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⨍ Functions 291◇ Types & classes 59

↓ 134 callersMethodsize

include/GlobalPoseGraph.h:47

↓ 52 callersMethodempty

deleter releases `slot` back to the pool

include/DescriptorPool.h:19

↓ 16 callersMethodadd_keyframe

src/SparseMap.cc:5

↓ 14 callersMethodtrack

src/VoEstimator.cc:203

↓ 11 callersFunctiondesc

Deterministic unit-ish descriptor: a one-hot-ish vector with a small offset so two "places" are near-duplicates when seed matches and distinct when it

tests/test_place_recognizer.cc:13

↓ 10 callersMethodevaluateError

include/PoseOptimizationFactors.h:83

↓ 9 callersMethodadd

tests/test_loop_closer.cc:52

↓ 9 callersMethodvote

src/PlaceRecognizer.cc:54

↓ 8 callersMethodacquire

include/DescriptorPool.h:31

↓ 8 callersFunctionjitter

Deterministic pseudo-noise so the regression is reproducible across runs.

tests/test_pose_optimization_factors.cc:180

↓ 8 callersFunctionyaml_to_mat

Parse a {rows, cols, data: [...]} node into a CV_64F cv::Mat (returns empty on a missing/malformed node, matching the old FileStorage >> behaviour).

examples/stereo/euroc.cc:76

↓ 6 callersMethodadd

src/PlaceRecognizer.cc:21

↓ 6 callersMethodin_use

include/DescriptorPool.h:39

↓ 6 callersMethodinitialize

src/Logging.cpp:13

↓ 6 callersFunctionmakeFrame

Build a StereoFrame by projecting the world from camInWorld (Twc).

tests/test_vo_loop_closure.cc:74

↓ 6 callersFunctionmake_keyframe

Build a keyframe record observing `lms` (camera-frame points) from camera pose `camInWorld` relative to the candidate frame; here we just project from

tests/test_loop_closer.cc:69

↓ 6 callersMethodoptimize

src/WindowSmoother.cc:38

↓ 6 callersMethodpose_of

src/WindowSmoother.cc:120

↓ 6 callersMethodquery

tests/test_loop_closer.cc:53

↓ 6 callersFunctionshould_insert_keyframe

Covisibility-based keyframe gate (scale-invariant): insert a keyframe when the fraction of the reference keyframe's features tracked drops below covis

include/KeyframeGate.h:11

↓ 5 callersFunction_human

scripts/datasets/_common.py:32

↓ 5 callersMethodenable_loop_closure

src/VoEstimator.cc:59

↓ 5 callersMethodloop_closure_count

src/SuperSLAM.cc:187

↓ 5 callersFunctionmakeK

tests/test_vo_loop_closure.cc:61

↓ 5 callersFunctionparse_example_args

Parse `<settings.yaml> <sequence_dir> [--no-viewer|--viewer]`. Returns false (and prints usage) on malformed input.

examples/example_common.h:52

↓ 5 callersMethodshutdown

include/SuperSLAM.h:38

↓ 5 callersFunctionworld

Landmarks visible from every pose along the (small) loop.

tests/test_vo_loop_closure.cc:66

↓ 4 callersMethodbackproject

src/StereoFrame.cc:5

↓ 4 callersMethodcloud

src/SparseMap.cc:9

↓ 4 callersFunctiondiagSigmaUR

Extract the uR (disparity) sigma from a stereo_diag_noise model.

tests/test_pose_optimization_factors.cc:266

↓ 4 callersFunctiondrawMatches

tests/test_superpoint_cosine_matching.cc:77

↓ 4 callersFunctionenv_double

src/VoEstimator.cc:15

↓ 4 callersMethodlog

src/LightGlue.cc:16

↓ 4 callersFunctionmake

StereoFrame of `lms` as seen from camera at Twc `pose`.

tests/test_vo_convention.cc:40

↓ 4 callersFunctionmakeRec

tests/test_keyframe_database.cc:10

↓ 4 callersMethodoptimize_and_get_all

src/GlobalPoseGraph.cc:68

↓ 4 callersFunctionpace_to_timestamp

Sleep so a visualized run plays back near the dataset frame rate. `dt` is the inter-frame time (s); `track_ms` is the time already spent tracking this

examples/example_common.h:89

↓ 4 callersFunctionplaceDesc

One-hot global descriptor for "place" p.

tests/test_vo_loop_closure.cc:92

↓ 4 callersMethodprocess

src/RgbdFrontEnd.cc:23

↓ 4 callersFunctionreport_timing

examples/example_common.h:99

↓ 4 callersMethodtrack_stereo

src/SuperSLAM.cc:155

↓ 3 callersMethodadd_odometry

src/GlobalPoseGraph.cc:33

↓ 3 callersMethodclose

src/RerunViewer.cc:71

↓ 3 callersMethodcorrected_trajectory

src/VoEstimator.cc:181

↓ 3 callersFunctiondataset_dir

Target directory for one dataset, lowercased (e.g. ~/datasets/kitti).

scripts/datasets/_common.py:25

↓ 3 callersFunctiondownload

(names, tag: str | None = None, dest: Path | None = None)

scripts/models/_release.py:29

↓ 3 callersFunctionextract

Extract a .zip/.tar.*/.tgz archive into dest (idempotent-ish).

scripts/datasets/_common.py:105

↓ 3 callersFunctionfinite

src/GlobalPoseGraph.cc:16

↓ 3 callersMethodhas

include/GlobalPoseGraph.h:48

↓ 3 callersMethodinfer

Host path: run inference, copy all outputs to the host, CPU grid-sample in postprocess.

src/SuperPoint.cc:322

↓ 3 callersFunctionmakeK

tests/test_loop_closer.cc:62

↓ 3 callersMethodmatch

src/LightGlue.cc:285

↓ 3 callersFunctionodomNoise

tests/test_global_pose_graph.cc:13

↓ 3 callersFunctionpercentile

examples/stereo/benchmark.cc:37

↓ 3 callersMethodrelease

src/RerunViewer.cc:115

↓ 3 callersMethodsave_trajectory_kitti

src/SuperSLAM.cc:238

↓ 3 callersFunctionstereo_diag_noise

Diagonal stereo measurement noise over (uL, uR, v). uL and v keep the octave-scaled reprojection floor sigma_px (the SuperPoint and LightGlue matching

include/PoseOptimizationFactors.h:127

↓ 3 callersFunctionstore_floats

Store float values into a tensor's host buffer respecting its dtype (fp16 engines take fp16 inputs).

src/LightGlue.cc:231

↓ 2 callersMethodadd_loop

src/GlobalPoseGraph.cc:41

↓ 2 callersMethodanchors

src/VoEstimator.cc:175

↓ 2 callersFunctioncosineMatch

Match descriptors using cosine similarity

tests/test_superpoint_cosine_matching.cc:37

↓ 2 callersMethoddetect

src/LoopCloser.cc:105

↓ 2 callersFunctiondownload

Download url to dest with resume support; skips if already complete.

scripts/datasets/_common.py:40

↓ 2 callersFunctiondrawKeypoints

Draw keypoints on image

tests/test_superpoint_cosine_matching.cc:12

↓ 2 callersMethoddraw_frame

src/RerunViewer.cc:141

↓ 2 callersFunctionenv_double

src/LoopCloser.cc:11

↓ 2 callersFunctionfetch

Download (and optionally verify + extract) a single file into dest_dir.

scripts/datasets/_common.py:118

↓ 2 callersMethodin_window

src/WindowSmoother.cc:126

↓ 2 callersMethodkeyframe_count

include/SparseMap.h:19

↓ 2 callersFunctionload_list

examples/rgbd/tum.cc:42

↓ 2 callersFunctionmakeLandmarks

tests/test_loop_closer.cc:84

↓ 2 callersFunctionnormalizedRow

Return a 1xD CV_32F row, L2-normalized.

src/PlaceRecognizer.cc:10

↓ 2 callersMethodplot

src/RerunViewer.cc:89

↓ 2 callersFunctionpose_to_cv_tcw

src/SuperSLAM.cc:48

↓ 2 callersMethodsave_trajectory

src/SuperSLAM.cc:191

↓ 2 callersMethodstop_loop_worker

src/VoEstimator.cc:48

↓ 2 callersFunctionto_numpy

utils/convert_eigenplaces_to_onnx.py:21

↓ 2 callersFunctionverify

(path: Path, expected: str | None)

scripts/datasets/_common.py:94

↓ 2 callersMethodverify

src/LoopCloser.cc:44

↓ 1 callersFunctionTwoViewStereoBAIsFinite

Run a 2-KF stereo BA with KITTI-like geometry and ~noisePx measurement noise, anchoring KF0 with the given prior sigma. Returns true if every optimize

tests/test_pose_optimization_factors.cc:189

↓ 1 callersMethod__init__

(self, descriptor_dim: int = 256)

utils/convert_superpoint_to_onnx.py:33

↓ 1 callersFunction_cumulative_lengths

(xyz: np.ndarray)

scripts/benchmarks/_eval_common.py:75

↓ 1 callersFunction_last_frame_for_length

(dist: np.ndarray, first: int, length: float)

scripts/benchmarks/_eval_common.py:80

↓ 1 callersMethodadd

include/Profiling.h:24

↓ 1 callersFunctionapply_tuning_overrides

Bridge YAML tuning knobs to the SUPERSLAM_* env vars their components read. setenv with overwrite=0 keeps the precedence env, then YAML, then default.

src/SuperSLAM.cc:19

↓ 1 callersFunctionbackproject_cam

Stereo backprojection into the camera frame (identity pose). Same math as StereoFrame::backproject without the Twc lift; verification works in the can

src/LoopCloser.cc:19

↓ 1 callersFunctionbuild_rectify_maps

Build left/right rectification remap tables from LEFT.*/RIGHT.* in settings.

examples/stereo/euroc.cc:89

↓ 1 callersMethodcompute_global_descriptor

src/EigenPlaces.cc:145

↓ 1 callersFunctioncosineSimilarity

Compute cosine similarity between two descriptors

tests/test_superpoint_cosine_matching.cc:28

↓ 1 callersFunctiondatasets_root

Base directory for all datasets (~/datasets by default).

scripts/datasets/_common.py:19

↓ 1 callersMethoddescriptors_to_host

FP16 device slot to host CV_32F (rows L2-normalized by the gather kernel).

src/LightGlue.cc:460

↓ 1 callersFunctiondisp_sigma_px

Base disparity measurement precision (px). The SuperPoint and LightGlue stereo-match disparity floor is approx 8px (not subpixel).

include/PoseOptimizationFactors.h:106

↓ 1 callersFunctiondrawKeypoints

tests/test_superpoint_only.cc:11

↓ 1 callersFunctionelement_size

src/EigenPlaces.cc:25

↓ 1 callersMethodencode

Run the shared encoder and return the stride-8 feature map.

utils/convert_superpoint_to_onnx.py:51

↓ 1 callersMethodextract

superslam::IFeatureExtractor. Scores live in keypoint.response.

src/SuperPoint.cc:895

↓ 1 callersFunctionextract_sequences

(bundle_path, dest)

scripts/datasets/download_euroc.py:31

↓ 1 callersMethodextract_stereo

Batched stereo: one {2,1,H,W} infer for L and R.

src/SuperPoint.cc:902

↓ 1 callersMethodlast_loop_rejected

include/GlobalPoseGraph.h:50

↓ 1 callersFunctionload_images

examples/stereo/kitti.cc:44

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