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stdafx.h
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#pragma once
// C++ Libraries
#include <cctype>
#include <cfloat>
#include <climits>
#include <clocale>
#include <cstdarg>
#include <cstdio>
#include <cstdlib>
#include <cstring>
#include <ctime>
#include <cmath>
#include <algorithm>
#include <deque>
#include <iostream>
#include <sstream>
#include <fstream>
#include <string>
#include <vector>
#include <map>
#include <set>
#include <stack>
#include <utility>
#include <thread>
#include <mutex>
// Eigen
#include <Eigen/SVD>
#include <Eigen/Dense>
// Boost
#include <boost/filesystem.hpp>
#include <boost/function.hpp>
#include <boost/smart_ptr.hpp>
#include <boost/bind.hpp>
#include <boost/polygon/voronoi.hpp>
#include <boost/polygon/point_data.hpp>
#include <boost/polygon/segment_data.hpp>
// OpenCV Libraries
#include <opencv2/core.hpp>
#include <opencv2/imgcodecs.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/video/tracking.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/objdetect/objdetect.hpp>
#include <opencv2/features2d.hpp>
#include <opencv2/ml.hpp>
#include <opencv2/core/eigen.hpp>
// PCL Libraries
#include <pcl/filters/voxel_grid.h>
#include <pcl/point_types.h>
#include <pcl/features/normal_3d.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/point_cloud.h>
#include <pcl/console/parse.h>
#include <pcl/common/transforms.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/filters/passthrough.h>
#include <pcl/features/integral_image_normal.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/segmentation/region_growing.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/features/normal_3d_omp.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/surface/gp3.h>
#include <pcl/features/impl/feature.hpp>
#include <pcl/point_traits.h>
#include <pcl/common/time.h>
#include <pcl/registration/icp.h>
// Flann
#include <flann/util/serialization.h>
// ceres
#include <ceres/ceres.h>
// nanoflann
#include <nanoflann.hpp>
// Brisk
#include <brisk/brisk.h>
// DBoW2
#include <DBoW2.h>
// DLoopDetector
#include <DLoopDetector.h>
// Okvis
#include <okvis/Time.hpp>
#include <okvis/kinematics/Transformation.hpp>
#include <okvis/VioParametersReader.hpp>
#include <okvis/ThreadedKFVio.hpp>
// GLFW
#include <GLFW/glfw3.h>
// UKF
#include <UKF.h>