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⨍ Functions 474◇ Types & classes 126

↓ 238 callersMethodsize

include/ikd-Tree/ikd_Tree.cpp:70

↓ 56 callersFunctionget_array

include/matplotlibcpp.h:322

↓ 44 callersMethodclear

clears the plot but keep it available

include/matplotlibcpp.h:2466

↓ 36 callersMethodempty

include/ikd-Tree/ikd_Tree.h:247

↓ 34 callersMethodpush

include/ikd-Tree/ikd_Tree.h:238

↓ 25 callersMethodsize

include/ikd-Tree/ikd_Tree copy.cpp:70

↓ 21 callersMethodback

include/ikd-Tree/ikd_Tree.h:226

↓ 19 callersFunctionhat

include/IKFoM_toolkit/mtk/src/mtkmath.hpp:177

↓ 18 callersMethodtop

include/ikd-Tree/ikd_Tree.h:136

↓ 17 callersFunctionA_matrix

include/IKFoM_toolkit/mtk/src/mtkmath.hpp:236

↓ 17 callersMethodclear

include/ikd-Tree/ikd_Tree.h:230

↓ 16 callersMethodS2_Mx

include/IKFoM_toolkit/mtk/types/S2.hpp:266

↓ 15 callersMethodS2_Nx_yy

include/IKFoM_toolkit/mtk/types/S2.hpp:259

↓ 15 callersMethoddata

include/IKFoM_toolkit/mtk/src/vectview.hpp:120

↓ 14 callersMethodboxminus

include/IKFoM_toolkit/mtk/types/S2.hpp:144

↓ 12 callersFunctioncalc_dist

include/common_lib.h:274

↓ 11 callersMethodfront

include/ikd-Tree/ikd_Tree.h:222

↓ 10 callersMethodrows

include/BEVprojector.h:18

↓ 7 callersMethodboxplus

include/IKFoM_toolkit/mtk/types/S2.hpp:136

↓ 7 callersMethodupdate

include/matplotlibcpp.h:2447

↓ 6 callersFunctionnormalize

include/IKFoM_toolkit/mtk/src/mtkmath.hpp:131

↓ 6 callersMethodpop

include/ikd-Tree/ikd_Tree.h:211

↓ 6 callersMethodpredict

iterated error state EKF propogation

include/IKFoM_toolkit/esekfom/esekfom.hpp:279

↓ 6 callersFunctionset_pose6d

include/common_lib.h:223

↓ 5 callersMethoddetectBEVFeatures

src/bev_feature.cpp:103

↓ 5 callersFunctionlog

include/IKFoM_toolkit/mtk/src/mtkmath.hpp:269

↓ 4 callersMethodclone

include/common_lib.h:182

↓ 4 callersFunctionexp

include/IKFoM_toolkit/mtk/src/mtkmath.hpp:250

↓ 4 callersMethodforward

前向传播，输入为x，输出为旋转特征

include/REM.hpp:116

↓ 4 callersMethodmatrix

Standard constructor. Sets all values to zero. */

include/IKFoM_toolkit/mtk/types/vect.hpp:227

↓ 4 callersFunctionsubvector_impl

include/IKFoM_toolkit/mtk/startIdx.hpp:246

↓ 4 callersFunctiontransformPointCloud

* 对点云cloudIn进行变换transformIn，返回结果点云，修改liosam, 考虑到外参的表示 */

src/laserMapping.cpp:348

↓ 3 callersFunctionExp

include/Exp_mat.h:13

↓ 3 callersFunctionLog

include/Exp_mat.h:77

↓ 3 callersFunctionRGBpointBodyToWorld

src/laserMapping.cpp:1477

↓ 3 callersFunctionSO3ToEuler

include/use-ikfom.hpp:90

↓ 3 callersMethodgetFAST

src/bev_feature.cpp:145

↓ 3 callersMethodgetORB

src/bev_feature.cpp:180

↓ 3 callersFunctionget_2darray

include/matplotlibcpp.h:342

↓ 3 callersFunctionpointBodyToWorld

src/laserMapping.cpp:1455

↓ 3 callersFunctionpublishCloud

* 发布thisCloud，返回thisCloud对应msg格式 */

src/laserMapping.cpp:432

↓ 3 callersMethodsquaredNorm

include/IKFoM_toolkit/mtk/types/vect.hpp:431

↓ 3 callersFunctionsubvector_impl_

include/IKFoM_toolkit/mtk/startIdx.hpp:239

↓ 3 callersFunctiontrans2gtsamPose

* 位姿格式变换 */

src/laserMapping.cpp:392

↓ 2 callersMethodAdd_Points

include/ikd-Tree/ikd_Tree.cpp:478

↓ 2 callersFunctionKabschUmeyamaAlignment2D

KabschUmeyamaAlignment2D, RansacAlignment2D refer to MapClosures use Kab to calculate the transformation

src/laserMapping.cpp:470

↓ 2 callersMethod__init__

(self, from_scratch=False, rotations=8)

models/tool/REIN.py:65

↓ 2 callersMethodchange_x

include/IKFoM_toolkit/esekfom/esekfom.hpp:1933

↓ 2 callersFunctionconvert2Dense

src/laserMapping.cpp:699

↓ 2 callersFunctionloopFindNearKeyframes

* 提取key索引的关键帧前后相邻若干帧的关键帧特征点集合，降采样 */

src/laserMapping.cpp:1050

↓ 2 callersFunctionpclPointToAffine3f

* Eigen格式的位姿变换 */

src/laserMapping.cpp:401

↓ 2 callersFunctionpclPointTogtsamPose3

* 位姿格式变换 */

src/laserMapping.cpp:383

↓ 2 callersFunctionpointDistance

* 点到坐标系原点距离 */

src/laserMapping.cpp:446

↓ 2 callersMethodprocess

src/preprocess.cpp:44

↓ 2 callersFunctionset_posestamp

src/laserMapping.cpp:1854

↓ 2 callersFunctionupdatePath

* 更新里程计轨迹 */

src/laserMapping.cpp:326

↓ 2 callersMethodvalidnum

include/ikd-Tree/ikd_Tree.cpp:140

↓ 1 callersMethodBuild

include/ikd-Tree/ikd_Tree.cpp:409

↓ 1 callersMethodDelete_Point_Boxes

include/ikd-Tree/ikd_Tree.cpp:632

↓ 1 callersFunctionEulerToQuat

eulerAngle 2 Quaterniond

src/laserMapping.cpp:546

↓ 1 callersMethodNearest_Search

include/ikd-Tree/ikd_Tree.cpp:426

↓ 1 callersMethodProcess

src/IMU_Processing.hpp:353

↓ 1 callersFunctionRGBpointBodyLidarToIMU

src/laserMapping.cpp:1488

↓ 1 callersFunctionRansacAlignment2D

src/laserMapping.cpp:498

↓ 1 callersMethodS2_Bx

include/IKFoM_toolkit/mtk/types/S2.hpp:179

↓ 1 callersMethodS2_hat

include/IKFoM_toolkit/mtk/types/S2.hpp:169

↓ 1 callersMethodacquire_removed_points

include/ikd-Tree/ikd_Tree.cpp:661

↓ 1 callersFunctionaddGlobalDesc

add global_desc

src/laserMapping.cpp:706

↓ 1 callersFunctionaddLoopFactor

* 添加闭环因子 */

src/laserMapping.cpp:771

↓ 1 callersFunctionaddOdomFactor

* 添加激光里程计因子 */

src/laserMapping.cpp:745

↓ 1 callersMethodchange_P

include/IKFoM_toolkit/esekfom/esekfom.hpp:1944

↓ 1 callersFunctionconvert2Sparse

转为稀疏矩阵

src/laserMapping.cpp:695

↓ 1 callersFunctioncorrectPoses

* 更新因子图中所有变量节点的位姿，也就是所有历史关键帧的位姿，更新里程计轨迹 */

src/laserMapping.cpp:947

↓ 1 callersFunctioncos_sinc_sqrt

include/IKFoM_toolkit/mtk/src/mtkmath.hpp:143

↓ 1 callersMethodcreateImages

src/image_processing.cpp:30

↓ 1 callersFunctiondetectLoopClosureDistance

回环检测三大要素修改为使用global_desc进行回环检测 1.设置最小时间差，太近没必要 2.控制回环的频率，避免频繁检测，每检测一次，就做一次等待 3.根据当前最小距离重新计算等待时间

src/laserMapping.cpp:986

↓ 1 callersFunctiondump_lio_state_to_log

src/laserMapping.cpp:1412

↓ 1 callersFunctionesti_plane

include/common_lib.h:280

↓ 1 callersFunctionextractCloud

refer to FAST-LIO-SAM-LOOP

src/laserMapping.cpp:883

↓ 1 callersFunctionfill

include/matplotlibcpp.h:655

↓ 1 callersFunctionfindGlobalDesc

search global_desc

src/laserMapping.cpp:712

↓ 1 callersMethodflatten

include/ikd-Tree/ikd_Tree.cpp:1627

↓ 1 callersMethodgetBEV

src/BEVprojector.cpp:50

↓ 1 callersFunctiongetCurPose

将更新的pose赋值到 transformTobeMapped

src/laserMapping.cpp:558

↓ 1 callersMethodgetSIFT

src/bev_feature.cpp:197

↓ 1 callersMethodgetSURF

src/bev_feature.cpp:215

↓ 1 callersFunctionget_listlist

include/matplotlibcpp.h:390

↓ 1 callersFunctionh_share_bev_matches

refer to coin-lio check the equaltions (3) to (6)

src/laserMapping.cpp:2118

↓ 1 callersFunctionh_share_model

src/laserMapping.cpp:1998

↓ 1 callersMethodinit_dyn_share

receive system-specific models and their differentions for measurement as an Eigen matrix whose dimension is changing. calculate measurement (z), est

include/IKFoM_toolkit/esekfom/esekfom.hpp:238

↓ 1 callersFunctionlasermap_fov_segment

src/laserMapping.cpp:1508

↓ 1 callersMethodlog

* Calculate the inverse of @c exp. * Only guarantees that <code>exp(log(x)) == x </code> */

include/IKFoM_toolkit/mtk/types/SOn.hpp:293

↓ 1 callersFunctionmap_incremental

src/laserMapping.cpp:1704

↓ 1 callersMethodmatchFeatures

src/bev_feature.cpp:234

↓ 1 callersMethodmulti_thread_rebuild

include/ikd-Tree/ikd_Tree.cpp:230

↓ 1 callersMethodmulti_thread_rebuild

include/ikd-Tree/ikd_Tree copy.cpp:230

↓ 1 callersMethodoplus

include/IKFoM_toolkit/mtk/types/S2.hpp:129

↓ 1 callersFunctionperformLoopClosure

src/laserMapping.cpp:1085

↓ 1 callersFunctionpoints_cache_collect

src/laserMapping.cpp:1499

↓ 1 callersFunctionprocess_noise_cov

include/use-ikfom.hpp:35

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