDepthVector (line 21) | DerivedDepthVector& derived() {
method DepthVector (line 25) | DepthVector() {}
method DepthVector (line 39) | DepthVector(float min_depth, float max_depth, size_t num_depth_cells) {
method size (line 57) | inline size_t size() const { return vec_.size(); }
method cellIndexToDepth (line 68) | float cellIndexToDepth(size_t i) { return derived().cellIndexToDepth...
method depthToCellIndex (line 79) | size_t depthToCellIndex(float depth) {
method depthToCell (line 90) | float depthToCell(float depth) { return derived().depthToCell(depth); }
method getDepthVector (line 97) | std::vector<float> getDepthVector() {
class LinearDepthVector (line 116) | class LinearDepthVector : public DepthVector<LinearDepthVector> {
method LinearDepthVector (line 118) | LinearDepthVector() : DepthVector() {}
method LinearDepthVector (line 120) | LinearDepthVector(float min_depth, float max_depth, size_t num_depth...
method init (line 123) | void init() {
method cellIndexToDepth (line 133) | float cellIndexToDepth(size_t i) { return vec_[i]; }
method depthToCellIndex (line 135) | size_t depthToCellIndex(float depth) {
method depthToCell (line 140) | float depthToCell(float depth) {
class InverseDepthVector (line 148) | class InverseDepthVector : public DepthVector<InverseDepthVector> {
method InverseDepthVector (line 150) | InverseDepthVector() : DepthVector() {}
method InverseDepthVector (line 152) | InverseDepthVector(float min_depth, float max_depth, size_t num_dept...
method init (line 155) | void init() {
method cellIndexToDepth (line 167) | float cellIndexToDepth(size_t i) { return 1.f / vec_[i]; }
method depthToCellIndex (line 169) | size_t depthToCellIndex(float depth) {
method depthToCell (line 175) | float depthToCell(float depth) {
FILE: dvs_mapping/include/dvs_depth_from_defocus/dvs_mapping_nodelet.h
function namespace (line 7) | namespace depth_from_defocus {
FILE: dvs_mapping/src/depth_defocus_node.cpp
type depth_from_defocus (line 22) | namespace depth_from_defocus {
FILE: dvs_mapping/src/dvs_mapping_nodelet.cpp
type depth_from_defocus (line 10) | namespace depth_from_defocus {
FILE: dvs_mapping/src/tf_broadcaster.py
function handle_dvs_pose (line 8) | def handle_dvs_pose(msg):
FILE: dvs_mapping/src/trigger_map_expansion.py
class TriggerMapExpansion (line 47) | class TriggerMapExpansion:
method __init__ (line 53) | def __init__(self):
method _CameraInfoCallback (line 83) | def _CameraInfoCallback(self, msg):
method _RemoteKeyCallback (line 96) | def _RemoteKeyCallback(self, msg):
method _MapCallback (line 113) | def _MapCallback(self, msg):
method _CheckNewMapNeeded (line 139) | def _CheckNewMapNeeded(self, event):
method _MapVisibility (line 190) | def _MapVisibility(self, pts):
method _BaselineOverDepth (line 221) | def _BaselineOverDepth(self, pts, t):
FILE: dvs_mapping/test/test_depth_vector.cpp
function TEST (line 8) | TEST(DepthVectorTest, LinearDepth) {
function TEST (line 21) | TEST(DepthVectorTest, ForwardBackward) {
FILE: dvs_mapping/test/test_median_filter.cpp
class MedianFilterTest (line 10) | class MedianFilterTest : public ::testing::Test {
method SetUp (line 12) | virtual void SetUp() {
method print_array (line 62) | void print_array(const cv::Mat& arr, int cols, int rows) {
function TEST_F (line 76) | TEST_F(MedianFilterTest, NaiveFilterWithoutMask) {
function TEST_F (line 105) | TEST_F(MedianFilterTest, NaiveMedianFilterWithMask) {
function TEST_F (line 150) | TEST_F(MedianFilterTest, HuangFilterWithoutMask) {
function TEST_F (line 172) | TEST_F(MedianFilterTest, HuangFilterWithMask) {
FILE: dvs_reconstruction/include/dvs_reconstruction/mosaic.hpp
class Mosaic (line 21) | class Mosaic {
FILE: dvs_reconstruction/include/dvs_reconstruction/poisson_solver/laplace.h
function namespace (line 31) | namespace arr
function namespace (line 70) | namespace pde
FILE: dvs_reconstruction/src/dvs_reconstruction_ros.cpp
class DvsReconstruction (line 29) | class DvsReconstruction {
FILE: dvs_reconstruction/src/poisson_solver/laplace.cpp
type pde (line 30) | namespace pde
function stoptime (line 33) | double stoptime(void)
function fftw_threads (line 168) | int fftw_threads(int n)
function fftw_clean (line 175) | void fftw_clean()
function set_boundary_to_uniform (line 182) | void set_boundary_to_uniform(
function get_boundary (line 205) | void get_boundary(std::vector<double>& bd1a, std::vector<double>& bd1b,
function set_boundary (line 250) | void set_boundary(boost::multi_array<double,2>& X, double h1, double h2,
function set_boundary (line 305) | void set_boundary(boost::multi_array<double,2>& X, double h1, double h2,
function grad (line 340) | void grad(boost::multi_array<double,2>& DX, boost::multi_array<double,...
function grad (line 361) | void grad(boost::multi_array<double,2>& DX, boost::multi_array<double,...
function grad (line 375) | void grad(boost::multi_array<double,2>& DX, boost::multi_array<double,...
function div (line 394) | void div(boost::multi_array<double,2>& F,
function laplace (line 419) | void laplace(boost::multi_array<double,2>& F,
function laplace (line 440) | void laplace(boost::multi_array<double,2>& F,
function laplace (line 498) | void laplace(boost::multi_array<double,2>& F,
function neumann_error (line 521) | double neumann_error(const boost::multi_array<double,2>& F)
function neumann_compat (line 554) | double neumann_compat(const boost::multi_array<double,2>& F,
function poisolve (line 587) | double poisolve( boost::multi_array<double,2>& U,
function poisolve (line 800) | double poisolve(boost::multi_array<double,2>& U,
function sqr (line 47) | inline double sqr(double x)
type arr (line 57) | namespace arr
function runif (line 61) | double runif()
function runif (line 66) | void runif(std::vector<double>& X)
function runif (line 74) | void runif(boost::multi_array<double,2>& X)
function print (line 86) | void print(const boost::multi_array<double,2>& X)
function diff (line 99) | double diff(const std::vector<double>& X,
function diff (line 119) | double diff(const std::vector<double>& X, double c)
function diff (line 133) | double diff(const boost::multi_array<double,2>& X,
type pde (line 163) | namespace pde
function stoptime (line 33) | double stoptime(void)
function fftw_threads (line 168) | int fftw_threads(int n)
function fftw_clean (line 175) | void fftw_clean()
function set_boundary_to_uniform (line 182) | void set_boundary_to_uniform(
function get_boundary (line 205) | void get_boundary(std::vector<double>& bd1a, std::vector<double>& bd1b,
function set_boundary (line 250) | void set_boundary(boost::multi_array<double,2>& X, double h1, double h2,
function set_boundary (line 305) | void set_boundary(boost::multi_array<double,2>& X, double h1, double h2,
function grad (line 340) | void grad(boost::multi_array<double,2>& DX, boost::multi_array<double,...
function grad (line 361) | void grad(boost::multi_array<double,2>& DX, boost::multi_array<double,...
function grad (line 375) | void grad(boost::multi_array<double,2>& DX, boost::multi_array<double,...
function div (line 394) | void div(boost::multi_array<double,2>& F,
function laplace (line 419) | void laplace(boost::multi_array<double,2>& F,
function laplace (line 440) | void laplace(boost::multi_array<double,2>& F,
function laplace (line 498) | void laplace(boost::multi_array<double,2>& F,
function neumann_error (line 521) | double neumann_error(const boost::multi_array<double,2>& F)
function neumann_compat (line 554) | double neumann_compat(const boost::multi_array<double,2>& F,
function poisolve (line 587) | double poisolve( boost::multi_array<double,2>& U,
function poisolve (line 800) | double poisolve(boost::multi_array<double,2>& U,
FILE: dvs_tracking/include/dvs_tracking/dvs_tracking_nodelet.h
function class (line 7) | class DvsTrackingNodelet : public nodelet::Nodelet {
FILE: dvs_tracking/include/dvs_tracking/lk_se3.hpp
class LKSE3 (line 16) | class LKSE3 {
type Keypoint (line 28) | struct Keypoint {
method Keypoint (line 36) | Keypoint(Eigen::Vector3f _P, float _pixel_value, Vector8 _J,
FILE: dvs_tracking/include/dvs_tracking/tracker.hpp
class Tracker (line 28) | class Tracker : public LKSE3 {
FILE: dvs_tracking/include/dvs_tracking/weight_functions.hpp
type weight_functions (line 4) | namespace weight_functions {
function Tukey (line 13) | float Tukey(const float error) {
function Huber (line 30) | float Huber(const float error) {
FILE: evo_utils/include/evo_utils/camera.hpp
type evo_utils::camera (line 18) | namespace evo_utils::camera {
class PinholeCamera (line 47) | class PinholeCamera {
method PinholeCamera (line 49) | PinholeCamera() {}
method PinholeCamera (line 60) | PinholeCamera(int width, int height, float fx, float fy, float cx, f...
method Keypoint (line 82) | inline Keypoint project3dToPixel(const Point& P) {
method BearingVector (line 94) | inline BearingVector projectPixelTo3dRay(const Keypoint& u) {
method K (line 98) | Eigen::Matrix3f K() const { return K_; }
FILE: evo_utils/include/evo_utils/geometry.hpp
type evo_utils::geometry (line 7) | namespace evo_utils::geometry {
FILE: evo_utils/include/evo_utils/interpolation.hpp
type evo_utils::interpolate (line 11) | namespace evo_utils::interpolate {
function bilinear (line 28) | float bilinear(const float* img, const size_t w, const size_t h, const...
function bilinear (line 63) | inline float bilinear(const cv::Mat& img, const float x, const float y) {
function nn (line 82) | float nn(const float* img, const size_t w, const size_t h, const float x,
function draw (line 102) | void draw(cv::Mat& img, const float x, const float y, const float val) {
FILE: evo_utils/include/rpg_common_ros/params_helper.hpp
type rpg_common_ros (line 16) | namespace rpg_common_ros {
function hasParam (line 18) | inline bool hasParam(const std::string& name) { return ros::param::has...
function T (line 21) | T getParam(const std::string& name, const T& defaultValue) {
function T (line 33) | T getParam(const std::string& name) {
function T (line 44) | T param(const ros::NodeHandle& nh, const std::string& name,
FILE: evo_utils/src/camera.cpp
type evo_utils::camera (line 3) | namespace evo_utils::camera {
function precomputeRectificationTable (line 5) | void precomputeRectificationTable(
function loadPinholeCamera (line 34) | image_geometry::PinholeCameraModel loadPinholeCamera(ros::NodeHandle& ...
FILE: evo_utils/src/evo_utils/display_DSI.py
function reorder_axes (line 33) | def reorder_axes(arr):
function updateDSI (line 44) | def updateDSI(voxel_grid_msg):
FILE: evo_utils/src/evo_utils/publish_confidence.py
function reorder_axes (line 21) | def reorder_axes(arr):
function normalize (line 32) | def normalize(img):
function publish_confidence (line 41) | def publish_confidence(voxel_grid_msg):
FILE: evo_utils/src/evo_utils/select_exposure_DAVIS.py
class ExposureSelector (line 25) | class ExposureSelector:
method __init__ (line 27) | def __init__(self):
method reset (line 41) | def reset(self):
method exposureCallback (line 48) | def exposureCallback(self, config):
method runPass (line 57) | def runPass(self, exposure_range, rate):
method selectOptimalExposureCallback (line 88) | def selectOptimalExposureCallback(self):
method computeEntropy (line 131) | def computeEntropy(self, img):
method imageCallback (line 157) | def imageCallback(self, msg):
FILE: evo_utils/src/evo_utils/snakify.py
class snakify (line 22) | class snakify:
method __init__ (line 24) | def __init__(self):
method _TFCallback (line 32) | def _TFCallback(self, msg):
FILE: evo_utils/src/evo_utils/tf_to_camera_markers.py
class tfToCamera (line 18) | class tfToCamera:
method __init__ (line 20) | def __init__(self):
method _TFCallback (line 34) | def _TFCallback(self, msg):
method _publishCameraMarker (line 50) | def _publishCameraMarker(self, pub, tf_msg, marker_scale=0.2, color=(1...
FILE: evo_utils/src/utils_geometry.cpp
type evo_utils::geometry (line 6) | namespace evo_utils::geometry {
function T (line 17) | T median(std::vector<T>& list) {
function get_value (line 37) | inline int get_value(const cv::Mat& img, const cv::Mat& mask, int row,
function naiveMedianFilter (line 48) | void naiveMedianFilter(const cv::Mat& img, cv::Mat& out_img,
function compute_median_histogram (line 85) | int compute_median_histogram(const int h[], int num_elements) {
function huangMedianFilter (line 99) | void huangMedianFilter(const cv::Mat& img, cv::Mat& out_img,
FILE: rqt_evo/src/rqt_evo/evo.py
class Evo (line 9) | class Evo(Plugin):
method __init__ (line 14) | def __init__(self, context):
method _parse_args (line 39) | def _parse_args(self, argv):
FILE: rqt_evo/src/rqt_evo/evo_widget.py
class EvoWidget (line 14) | class EvoWidget(QWidget):
method __init__ (line 25) | def __init__(self, evo_namespace='evo'):
method _on_topic_changed (line 64) | def _on_topic_changed(self, topic):
method register (line 72) | def register(self, evo_namespace):
method unregister (line 84) | def unregister(self):
method on_bootstrap_button_pressed (line 115) | def on_bootstrap_button_pressed(self):
method on_start_button_pressed (line 122) | def on_start_button_pressed(self):
method on_update_button_pressed (line 129) | def on_update_button_pressed(self):
method on_switch_button_pressed (line 136) | def on_switch_button_pressed(self):
method on_map_expansion_changed (line 143) | def on_map_expansion_changed(self):
method on_copilot_state_changed (line 154) | def on_copilot_state_changed(self):
method send_command (line 162) | def send_command(self, cmd):
FILE: rqt_svo/src/rqt_svo/svo.py
class Svo (line 8) | class Svo(Plugin):
method __init__ (line 12) | def __init__(self, context):
method _parse_args (line 37) | def _parse_args(self, argv):
method save_settings (line 49) | def save_settings(self, plugin_settings, instance_settings):
method restore_settings (line 57) | def restore_settings(self, plugin_settings, instance_settings):
FILE: rqt_svo/src/rqt_svo/svo_widget.py
class SvoWidget (line 12) | class SvoWidget(QWidget):
method __init__ (line 18) | def __init__(self, svo_namespace='svo'):
method _on_topic_changed (line 47) | def _on_topic_changed(self, topic):
method register (line 52) | def register(self, svo_namespace):
method unregister (line 69) | def unregister(self):
method info_cb (line 79) | def info_cb(self, msg):
method update_info (line 83) | def update_info(self):
method on_start_button_pressed (line 113) | def on_start_button_pressed(self):
method on_reset_button_pressed (line 117) | def on_reset_button_pressed(self):
method on_quit_button_pressed (line 121) | def on_quit_button_pressed(self):
method send_command (line 125) | def send_command(self, cmd):
FILE: svo/include/rpg_common/batch_worker.h
function namespace (line 11) | namespace rpg_common {
FILE: svo/include/rpg_common/callback_host.h
function namespace (line 11) | namespace rpg_common {
function namespace (line 56) | namespace std {
FILE: svo/include/rpg_common/realtime_worker.h
function namespace (line 7) | namespace rpg_common {
FILE: svo/include/rpg_common/threadsafe_queue.h
function namespace (line 10) | namespace rpg_common {
FILE: svo/include/rpg_common/worker_base.h
function namespace (line 3) | namespace rpg_common {
FILE: svo/include/svo/abstract_bundle_adjustment.h
function namespace (line 14) | namespace svo
FILE: svo/include/svo/frame_handler_array.h
function namespace (line 13) | namespace svo {
FILE: svo/include/svo/frame_handler_base.h
function namespace (line 23) | namespace vk
type class (line 31) | enum class
type BaseOptions (line 36) | struct BaseOptions
type class (line 195) | enum class
function TrackingQuality (line 201) | enum class TrackingQuality {
FILE: svo/include/svo/frame_handler_mono.h
function namespace (line 13) | namespace svo {
FILE: svo/include/svo/frame_handler_stereo.h
function namespace (line 13) | namespace svo {
FILE: svo/include/svo/global.h
function namespace (line 29) | namespace svo
FILE: svo/include/svo/imu_handler.h
function namespace (line 20) | namespace svo {
FILE: svo/include/svo/initialization.h
type DetectorOptions (line 22) | struct DetectorOptions
type FeatureTrackerOptions (line 23) | struct FeatureTrackerOptions
type class (line 25) | enum class
type InitializationOptions (line 37) | struct InitializationOptions
function InitResult (line 87) | enum class InitResult
FILE: svo/include/svo/io.h
function namespace (line 6) | namespace svo {
FILE: svo/include/svo/map.h
function namespace (line 15) | namespace svo {
FILE: svo/include/svo/pose_optimizer.h
function namespace (line 18) | namespace svo {
FILE: svo/include/svo/reprojector.h
function namespace (line 14) | namespace vk {
function namespace (line 18) | namespace svo {
FILE: svo/include/svo/stereo_triangulation.h
function namespace (line 10) | namespace svo {
FILE: svo/src/config.cpp
type svo (line 13) | namespace svo {
FILE: svo/src/frame_handler_array.cpp
type svo (line 22) | namespace svo {
function UpdateResult (line 37) | UpdateResult FrameHandlerArray::processFrameBundle()
function UpdateResult (line 58) | UpdateResult FrameHandlerArray::processFirstFrame()
function UpdateResult (line 71) | UpdateResult FrameHandlerArray::processSecondFrame()
function UpdateResult (line 107) | UpdateResult FrameHandlerArray::processFrame()
function UpdateResult (line 150) | UpdateResult FrameHandlerArray::makeKeyframe(const size_t camera_id)
FILE: svo/src/frame_handler_base.cpp
type svo (line 39) | namespace svo
FILE: svo/src/frame_handler_mono.cpp
type svo (line 22) | namespace svo {
function UpdateResult (line 37) | UpdateResult FrameHandlerMono::processFrameBundle()
function UpdateResult (line 57) | UpdateResult FrameHandlerMono::processFirstFrame()
function UpdateResult (line 100) | UpdateResult FrameHandlerMono::processFrame()
function UpdateResult (line 191) | UpdateResult FrameHandlerMono::relocalizeFrame(
function FramePtr (line 223) | FramePtr FrameHandlerMono::lastFrame() const
function FramePtr (line 228) | const FramePtr& FrameHandlerMono::newFrame() const
function FramePtr (line 233) | const FramePtr& FrameHandlerMono::lastFrameUnsafe() const
FILE: svo/src/frame_handler_stereo.cpp
type svo (line 23) | namespace svo {
function UpdateResult (line 46) | UpdateResult FrameHandlerStereo::processFrameBundle()
function UpdateResult (line 65) | UpdateResult FrameHandlerStereo::processFirstFrame()
function UpdateResult (line 86) | UpdateResult FrameHandlerStereo::processFrame()
function UpdateResult (line 130) | UpdateResult FrameHandlerStereo::makeKeyframe()
FILE: svo/src/imu_handler.cpp
type svo (line 16) | namespace svo {
function ImuCalibration (line 282) | ImuCalibration ImuHandler::loadCalibrationFromFile(const std::string& ...
function ImuInitialization (line 306) | ImuInitialization ImuHandler::loadInitializationFromFile(const std::st...
FILE: svo/src/initialization.cpp
type svo (line 62) | namespace svo {
function InitResult (line 115) | InitResult HomographyInit::addFrameBundle(
class TranslationSacProblemWithTriangulation (line 167) | class TranslationSacProblemWithTriangulation : public opengv::sac_prob...
method TranslationSacProblemWithTriangulation (line 171) | TranslationSacProblemWithTriangulation(adapter_t & adapter) : Base(a...
method getSelectedDistancesToModel (line 173) | void getSelectedDistancesToModel(
function InitResult (line 217) | InitResult TwoPointInit::addFrameBundle(
function InitResult (line 292) | InitResult FivePointInit::addFrameBundle(
function InitResult (line 361) | InitResult OneShotInit::addFrameBundle(const FrameBundlePtr &frames_cur)
function InitResult (line 433) | InitResult StereoInit::addFrameBundle(
function InitResult (line 449) | InitResult ArrayInitGeometric::addFrameBundle(
function InitResult (line 592) | InitResult ArrayInitOptimization::addFrameBundle(
type initialization_utils (line 727) | namespace initialization_utils {
function triangulateAndInitializePoints (line 729) | bool triangulateAndInitializePoints(
function triangulatePoints (line 756) | void triangulatePoints(
function rescaleAndInitializePoints (line 800) | void rescaleAndInitializePoints(
function displayFeatureTracks (line 842) | void displayFeatureTracks(
function makeInitializer (line 865) | AbstractInitialization::UniquePtr makeInitializer(
function copyBearingVectors (line 901) | void copyBearingVectors(
FILE: svo/src/io.cpp
type svo (line 19) | namespace svo {
type io (line 20) | namespace io {
function saveMap (line 22) | bool saveMap(
function loadMap (line 114) | bool loadMap(
FILE: svo/src/map.cpp
type svo (line 15) | namespace svo {
function FramePtr (line 135) | FramePtr Map::getClosestKeyframe(const FramePtr& frame) const
function FramePtr (line 154) | FramePtr Map::getFurthestKeyframe(const Vector3d& pos) const
function FramePtr (line 169) | FramePtr Map::getKeyframeById(const int id) const
FILE: svo/src/patch_normal.cpp
type svo (line 18) | namespace svo {
FILE: svo/src/pose_optimizer.cpp
type svo (line 16) | namespace svo {
type pose_optimizer_utils (line 337) | namespace pose_optimizer_utils {
function calculateFeatureResidualUnitPlane (line 339) | void calculateFeatureResidualUnitPlane(
function calculateFeatureResidualImagePlane (line 380) | void calculateFeatureResidualImagePlane(
function calculateFeatureResidualBearingVectorDiff (line 426) | void calculateFeatureResidualBearingVectorDiff(
function calculateEdgeletResidualUnitPlane (line 468) | void calculateEdgeletResidualUnitPlane(
function calculateEdgeletResidualImagePlane (line 511) | void calculateEdgeletResidualImagePlane(
function calculateEdgeletResidualBearingVectorDiff (line 561) | void calculateEdgeletResidualBearingVectorDiff(
FILE: svo/src/reprojector.cpp
type svo (line 19) | namespace svo {
type reprojector_utils (line 179) | namespace reprojector_utils {
function sortCandidates (line 181) | void sortCandidates(
function matchCandidates (line 195) | void matchCandidates(
function matchCandidate (line 232) | bool matchCandidate(
function getCandidate (line 321) | bool getCandidate(
function projectPointAndCheckVisibility (line 352) | bool projectPointAndCheckVisibility(
function setGridCellsOccupied (line 373) | void setGridCellsOccupied(
FILE: svo/src/stereo_triangulation.cpp
type svo (line 14) | namespace svo {
FILE: svo_backend/include/svo/backend/backend_interface.h
function namespace (line 7) | namespace svo {
FILE: svo_backend/include/svo/backend/backend_optimizer.h
function namespace (line 17) | namespace svo {
FILE: svo_backend/include/svo/backend/backend_types.h
function namespace (line 6) | namespace svo {
function set_T_W_B (line 42) | inline void set_T_W_B(const Transformation& T_W_B) { T_W_B_ = T_W_B; }
function set_W_v_B (line 43) | inline void set_W_v_B(const Eigen::Vector3d& W_v_B) { W_v_B_ = W_v_B; }
function setAccBias (line 44) | inline void setAccBias(const Eigen::Vector3d& acc_bias) { acc_bias_ = ac...
function setGyroBias (line 45) | inline void setGyroBias(const Eigen::Vector3d& gyro_bias) { gyro_bias_ =...
FILE: svo_backend/include/svo/backend/graph_manager.h
function namespace (line 19) | namespace svo {
FILE: svo_backend/include/svo/backend/smart_factors_fwd.h
function namespace (line 7) | namespace gtsam {
function namespace (line 18) | namespace svo {
FILE: svo_backend/src/backend_interface.cpp
type svo (line 19) | namespace svo {
FILE: svo_backend/src/backend_optimizer.cpp
type svo (line 28) | namespace svo
FILE: svo_backend/src/graph_manager.cpp
type svo (line 25) | namespace svo {
FILE: svo_backend/src/smart_factors.cpp
type gtsam (line 10) | namespace gtsam {
class GenericProjectionFactor<Pose3, Point3, Cal3_S2> (line 13) | class GenericProjectionFactor<Pose3, Point3, Cal3_S2>
class SmartProjectionPoseFactor<Cal3_S2> (line 14) | class SmartProjectionPoseFactor<Cal3_S2>
class FastMap<boost::shared_ptr<SmartProjectionPoseFactor<Cal3_S2>>, size_t> (line 15) | class FastMap<boost::shared_ptr<SmartProjectionPoseFactor<Cal3_S2>>, s...
class FastMap<int, std::pair<boost::shared_ptr<SmartProjectionPoseFactor<Cal3_S2>>, int>> (line 16) | class FastMap<int, std::pair<boost::shared_ptr<SmartProjectionPoseFact...
FILE: svo_common/include/svo/common/camera_fwd.h
function namespace (line 5) | namespace vk {
function namespace (line 12) | namespace svo
FILE: svo_common/include/svo/common/container_helpers.h
function namespace (line 9) | namespace svo {
FILE: svo_common/include/svo/common/conversions.h
function namespace (line 5) | namespace svo {
FILE: svo_common/include/svo/common/feature_wrapper.h
function namespace (line 6) | namespace svo {
type FeatureWrapper (line 29) | struct FeatureWrapper
FILE: svo_common/include/svo/common/frame.h
function namespace (line 21) | namespace svo {
function setNFrameIndex (line 191) | inline void setNFrameIndex(size_t nframe_index) { nframe_index_ = nframe...
function set_T_cam_imu (line 212) | inline void set_T_cam_imu(const Transformation& T_cam_imu)
function getErrorMultiplier (line 236) | double getErrorMultiplier() const;
function class (line 351) | class FrameBundle
function namespace (line 442) | namespace frame_utils {
FILE: svo_common/include/svo/common/imu_calibration.h
function class (line 14) | class ImuCalibration
function class (line 73) | class ImuInitialization
FILE: svo_common/include/svo/common/occupancy_grid_2d.h
function namespace (line 6) | namespace svo {
FILE: svo_common/include/svo/common/point.h
function namespace (line 19) | namespace svo {
function namespace (line 197) | namespace std {
FILE: svo_common/include/svo/common/seed.h
function namespace (line 14) | namespace svo {
FILE: svo_common/include/svo/common/transformation.h
function namespace (line 5) | namespace svo {
FILE: svo_common/include/svo/common/types.h
function namespace (line 8) | namespace svo {
FILE: svo_common/src/frame.cpp
type svo (line 23) | namespace svo {
function FeatureWrapper (line 155) | FeatureWrapper Frame::getFeatureWrapper(size_t index)
function FeatureWrapper (line 164) | FeatureWrapper Frame::getEmptyFeatureWrapper()
type frame_utils (line 304) | namespace frame_utils {
function createImgPyramid (line 306) | void createImgPyramid(const cv::Mat& img_level_0, int n_levels, ImgP...
function getSceneDepth (line 322) | bool getSceneDepth(const FramePtr& frame, double& depth_median, doub...
function computeNormalizedBearingVectors (line 358) | void computeNormalizedBearingVectors(
FILE: svo_common/src/point.cpp
type svo (line 15) | namespace svo {
function FramePtr (line 153) | FramePtr Point::getSeedFrame() const
FILE: svo_direct/include/svo/direct/depth_estimation.h
function namespace (line 15) | namespace svo {
FILE: svo_direct/include/svo/direct/depth_filter.h
function namespace (line 19) | namespace svo {
FILE: svo_direct/include/svo/direct/elder_zucker.h
function namespace (line 6) | namespace svo {
FILE: svo_direct/include/svo/direct/feature_alignment.h
function namespace (line 16) | namespace svo {
FILE: svo_direct/include/svo/direct/feature_detection.h
function class (line 20) | class AbstractDetector
function class (line 61) | class FastDetector : public AbstractDetector
function class (line 81) | class GradientDetector : public AbstractDetector
function class (line 102) | class GradientDetectorGrid : public AbstractDetector
function class (line 121) | class FastGradDetector : public AbstractDetector
function class (line 140) | class AllPixelsDetector : public AbstractDetector
function virtual (line 166) | virtual void detect(
FILE: svo_direct/include/svo/direct/feature_detection_types.h
type Corner (line 17) | struct Corner
FILE: svo_direct/include/svo/direct/feature_detection_utils.h
function namespace (line 19) | namespace svo {
FILE: svo_direct/include/svo/direct/matcher.h
function namespace (line 16) | namespace svo {
FILE: svo_direct/include/svo/direct/patch_normal.h
function namespace (line 13) | namespace vk {
function namespace (line 17) | namespace svo {
FILE: svo_direct/include/svo/direct/patch_score.h
function namespace (line 20) | namespace svo {
FILE: svo_direct/include/svo/direct/patch_utils.h
function namespace (line 15) | namespace svo {
FILE: svo_direct/include/svo/direct/patch_warp.h
function namespace (line 15) | namespace svo {
FILE: svo_direct/src/depth_estimation.cpp
type svo (line 16) | namespace svo {
FILE: svo_direct/src/depth_filter.cpp
type svo (line 25) | namespace svo {
type depth_filter_utils (line 202) | namespace depth_filter_utils {
function initializeSeeds (line 204) | void initializeSeeds(
function updateSeed (line 307) | bool updateSeed(
function updateFilterVogiatzis (line 435) | bool updateFilterVogiatzis(
function updateFilterGaussian (line 488) | bool updateFilterGaussian(
function computeTau (line 514) | double computeTau(
function computeEpiGradAngle (line 532) | double computeEpiGradAngle(
function setSeedCovariance (line 558) | bool setSeedCovariance(
function getSeedDisparityUncertainty (line 601) | double getSeedDisparityUncertainty(
FILE: svo_direct/src/elder_zucker.cpp
type svo (line 9) | namespace svo {
type elder_zucker (line 10) | namespace elder_zucker {
function detectEdges (line 12) | void detectEdges(
function getCovarEntries (line 148) | void getCovarEntries(
function filterGauss3by316S (line 259) | void filterGauss3by316S(
FILE: svo_direct/src/feature_alignment.cpp
type svo (line 24) | namespace svo {
type feature_alignment (line 25) | namespace feature_alignment {
function align1D (line 31) | bool align1D(
function align2D (line 212) | bool align2D(
function align2D_SSE2 (line 396) | bool align2D_SSE2(
function align2D_NEON (line 571) | bool align2D_NEON (const cv::Mat& cur_img,
function alignPyr2DVec (line 732) | void alignPyr2DVec(
function alignPyr2D (line 761) | bool alignPyr2D(
FILE: svo_direct/src/feature_detection.cpp
type svo (line 22) | namespace svo {
FILE: svo_direct/src/feature_detection_utils.cpp
type svo (line 24) | namespace svo {
type feature_detection_utils (line 25) | namespace feature_detection_utils {
function makeDetector (line 28) | AbstractDetector::Ptr makeDetector(
function fillFeatures (line 66) | void fillFeatures(const Corners& corners,
function fastDetector (line 138) | void fastDetector(
function edgeletDetector_V1 (line 190) | void edgeletDetector_V1(
function edgeletDetector_V2 (line 238) | void edgeletDetector_V2(
function getCornerAngle (line 314) | bool getCornerAngle(
function getShiTomasiScore (line 353) | bool getShiTomasiScore(
function setCornerAngles (line 401) | void setCornerAngles(const ImgPyr& img_pyr, Corners* corners)
function setCornerLevel (line 415) | void setCornerLevel(const ImgPyr& mag_pyr, Corners* corners)
function computeDerivMaxMagnitude (line 439) | void computeDerivMaxMagnitude(
function computeDerivHuangMumford (line 456) | void computeDerivHuangMumford(
function nonmax (line 497) | void nonmax(
function displayGrid (line 527) | void displayGrid(
function nonlinearDiffusion (line 564) | void nonlinearDiffusion(const cv::Mat& img_8u,
function detectCannyEdges (line 607) | void detectCannyEdges(
function detectSobelEdges (line 629) | void detectSobelEdges(
function drawFeatures (line 655) | void drawFeatures(
function getAngleAtPixelUsingHistogram (line 730) | double getAngleAtPixelUsingHistogram(
type angle_hist (line 740) | namespace angle_hist {
function angleHistogram (line 742) | void angleHistogram(
function gradientAndMagnitudeAtPixel (line 761) | bool gradientAndMagnitudeAtPixel(
function smoothOrientationHistogram (line 775) | void smoothOrientationHistogram(AngleHistogram& hist)
function getDominantAngle (line 786) | double getDominantAngle(const AngleHistogram& hist)
FILE: svo_direct/src/matcher.cpp
type svo (line 29) | namespace svo {
type matcher_utils (line 477) | namespace matcher_utils {
function depthFromTriangulation (line 479) | Matcher::MatchResult depthFromTriangulation(
FILE: svo_direct/src/patch_warp.cpp
type svo (line 16) | namespace svo {
type warp (line 17) | namespace warp {
function getWarpMatrixAffine (line 20) | void getWarpMatrixAffine(
function getWarpMatrixAffineHomography (line 62) | void getWarpMatrixAffineHomography(
function getBestSearchLevel (line 97) | int getBestSearchLevel(
function warpAffine (line 112) | bool warpAffine(
function warpPixelwise (line 158) | bool warpPixelwise(
function createPatchNoWarp (line 229) | void createPatchNoWarp(
function createPatchNoWarpInterpolated (line 257) | void createPatchNoWarpInterpolated(
FILE: svo_img_align/include/svo/img_align/frame_gpu.h
function namespace (line 27) | namespace svo {
FILE: svo_img_align/include/svo/img_align/gpu_types_cuda.h
function namespace (line 5) | namespace svo {
FILE: svo_img_align/include/svo/img_align/sparse_img_align.h
function namespace (line 19) | namespace svo {
FILE: svo_img_align/include/svo/img_align/sparse_img_align_base.h
function namespace (line 18) | namespace svo {
FILE: svo_img_align/include/svo/img_align/sparse_img_align_gpu.h
function namespace (line 22) | namespace svo {
function class (line 77) | class SparseImgAlignGpu : public SparseImgAlignBase
function namespace (line 134) | namespace sparse_img_align_host_utils {
FILE: svo_img_align/src/frame_gpu.cpp
type svo (line 30) | namespace svo {
FILE: svo_img_align/src/sparse_img_align.cpp
type svo (line 24) | namespace svo {
type sparse_img_align_utils (line 206) | namespace sparse_img_align_utils
function extractFeaturesSubset (line 209) | void extractFeaturesSubset(const Frame& ref_frame,
function precomputeBaseCaches (line 258) | void precomputeBaseCaches(const Frame& ref_frame,
function precomputeJacobiansAndRefPatches (line 315) | void precomputeJacobiansAndRefPatches(
function computeResidualsOfFrame (line 401) | void computeResidualsOfFrame(
function FloatType (line 496) | FloatType computeHessianAndGradient(
function computeResidualHessianGradient (line 539) | float computeResidualHessianGradient(const FramePtr& cur_frame,
FILE: svo_img_align/src/sparse_img_align_base.cpp
type svo (line 24) | namespace svo {
FILE: svo_img_align/src/sparse_img_align_gpu.cpp
type svo (line 31) | namespace svo {
type sparse_img_align_host_utils (line 269) | namespace sparse_img_align_host_utils
function extractFeaturesSubset (line 272) | void extractFeaturesSubset(const Frame& ref_frame,
FILE: svo_ros/include/svo_ros/backend_factory.h
function namespace (line 6) | namespace svo {
FILE: svo_ros/include/svo_ros/backend_visualizer.h
function namespace (line 18) | namespace swe {
function namespace (line 21) | namespace svo {
FILE: svo_ros/include/svo_ros/csv_dataset_reader.h
function namespace (line 12) | namespace svo {
FILE: svo_ros/include/svo_ros/svo_factory.h
function namespace (line 7) | namespace svo {
FILE: svo_ros/include/svo_ros/svo_interface.h
function namespace (line 15) | namespace svo {
FILE: svo_ros/include/svo_ros/svo_node_base.h
function namespace (line 5) | namespace svo_ros {
FILE: svo_ros/include/svo_ros/svo_nodelet.h
function namespace (line 6) | namespace svo {
FILE: svo_ros/include/svo_ros/visualizer.h
function namespace (line 28) | namespace svo {
FILE: svo_ros/src/backend_factory.cpp
type svo (line 13) | namespace svo {
type backend_factory (line 14) | namespace backend_factory {
function makeBackend (line 16) | BackendInterface::Ptr makeBackend(const ros::NodeHandle& pnh)
FILE: svo_ros/src/backend_visualizer.cpp
type svo (line 28) | namespace svo {
FILE: svo_ros/src/benchmark_node.cpp
type svo (line 33) | namespace svo {
class BenchmarkNode (line 35) | class BenchmarkNode : public SvoInterface
function main (line 543) | int main(int argc, char** argv)
FILE: svo_ros/src/csv_dataset_reader.cpp
type svo (line 8) | namespace svo {
type utils (line 10) | namespace utils {
function checkHeaderAndOpenStream (line 12) | void checkHeaderAndOpenStream(
function readLine (line 29) | void readLine(
FILE: svo_ros/src/svo_factory.cpp
type svo (line 26) | namespace svo {
type factory (line 27) | namespace factory {
function BaseOptions (line 29) | BaseOptions loadBaseOptions(const ros::NodeHandle& pnh, bool forward...
function DetectorOptions (line 72) | DetectorOptions loadDetectorOptions(const ros::NodeHandle& pnh)
function DepthFilterOptions (line 86) | DepthFilterOptions loadDepthFilterOptions(const ros::NodeHandle& pnh)
function InitializationOptions (line 101) | InitializationOptions loadInitializationOptions(const ros::NodeHandl...
function FeatureTrackerOptions (line 125) | FeatureTrackerOptions loadTrackerOptions(const ros::NodeHandle& pnh)
function ReprojectorOptions (line 133) | ReprojectorOptions loadReprojectorOptions(const ros::NodeHandle& pnh)
function loadCameraFromYaml (line 145) | CameraBundle::Ptr loadCameraFromYaml(const ros::NodeHandle& pnh)
function LoopClosureOptions (line 156) | LoopClosureOptions loadLoopClosureOptions(const ros::NodeHandle& pnh)
function LoopClosingPtr (line 174) | LoopClosingPtr getLoopClosingModule(const ros::NodeHandle &pnh,
function StereoTriangulationOptions (line 185) | StereoTriangulationOptions loadStereoOptions(const ros::NodeHandle& ...
function getImuHandler (line 195) | ImuHandler::Ptr getImuHandler(const ros::NodeHandle& pnh)
function setInitialPose (line 206) | void setInitialPose(const ros::NodeHandle& pnh, FrameHandlerBase& vo)
function makeMono (line 220) | FrameHandlerMono::Ptr makeMono(const ros::NodeHandle& pnh, const Cam...
function makeStereo (line 242) | FrameHandlerStereo::Ptr makeStereo(const ros::NodeHandle& pnh, const...
function makeArray (line 267) | FrameHandlerArray::Ptr makeArray(const ros::NodeHandle& pnh, const C...
FILE: svo_ros/src/svo_interface.cpp
type svo (line 39) | namespace svo {
FILE: svo_ros/src/svo_node.cpp
function main (line 3) | int main(int argc, char **argv)
FILE: svo_ros/src/svo_node_base.cpp
type svo_ros (line 9) | namespace svo_ros {
FILE: svo_ros/src/svo_nodelet.cpp
type svo (line 9) | namespace svo {
FILE: svo_ros/src/visualizer.cpp
type svo (line 42) | namespace svo {
FILE: svo_tracker/include/svo/tracker/feature_tracker.h
function namespace (line 8) | namespace svo {
FILE: svo_tracker/include/svo/tracker/feature_tracking_types.h
function namespace (line 6) | namespace svo {
function FeatureRef (line 115) | inline const FeatureRef& at(size_t i) const {
function pushBack (line 121) | inline void pushBack(
type std (line 134) | typedef std::vector<FeatureTrack,
FILE: svo_tracker/include/svo/tracker/feature_tracking_utils.h
function namespace (line 7) | namespace svo {
FILE: svo_tracker/include/svo/tracker/feature_tracking_viz.h
function namespace (line 5) | namespace svo {
FILE: svo_tracker/src/feature_tracker.cpp
type svo (line 13) | namespace svo {
function FeatureTracks (line 188) | const FeatureTracks& FeatureTracker::getActiveTracks(size_t frame_inde...
function FrameBundlePtr (line 220) | FrameBundlePtr FeatureTracker::getOldestFrameInTrack(size_t frame_inde...
FILE: svo_tracker/src/feature_tracking_types.cpp
type svo (line 4) | namespace svo {
function FramePtr (line 26) | const FramePtr FeatureRef::getFrame() const
FILE: svo_tracker/src/feature_tracking_utils.cpp
type svo (line 7) | namespace svo {
type feature_tracking_utils (line 8) | namespace feature_tracking_utils {
function getTracksDisparityPercentile (line 10) | double getTracksDisparityPercentile(
function getFeatureMatches (line 34) | void getFeatureMatches(
FILE: svo_tracker/src/feature_tracking_viz.cpp
type svo (line 9) | namespace svo {
function visualizeTracks (line 11) | void visualizeTracks(
FILE: svo_vikit/vikit_cameras/include/vikit/cameras.h
function namespace (line 20) | namespace vk {
FILE: svo_vikit/vikit_cameras/include/vikit/cameras/atan_distortion.h
function namespace (line 8) | namespace vk {
FILE: svo_vikit/vikit_cameras/include/vikit/cameras/camera_factory.h
function namespace (line 6) | namespace vk {
FILE: svo_vikit/vikit_cameras/include/vikit/cameras/camera_geometry.h
function namespace (line 8) | namespace vk {
FILE: svo_vikit/vikit_cameras/include/vikit/cameras/camera_geometry_base.h
function namespace (line 11) | namespace vk {
FILE: svo_vikit/vikit_cameras/include/vikit/cameras/equidistant_distortion.h
function namespace (line 8) | namespace vk
FILE: svo_vikit/vikit_cameras/include/vikit/cameras/equidistant_fisheye_geometry.h
function namespace (line 6) | namespace vk {
FILE: svo_vikit/vikit_cameras/include/vikit/cameras/equidistant_fisheye_projection.h
function namespace (line 7) | namespace vk {
FILE: svo_vikit/vikit_cameras/include/vikit/cameras/implementation/camera_geometry.hpp
type vk (line 4) | namespace vk {
type cameras (line 5) | namespace cameras {
function ProjectionResult (line 29) | const ProjectionResult CameraGeometry<Projection>::project3(
function T (line 86) | const T* CameraGeometry<Projection>::projection() const
FILE: svo_vikit/vikit_cameras/include/vikit/cameras/implementation/camera_geometry_base.hpp
type vk (line 3) | namespace vk {
type cameras (line 4) | namespace cameras {
FILE: svo_vikit/vikit_cameras/include/vikit/cameras/implementation/pinhole_projection.hpp
type vk (line 5) | namespace vk {
type cameras (line 6) | namespace cameras {
function T (line 89) | const T* PinholeProjection<Distortion>::distortion() const
FILE: svo_vikit/vikit_cameras/include/vikit/cameras/ncamera.h
function namespace (line 12) | namespace vk {
FILE: svo_vikit/vikit_cameras/include/vikit/cameras/no_distortion.h
function namespace (line 7) | namespace vk {
FILE: svo_vikit/vikit_cameras/include/vikit/cameras/omni_geometry.h
function namespace (line 6) | namespace vk {
FILE: svo_vikit/vikit_cameras/include/vikit/cameras/omni_projection.h
function namespace (line 7) | namespace vk {
FILE: svo_vikit/vikit_cameras/include/vikit/cameras/pinhole_projection.h
function namespace (line 8) | namespace vk {
FILE: svo_vikit/vikit_cameras/include/vikit/cameras/radial_tangential_distortion.h
function namespace (line 7) | namespace vk {
FILE: svo_vikit/vikit_cameras/include/vikit/cameras/yaml/camera-yaml-serialization.h
function namespace (line 8) | namespace vk {
function namespace (line 14) | namespace YAML {
FILE: svo_vikit/vikit_cameras/include/vikit/cameras/yaml/ncamera-yaml-serialization.h
function namespace (line 8) | namespace vk {
function namespace (line 14) | namespace YAML {
FILE: svo_vikit/vikit_cameras/src/camera_factory.cpp
type vk (line 16) | namespace vk {
type cameras (line 17) | namespace cameras {
type factory (line 18) | namespace factory {
function makePinholeCamera (line 20) | CameraGeometryBase::Ptr makePinholeCamera(
function loadFromYAML (line 30) | CameraGeometryBase::Ptr loadFromYAML(
FILE: svo_vikit/vikit_cameras/src/camera_geometry_base.cpp
type vk (line 13) | namespace vk {
type cameras (line 14) | namespace cameras {
FILE: svo_vikit/vikit_cameras/src/camera_yaml_serialization.cpp
type YAML (line 15) | namespace YAML {
function Node (line 104) | Node convert<vk::cameras::CameraGeometryBase::Ptr>::encode(
type internal (line 115) | namespace internal {
function encodeDistortion (line 121) | void encodeDistortion(
function encodeDistortion (line 130) | void encodeDistortion(
function encodeDistortion (line 142) | void encodeDistortion(
function encodeDistortion (line 154) | void encodeDistortion(
function encodePinhole (line 166) | bool encodePinhole(const vk::cameras::CameraGeometryBase& camera,
function Node (line 195) | Node convert<vk::cameras::CameraGeometryBase>::encode(
FILE: svo_vikit/vikit_cameras/src/equidistant_fisheye_geometry.cpp
type vk (line 3) | namespace vk {
type cameras (line 4) | namespace cameras {
FILE: svo_vikit/vikit_cameras/src/equidistant_fisheye_projection.cpp
type vk (line 5) | namespace vk {
type cameras (line 6) | namespace cameras {
FILE: svo_vikit/vikit_cameras/src/ncamera.cpp
type vk (line 12) | namespace vk {
type cameras (line 13) | namespace cameras {
function Transformation (line 70) | const Transformation& NCamera::get_T_C_B(size_t camera_index) const
function TransformationVector (line 76) | const TransformationVector& NCamera::getTransformationVector() const
function Camera (line 81) | const Camera& NCamera::getCamera(size_t camera_index) const
FILE: svo_vikit/vikit_cameras/src/ncamera_yaml_serialization.cpp
type YAML (line 8) | namespace YAML {
function Node (line 99) | Node convert<std::shared_ptr<vk::cameras::NCamera> >::encode(
function Node (line 109) | Node convert<vk::cameras::NCamera>::encode(const vk::cameras::NCamera&...
FILE: svo_vikit/vikit_cameras/src/omni_geometry.cpp
type vk (line 5) | namespace vk {
type cameras (line 6) | namespace cameras {
FILE: svo_vikit/vikit_cameras/src/omni_projection.cpp
type vk (line 5) | namespace vk {
type cameras (line 6) | namespace cameras {
type omni_projection (line 8) | namespace omni_projection {
function distortionToAffineCorrection (line 9) | Eigen::Matrix2d distortionToAffineCorrection(const Eigen::Vector3d...
FILE: svo_vikit/vikit_cameras/test/test_cameras.cpp
class CamerasTest (line 16) | class CamerasTest: public ::testing::Test
method SetUp (line 19) | virtual void SetUp()
function TEST_F (line 34) | TEST_F(CamerasTest, AtanDistortion)
function TEST_F (line 44) | TEST_F(CamerasTest, EquidistantDistortion)
function TEST_F (line 83) | TEST_F(CamerasTest, RadialTangentialDistortion)
function TEST_F (line 123) | TEST_F(CamerasTest, CameraFactoryNoDistortion)
function TEST_F (line 131) | TEST_F(CamerasTest, CameraFactoryAtan)
function TEST_F (line 139) | TEST_F(CamerasTest, CameraFactoryEquidistant)
function TEST_F (line 147) | TEST_F(CamerasTest, CameraFactoryRadTan)
function TEST_F (line 155) | TEST_F(CamerasTest, CameraYaml)
function TEST_F (line 162) | TEST_F(CamerasTest, CameraProjection)
function TEST_F (line 175) | TEST_F(CamerasTest, NCameraYamlStereo)
function TEST (line 182) | TEST(CameraTest, EquidistantProjection)
function TEST_F (line 214) | TEST_F(CamerasTest, OmniCameraInitialization)
function TEST_F (line 222) | TEST_F(CamerasTest, OmniCameraBackprojection)
function TEST_F (line 234) | TEST_F(CamerasTest, OmniCameraProjection)
function TEST_F (line 246) | TEST_F(CamerasTest, OmniCameraJacobian)
FILE: svo_vikit/vikit_common/include/aslam/common/macros.h
type U (line 18) | typedef U Type;
FILE: svo_vikit/vikit_common/include/aslam/common/memory.h
function namespace (line 14) | namespace aslam {
FILE: svo_vikit/vikit_common/include/aslam/common/numdiff-jacobian-tester.h
function namespace (line 7) | namespace aslam {
FILE: svo_vikit/vikit_common/include/aslam/common/pose-types.h
function namespace (line 12) | namespace aslam {
FILE: svo_vikit/vikit_common/include/aslam/common/yaml-serialization-eigen.h
function namespace (line 10) | namespace YAML { // This has to be in the same namespace as the Emitter.
type typename (line 42) | typedef typename Eigen::Matrix<Scalar, A, B, C, D, E>::Index IndexType;
function decode (line 78) | bool decode(const Node& node,
function decode (line 124) | bool decode(const Node& node,
function decode (line 170) | bool decode(
FILE: svo_vikit/vikit_common/include/aslam/common/yaml-serialization.h
function namespace (line 18) | namespace YAML {
function Node (line 51) | static Node encode(const std::queue<ValueType>& queue) {
function decode (line 63) | static bool decode(const Node& node, std::queue<ValueType>& queue) {
function Node (line 75) | static Node encode(const std::unordered_set<KeyType>& set) {
function decode (line 83) | static bool decode(const Node& node, std::unordered_set<KeyType>& set) {
function Node (line 95) | static Node encode(const std::unordered_map<KeyType, ValueType>& map) {
function decode (line 103) | static bool decode(const Node& node,
function ostream (line 114) | ostream* ofs) {
FILE: svo_vikit/vikit_common/include/vikit/backtrace.h
function namespace (line 9) | namespace vk {
FILE: svo_vikit/vikit_common/include/vikit/blender_utils.h
function namespace (line 19) | namespace vk {
FILE: svo_vikit/vikit_common/include/vikit/csv_utils.h
function namespace (line 17) | namespace vk {
function Eigen (line 86) | inline Eigen::Vector3d convertStringsToEigenVector3d(const std::string& ...
function Quaternion (line 112) | inline Quaternion convertStringsToQuaternion(
function convertStringToLongLong (line 144) | inline int64_t convertStringToLongLong(const std::string& number_as_stri...
FILE: svo_vikit/vikit_common/include/vikit/homography_decomp.h
function namespace (line 52) | namespace cv
FILE: svo_vikit/vikit_common/include/vikit/math_utils.h
function namespace (line 10) | namespace vk {
function pyrFromZero_d (line 174) | inline double pyrFromZero_d(double x_0, int level)
function Eigen (line 179) | inline Eigen::Vector2d pyrFromZero_2d(const Eigen::Vector2d& uv_0, int l...
function jacobianFrame_xyz2uv (line 198) | inline void jacobianFrame_xyz2uv(
function jacobianPoint_xyz2uv (line 221) | inline void jacobianPoint_xyz2uv(
FILE: svo_vikit/vikit_common/include/vikit/path_utils.h
function namespace (line 6) | namespace vk {
FILE: svo_vikit/vikit_common/include/vikit/performance_monitor.h
function namespace (line 17) | namespace vk
FILE: svo_vikit/vikit_common/include/vikit/ringbuffer.h
function namespace (line 32) | namespace vk
FILE: svo_vikit/vikit_common/include/vikit/sample.h
function namespace (line 8) | namespace vk {
FILE: svo_vikit/vikit_common/include/vikit/timer.h
function namespace (line 10) | namespace vk
FILE: svo_vikit/vikit_common/include/vikit/user_input_thread.h
function namespace (line 7) | namespace vk {
FILE: svo_vikit/vikit_common/include/vikit/vision.h
function namespace (line 15) | namespace vk
FILE: svo_vikit/vikit_common/src/homography.cpp
type vk (line 15) | namespace vk {
function Homography (line 19) | Homography estimateHomography(
FILE: svo_vikit/vikit_common/src/math_utils.cpp
type vk (line 10) | namespace vk {
function Vector3d (line 14) | Vector3d triangulateFeatureNonLin(
function depthFromTriangulationExact (line 35) | bool depthFromTriangulationExact(
function reprojError (line 57) | double reprojError(
function computeInliers (line 66) | double computeInliers(
function computeInliersOneView (line 100) | void computeInliersOneView(
function Vector3d (line 124) | Vector3d dcm2rpy(const Matrix3d &R)
function Matrix3d (line 149) | Matrix3d rpy2dcm(const Vector3d &rpy)
function Quaterniond (line 169) | Quaterniond angax2quat(const Vector3d& n, const double& angle)
function Matrix3d (line 176) | Matrix3d angax2dcm(const Vector3d& n, const double& angle)
function Quaternion (line 183) | Quaternion slerp(const Quaternion& q0, const Quaternion& q1, double t)
function sampsonDistance (line 193) | double sampsonDistance(
FILE: svo_vikit/vikit_common/src/performance_monitor.cpp
type vk (line 12) | namespace vk
FILE: svo_vikit/vikit_common/src/sample.cpp
type vk (line 10) | namespace vk {
FILE: svo_vikit/vikit_common/src/user_input_thread.cpp
type vk (line 12) | namespace vk {
FILE: svo_vikit/vikit_common/src/vision.cpp
type vk (line 16) | namespace vk {
function halfSampleSSE2 (line 19) | void halfSampleSSE2(const unsigned char* in, unsigned char* out, int w...
function halfSampleNEON (line 48) | void halfSampleNEON( const cv::Mat& in, cv::Mat& out )
function halfSample (line 72) | void
function calcSharrDeriv (line 113) | void
function convertRawDepthImageSse_16u_to_32f (line 207) | void convertRawDepthImageSse_16u_to_32f(cv::Mat& depth_16u, cv::Mat& d...
FILE: svo_vikit/vikit_common/test/test_camera.cpp
function testTiming (line 25) | void testTiming(vk::AbstractCamera::Ptr cam)
function testAccuracy (line 47) | void testAccuracy(vk::AbstractCamera::Ptr cam)
function main (line 62) | int main(int argc, char **argv)
FILE: svo_vikit/vikit_common/test/test_common.cpp
function testEuclideanNorm (line 4) | void testEuclideanNorm()
function main (line 26) | int main(int argc, char** argv)
FILE: svo_vikit/vikit_common/test/test_homography.cpp
function loadData (line 18) | void loadData(
function TEST (line 170) | TEST(Homography, testHomography)
function main (line 191) | int main(int argc, char** argv)
FILE: svo_vikit/vikit_common/test/test_math_utils.cpp
function TEST (line 7) | TEST(MathUtils, testProject2_double)
function TEST (line 15) | TEST(MathUtils, testProject2_float)
FILE: svo_vikit/vikit_common/test/test_timer.cpp
function main (line 7) | int main(int argc, char **argv)
FILE: svo_vikit/vikit_common/test/test_triangulation.cpp
function main (line 22) | int main(int argc, char **argv)
FILE: svo_vikit/vikit_py/src/vikit_py/align_trajectory.py
function align_sim3 (line 6) | def align_sim3(model, data):
function align_se3 (line 53) | def align_se3(model,data):
function _matrix_log (line 85) | def _matrix_log(A):
function hand_eye_calib (line 91) | def hand_eye_calib(q_gt, q_es, I=[], p_gt=[], p_es=[], delta=1, verbose=...
FILE: svo_vikit/vikit_py/src/vikit_py/associate_timestamps.py
function read_file_list (line 51) | def read_file_list(filename):
function associate (line 73) | def associate(first_list, second_list, offset, max_difference):
FILE: svo_vikit/vikit_py/src/vikit_py/cpu_info.py
function get_cpu_info (line 5) | def get_cpu_info():
FILE: svo_vikit/vikit_py/src/vikit_py/depth_estimation.py
function q_of_Z_pi (line 11) | def q_of_Z_pi(Z, RHO, mu_sigma2_a_b):
function update_filter_vogiatzis (line 15) | def update_filter_vogiatzis(z, tau2, mu_range, mu_sigma2_a_b):
function update_filter_gaussian (line 45) | def update_filter_gaussian(z, tau2, mu_sigma2):
function plot_distribution_vogiatzis (line 55) | def plot_distribution_vogiatzis(ax, mu_sigma2_a_b, Z, RHO):
function plot_histogram (line 59) | def plot_histogram(ax, z_meas_vec, z_min, z_max):
function plot_gaussian (line 64) | def plot_gaussian(ax, mu_sigma2, z_min, z_max):
function experiment_1 (line 70) | def experiment_1(inlier_prob = 0.7):
FILE: svo_vikit/vikit_py/src/vikit_py/depthmap_utils.py
function load_depthmap (line 8) | def load_depthmap(depthmap_full_file_path, depthmap_rows, depthmap_cols,
function load_povray_depthmap (line 33) | def load_povray_depthmap(depthmap_full_file_path, rows, cols,
function show_depthmap (line 44) | def show_depthmap(ax, depth_array, rows, cols, min_value = None, max_val...
FILE: svo_vikit/vikit_py/src/vikit_py/math_utils.py
function unproject (line 10) | def unproject(a):
function project (line 14) | def project(a):
function skew (line 18) | def skew(v):
function unskew (line 24) | def unskew(R):
FILE: svo_vikit/vikit_py/src/vikit_py/pinhole_camera.py
class PinholeCamera (line 6) | class PinholeCamera:
method __init__ (line 9) | def __init__(self, width, height, fx, fy, cx, cy):
method back_project (line 15) | def back_project(self, px):
method project (line 21) | def project(self, xyz):
FILE: svo_vikit/vikit_py/src/vikit_py/plot_utils.py
function axis_equal_3d (line 12) | def axis_equal_3d(ax):
function draw_coordinate_frame (line 21) | def draw_coordinate_frame(ax, t_world_body, R_world_body, alpha=1.0):
FILE: svo_vikit/vikit_py/src/vikit_py/ros_node.py
function log_cpu_usage_thread (line 9) | def log_cpu_usage_thread(trace_dir, stop_event):
class RosNode (line 22) | class RosNode:
method __init__ (line 23) | def __init__(self, package, executable):
method add_parameters (line 28) | def add_parameters(self, namespace, parameter_dictionary):
method add_flags (line 37) | def add_flags(self, flag_dictionary):
method clear_all_parameters (line 41) | def clear_all_parameters(self):
method run (line 46) | def run(self, parameter_dictionary, namespace='', log_cpu_usage=True, ...
FILE: svo_vikit/vikit_py/src/vikit_py/rotation_utils.py
function quat2dcm (line 13) | def quat2dcm(quaternion):
function dcm2quat (line 29) | def dcm2quat(matrix_3x3):
function dcm2rpy (line 59) | def dcm2rpy(matrix):
function quat2rpy (line 79) | def quat2rpy(quaternion):
function quat_multiply (line 84) | def quat_multiply(quaternion1, quaternion0):
function quat_conjugate (line 96) | def quat_conjugate(quaternion):
function quat_inverse (line 102) | def quat_inverse(quaternion):
FILE: svo_vikit/vikit_py/src/vikit_py/test_transformations.py
class TestTransformations (line 8) | class TestTransformations(unittest.TestCase):
method test_skew (line 10) | def test_skew(self):
method test_first_order_rotation (line 16) | def test_first_order_rotation(self):
method test_axis_angle (line 22) | def test_axis_angle(self):
method test_compare_axis_angle (line 30) | def test_compare_axis_angle(self):
method test_right_jacobian_so3 (line 39) | def test_right_jacobian_so3(self):
method test_logmap_so3 (line 49) | def test_logmap_so3(self):
method test_S_inv_eulerZYX_body_deriv (line 59) | def test_S_inv_eulerZYX_body_deriv(self):
FILE: svo_vikit/vikit_py/src/vikit_py/transformations.py
function skew (line 179) | def skew(v):
function unskew (line 188) | def unskew(R):
function first_order_rotation (line 195) | def first_order_rotation(rotvec):
function axis_angle (line 212) | def axis_angle(axis, theta):
function expmap_so3 (line 246) | def expmap_so3(rotvec):
function logmap_so3 (line 256) | def logmap_so3(R):
function right_jacobian_so3 (line 293) | def right_jacobian_so3(rotvec):
function S_inv_eulerZYX_body (line 316) | def S_inv_eulerZYX_body(euler_coordinates):
function S_inv_eulerZYX_body_deriv (line 335) | def S_inv_eulerZYX_body_deriv(euler_coordinates, omega):
function identity_matrix (line 386) | def identity_matrix():
function translation_matrix (line 401) | def translation_matrix(direction):
function translation_from_matrix (line 414) | def translation_from_matrix(matrix):
function convert_3x3_to_4x4 (line 425) | def convert_3x3_to_4x4(matrix_3x3):
function reflection_matrix (line 430) | def reflection_matrix(point, normal):
function reflection_from_matrix (line 456) | def reflection_from_matrix(matrix):
function rotation_matrix (line 485) | def rotation_matrix(angle, direction, point=None):
function rotation_from_matrix (line 529) | def rotation_from_matrix(matrix):
function scale_matrix (line 569) | def scale_matrix(factor, origin=None, direction=None):
function scale_from_matrix (line 606) | def scale_from_matrix(matrix):
function projection_matrix (line 647) | def projection_matrix(point, normal, direction=None,
function projection_from_matrix (line 709) | def projection_from_matrix(matrix, pseudo=False):
function clip_matrix (line 782) | def clip_matrix(left, right, bottom, top, near, far, perspective=False):
function shear_matrix (line 834) | def shear_matrix(angle, direction, point, normal):
function shear_from_matrix (line 865) | def shear_from_matrix(matrix):
function decompose_matrix (line 910) | def decompose_matrix(matrix):
function compose_matrix (line 995) | def compose_matrix(scale=None, shear=None, angles=None, translate=None,
function orthogonalization_matrix (line 1048) | def orthogonalization_matrix(lengths, angles):
function superimposition_matrix (line 1076) | def superimposition_matrix(v0, v1, scaling=False, usesvd=True):
function euler_matrix (line 1178) | def euler_matrix(ai, aj, ak, axes='sxyz'):
function euler_from_matrix (line 1241) | def euler_from_matrix(matrix, axes='sxyz'):
function euler_from_quaternion (line 1299) | def euler_from_quaternion(quaternion, axes='sxyz'):
function quaternion_from_euler (line 1310) | def quaternion_from_euler(ai, aj, ak, axes='sxyz'):
function quaternion_about_axis (line 1367) | def quaternion_about_axis(angle, axis):
function matrix_from_quaternion (line 1383) | def matrix_from_quaternion(quaternion):
function quaternion_matrix (line 1386) | def quaternion_matrix(quaternion):
function quaternionJPL_matrix (line 1407) | def quaternionJPL_matrix(quaternion):
function quaternion_from_matrix (line 1421) | def quaternion_from_matrix(matrix):
function quaternion_multiply (line 1453) | def quaternion_multiply(quaternion1, quaternion0):
function quaternion_conjugate (line 1470) | def quaternion_conjugate(quaternion):
function quaternion_inverse (line 1483) | def quaternion_inverse(quaternion):
function quaternion_slerp (line 1495) | def quaternion_slerp(quat0, quat1, fraction, spin=0, shortestpath=True):
function random_quaternion (line 1536) | def random_quaternion(rand=None):
function random_rotation_matrix (line 1566) | def random_rotation_matrix(rand=None):
function random_direction_3d (line 1580) | def random_direction_3d():
class Arcball (line 1592) | class Arcball(object):
method __init__ (line 1616) | def __init__(self, initial=None):
method place (line 1643) | def place(self, center, radius):
method setaxes (line 1656) | def setaxes(self, *axes):
method setconstrain (line 1663) | def setconstrain(self, constrain):
method getconstrain (line 1667) | def getconstrain(self):
method down (line 1671) | def down(self, point):
method drag (line 1682) | def drag(self, point):
method next (line 1698) | def next(self, acceleration=0.0):
method matrix (line 1703) | def matrix(self):
function arcball_map_to_sphere (line 1708) | def arcball_map_to_sphere(point, center, radius):
function arcball_constrain_to_axis (line 1721) | def arcball_constrain_to_axis(point, axis):
function arcball_nearest_axis (line 1737) | def arcball_nearest_axis(point, axes):
function vector_norm (line 1771) | def vector_norm(data, axis=None, out=None):
function unit_vector (line 1810) | def unit_vector(data, axis=None, out=None):
function random_vector (line 1854) | def random_vector(size):
function inverse_matrix (line 1869) | def inverse_matrix(matrix):
function concatenate_matrices (line 1885) | def concatenate_matrices(*matrices):
function is_same_transform (line 1901) | def is_same_transform(matrix0, matrix1):
function _import_module (line 1917) | def _import_module(module_name, warn=True, prefix='_py_', ignore='_'):
FILE: svo_vikit/vikit_ros/include/vikit/img_type_conversion.h
function namespace (line 7) | namespace vk {
FILE: svo_vikit/vikit_ros/include/vikit/output_helper.h
function namespace (line 16) | namespace vk {
FILE: svo_vikit/vikit_ros/include/vikit/params_helper.h
function namespace (line 16) | namespace vk {
FILE: svo_vikit/vikit_ros/src/img_type_conversion.cpp
type vk (line 3) | namespace vk {
type img_type_conversion (line 4) | namespace img_type_conversion{
function sensorMsgsEncodingToOpenCVType (line 6) | int sensorMsgsEncodingToOpenCVType(const std::string &encoding)
function openCVTypeToSensorMsgsEncoding (line 136) | std::string openCVTypeToSensorMsgsEncoding(const int opencv_type)
FILE: svo_vikit/vikit_ros/src/output_helper.cpp
type vk (line 15) | namespace vk {
type output_helper (line 16) | namespace output_helper {
function publishTfTransform (line 18) | void publishTfTransform(
function publishPointMarker (line 33) | void publishPointMarker(
function publishLineMarker (line 69) | void
function publishArrowMarker (line 105) | void
function publishHexacopterMarker (line 141) | void
function publishQuadrocopterMarkers (line 243) | void publishQuadrocopterMarkers(ros::Publisher pub,
function publishCameraMarker (line 329) | void
function publishFrameMarker (line 435) | void publishFrameMarker(ros::Publisher pub,
function publishGtsamPoseCovariance (line 504) | void publishGtsamPoseCovariance(
FILE: svo_vikit/vikit_solver/include/vikit/solver/implementation/mini_least_squares_solver.hpp
type vk (line 6) | namespace vk {
type solver (line 7) | namespace solver {
type utils (line 8) | namespace utils {
function norm_max (line 10) | inline double norm_max(const Eigen::VectorXd & v)
FILE: svo_vikit/vikit_solver/include/vikit/solver/mini_least_squares_solver.h
function namespace (line 8) | namespace vk {
FILE: svo_vikit/vikit_solver/include/vikit/solver/robust_cost.h
function namespace (line 8) | namespace solver {
FILE: svo_vikit/vikit_solver/src/robust_cost.cpp
type vk (line 8) | namespace vk {
type solver (line 9) | namespace solver {
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// ... and 1388 more files (download for full content)
About this extraction
This page contains the full source code of the uzh-rpg/rpg_dvs_evo_open GitHub repository, extracted and formatted as plain text for AI agents and large language models (LLMs). The extraction includes 1588 files (10.2 MB), approximately 2.8M tokens, and a symbol index with 868 extracted functions, classes, methods, constants, and types. Use this with OpenClaw, Claude, ChatGPT, Cursor, Windsurf, or any other AI tool that accepts text input. You can copy the full output to your clipboard or download it as a .txt file.
Extracted by GitExtract — free GitHub repo to text converter for AI. Built by Nikandr Surkov.