Here is a list of all files with brief descriptions:

g2o
apps
g2o_cli
dl_wrapper.cpp
dl_wrapper.h
g2o.cpp
g2o_cli_api.h
g2o_common.cpp
g2o_common.h
output_helper.cpp
output_helper.h
g2o_simulator
g2o_simulator_api.h
pointsensorparameters.cpp
pointsensorparameters.h
sensor_line3d.cpp
sensor_line3d.h
sensor_odometry.h
sensor_odometry2d.cpp
sensor_odometry2d.h
sensor_odometry3d.cpp
sensor_odometry3d.h
sensor_pointxy.cpp
sensor_pointxy.h
sensor_pointxy_bearing.cpp
sensor_pointxy_bearing.h
sensor_pointxy_offset.cpp
sensor_pointxy_offset.h
sensor_pointxyz.cpp
sensor_pointxyz.h
sensor_pointxyz_depth.cpp
sensor_pointxyz_depth.h
sensor_pointxyz_disparity.cpp
sensor_pointxyz_disparity.h
sensor_pose2d.cpp
sensor_pose2d.h
sensor_pose3d.cpp
sensor_pose3d.h
sensor_pose3d_offset.cpp
sensor_pose3d_offset.h
sensor_se3_prior.cpp
sensor_se3_prior.h
sensor_segment2d.cpp
sensor_segment2d.h
sensor_segment2d_line.cpp
sensor_segment2d_line.h
sensor_segment2d_pointline.cpp
sensor_segment2d_pointline.h
simulator.cpp
simulator.h
simulator2d.h
simulator2d_base.h
simulator2d_segment.cpp
simulator3d.h
simulator3d_base.h
simutils.cpp
simutils.h
test_simulator2d.cpp
test_simulator3d.cpp
g2o_viewer
g2o_qglviewer.cpp
g2o_qglviewer.h
g2o_viewer.cpp
g2o_viewer_api.h
gui_hyper_graph_action.cpp
gui_hyper_graph_action.h
main_window.cpp
main_window.h
properties_widget.cpp
properties_widget.h
run_g2o_viewer.cpp
run_g2o_viewer.h
stream_redirect.cpp
stream_redirect.h
viewer_properties_widget.cpp
viewer_properties_widget.h
autodiff
array_selector.h
autodiff.h
disable_warnings.h
eigen.h
fixed_array.h
integer_sequence_algorithm.h
jet.h
memory.h
parameter_dims.h
reenable_warnings.h
types.h
variadic_evaluate.h
core
auto_differentiation.h
base_binary_edge.h
base_dynamic_vertex.h
base_edge.h
base_fixed_sized_edge.h
base_fixed_sized_edge.hpp
base_multi_edge.h
base_unary_edge.h
base_variable_sized_edge.h
base_variable_sized_edge.hpp
base_vertex.h
base_vertex.hpp
batch_stats.cpp
batch_stats.h
block_solver.h
block_solver.hpp
cache.cpp
cache.h
creators.h
dynamic_aligned_buffer.hpp
eigen_types.h
estimate_propagator.cpp
estimate_propagator.h
factory.cpp
factory.h
g2o_core_api.h
hyper_dijkstra.cpp
hyper_dijkstra.h
hyper_graph.cpp
hyper_graph.h
hyper_graph_action.cpp
hyper_graph_action.h
io_helper.h
jacobian_workspace.cpp
jacobian_workspace.h
linear_solver.h
marginal_covariance_cholesky.cpp
marginal_covariance_cholesky.h
matrix_operations.h
matrix_structure.cpp
matrix_structure.h
openmp_mutex.h
optimizable_graph.cpp
optimizable_graph.h
optimization_algorithm.cpp
optimization_algorithm.h
optimization_algorithm_dogleg.cpp
optimization_algorithm_dogleg.h
optimization_algorithm_factory.cpp
optimization_algorithm_factory.h
optimization_algorithm_gauss_newton.cpp
optimization_algorithm_gauss_newton.h
optimization_algorithm_levenberg.cpp
optimization_algorithm_levenberg.h
optimization_algorithm_property.h
optimization_algorithm_with_hessian.cpp
optimization_algorithm_with_hessian.h
ownership.h
parameter.cpp
parameter.h
parameter_container.cpp
parameter_container.h
robust_kernel.cpp
robust_kernel.h
robust_kernel_factory.cpp
robust_kernel_factory.h
robust_kernel_impl.cpp
robust_kernel_impl.h
solver.cpp
solver.h
sparse_block_matrix.h
sparse_block_matrix.hpp
sparse_block_matrix_ccs.h
sparse_block_matrix_diagonal.h
sparse_optimizer.cpp
sparse_optimizer.h
sparse_optimizer_terminate_action.cpp
sparse_optimizer_terminate_action.h
examples
anonymize_observations
g2o_anonymize_observations.cpp
ba
ba_demo.cpp
ba_anchored_inverse_depth
ba_anchored_inverse_depth_demo.cpp
bal
bal_example.cpp
calibration_odom_laser
closed_form_calibration.cpp
closed_form_calibration.h
edge_se2_pure_calib.cpp
edge_se2_pure_calib.h
g2o_calibration_odom_laser_api.h
gm2dl_io.cpp
gm2dl_io.h
motion_information.h
sclam_helpers.cpp
sclam_helpers.h
sclam_laser_calib.cpp
sclam_odom_laser.cpp
sclam_pure_calibration.cpp
convert_segment_line
convertSegmentLine.cpp
data_convert
convert_sba_slam3d.cpp
data_fitting
circle_fit.cpp
curve_fit.cpp
dynamic_vertex
polynomial_fit.cpp
static_dynamic_function_fit.cpp
g2o_hierarchical
backbone_tree_action.cpp
backbone_tree_action.h
edge_creator.cpp
edge_creator.h
edge_labeler.cpp
edge_labeler.h
edge_types_cost_function.cpp
edge_types_cost_function.h
g2o_hierarchical.cpp
g2o_hierarchical_api.h
g2o_hierarchical_test_functions.cpp
simple_star_ops.cpp
simple_star_ops.h
star.cpp
star.h
g2o_unfold
g2o-unfold.cpp
tools.cpp
tools.h
icp
gicp_demo.cpp
gicp_sba_demo.cpp
interactive_slam
g2o_incremental
g2o_incremental.cpp
g2o_incremental_api.h
graph_optimizer_sparse_incremental.cpp
graph_optimizer_sparse_incremental.h
linear_solver_cholmod_online.h
g2o_interactive
fast_output.h
g2o_interactive_api.h
g2o_online.cpp
g2o_slam_interface.cpp
g2o_slam_interface.h
generate_commands.cpp
graph_optimizer_sparse_online.cpp
graph_optimizer_sparse_online.h
types_online.cpp
types_slam2d_online.h
types_slam3d_online.h
slam_parser
example
example_slam_interface.cpp
example_slam_interface.h
test_slam_interface.cpp
interface
abstract_slam_interface.h
parser_interface.cpp
parser_interface.h
slam_context_interface.cpp
slam_context_interface.h
parser
bison_parser.cpp
bison_parser.h
commands.h
driver.cpp
driver.h
flex_scanner.cpp
FlexLexer.h
location.hh
position.hh
scanner.h
scanner.l
slam_context.cpp
slam_context.h
test_slam_parser.cpp
line_slam
line_test.cpp
simulator_3d_line.cpp
plane_slam
plane_test.cpp
simulator_3d_plane.cpp
sba
sba_demo.cpp
sim3
optimize_sphere_by_sim3.cpp
simple_optimize
simple_optimize.cpp
slam2d
main_window.cpp
main_window.h
slam2d_g2o.cpp
slam2d_viewer.cpp
slam2d_viewer.h
sphere
create_sphere.cpp
target
constant_velocity_target.cpp
continuous_to_discrete.h
static_target.cpp
targetTypes3D.hpp
targetTypes6D.hpp
tutorial_slam2d
edge_se2.cpp
edge_se2.h
edge_se2_pointxy.cpp
edge_se2_pointxy.h
g2o_tutorial_slam2d_api.h
parameter_se2_offset.cpp
parameter_se2_offset.h
se2.h
simulator.cpp
simulator.h
tutorial_slam2d.cpp
types_tutorial_slam2d.cpp
types_tutorial_slam2d.h
vertex_point_xy.cpp
vertex_point_xy.h
vertex_se2.cpp
vertex_se2.h
EXTERNAL
freeglut
freeglut_font.cpp
freeglut_minimal.h
freeglut_stroke_mono_roman.cpp
freeglut_stroke_roman.cpp
solvers
cholmod
cholmod_ext.h
cholmod_wrapper.cpp
cholmod_wrapper.h
linear_solver_cholmod.h
solver_cholmod.cpp
csparse
csparse_extension.cpp
csparse_extension.h
csparse_helper.cpp
csparse_helper.h
csparse_wrapper.cpp
csparse_wrapper.h
g2o_csparse_api.h
g2o_csparse_extension_api.h
linear_solver_csparse.h
solver_csparse.cpp
dense
linear_solver_dense.h
solver_dense.cpp
eigen
linear_solver_eigen.h
solver_eigen.cpp
pcg
linear_solver_pcg.h
linear_solver_pcg.hpp
solver_pcg.cpp
slam2d_linear
g2o_slam2d_linear_api.h
slam2d_linear.cpp
solver_slam2d_linear.cpp
solver_slam2d_linear.h
structure_only
structure_only.cpp
structure_only_solver.h
stuff
color_macros.h
command_args.cpp
command_args.h
filesys_tools.cpp
filesys_tools.h
g2o_stuff_api.h
logger.cpp
logger.h
logger_format.h
macros.h
misc.h	Some general case utility functions
opengl_primitives.cpp
opengl_primitives.h
opengl_wrapper.h
os_specific.c
os_specific.h
property.cpp
property.h
sampler.cpp
sampler.h
sparse_helper.cpp
sparse_helper.h
string_tools.cpp
string_tools.h
tictoc.cpp
tictoc.h
timeutil.cpp
timeutil.h	Utility functions for handling time related stuff
tuple_tools.h
unscented.h
types
data
data_queue.cpp
data_queue.h
g2o_types_data_api.h
laser_parameters.cpp
laser_parameters.h
raw_laser.cpp
raw_laser.h
robot_data.cpp
robot_data.h
robot_laser.cpp
robot_laser.h
types_data.cpp
types_data.h
vertex_ellipse.cpp
vertex_ellipse.h
vertex_tag.cpp
vertex_tag.h
icp
g2o_types_icp_api.h
types_icp.cpp
types_icp.h
sba
edge_project_p2mc.cpp
edge_project_p2mc.h
edge_project_p2sc.cpp
edge_project_p2sc.h
edge_project_psi2uv.cpp
edge_project_psi2uv.h
edge_project_stereo_xyz.cpp
edge_project_stereo_xyz.h
edge_project_stereo_xyz_onlypose.cpp
edge_project_stereo_xyz_onlypose.h
edge_project_xyz.cpp
edge_project_xyz.h
edge_project_xyz2uv.cpp
edge_project_xyz2uv.h
edge_project_xyz2uvu.cpp
edge_project_xyz2uvu.h
edge_project_xyz_onlypose.cpp
edge_project_xyz_onlypose.h
edge_sba_cam.cpp
edge_sba_cam.h
edge_sba_scale.cpp
edge_sba_scale.h
edge_se3_expmap.cpp
edge_se3_expmap.h
g2o_types_sba_api.h
parameter_cameraparameters.cpp
parameter_cameraparameters.h
sba_utils.h
sbacam.cpp
sbacam.h
types_sba.cpp
types_sba.h
types_six_dof_expmap.cpp
types_six_dof_expmap.h
vertex_cam.cpp
vertex_cam.h
vertex_intrinsics.cpp
vertex_intrinsics.h
vertex_se3_expmap.cpp
vertex_se3_expmap.h
sclam2d
edge_se2_odom_differential_calib.cpp
edge_se2_odom_differential_calib.h
edge_se2_sensor_calib.cpp
edge_se2_sensor_calib.h
g2o_types_sclam2d_api.h
odometry_measurement.cpp
odometry_measurement.h
types_sclam2d.cpp
types_sclam2d.h
vertex_odom_differential_params.cpp
vertex_odom_differential_params.h
sim3
sim3.h
types_seven_dof_expmap.cpp
types_seven_dof_expmap.h
slam2d
edge_pointxy.cpp
edge_pointxy.h
edge_se2.cpp
edge_se2.h
edge_se2_lotsofxy.cpp
edge_se2_lotsofxy.h
edge_se2_offset.cpp
edge_se2_offset.h
edge_se2_pointxy.cpp
edge_se2_pointxy.h
edge_se2_pointxy_bearing.cpp
edge_se2_pointxy_bearing.h
edge_se2_pointxy_calib.cpp
edge_se2_pointxy_calib.h
edge_se2_pointxy_offset.cpp
edge_se2_pointxy_offset.h
edge_se2_prior.cpp
edge_se2_prior.h
edge_se2_twopointsxy.cpp
edge_se2_twopointsxy.h
edge_se2_xyprior.cpp
edge_se2_xyprior.h
edge_xy_prior.cpp
edge_xy_prior.h
g2o_types_slam2d_api.h
parameter_se2_offset.cpp
parameter_se2_offset.h
se2.h
types_slam2d.cpp
types_slam2d.h
vertex_point_xy.cpp
vertex_point_xy.h
vertex_se2.cpp
vertex_se2.h
slam2d_addons
edge_line2d.cpp
edge_line2d.h
edge_line2d_pointxy.cpp
edge_line2d_pointxy.h
edge_se2_line2d.cpp
edge_se2_line2d.h
edge_se2_segment2d.cpp
edge_se2_segment2d.h
edge_se2_segment2d_line.cpp
edge_se2_segment2d_line.h
edge_se2_segment2d_pointLine.cpp
edge_se2_segment2d_pointLine.h
g2o_types_slam2d_addons_api.h
line_2d.h
types_slam2d_addons.cpp
types_slam2d_addons.h
vertex_line2d.cpp
vertex_line2d.h
vertex_segment2d.cpp
vertex_segment2d.h
slam3d
dquat2mat.cpp
dquat2mat.h
dquat2mat_maxima_generated.cpp
edge_pointxyz.cpp
edge_pointxyz.h
edge_se3.cpp
edge_se3.h
edge_se3_lotsofxyz.cpp
edge_se3_lotsofxyz.h
edge_se3_offset.cpp
edge_se3_offset.h
edge_se3_pointxyz.cpp
edge_se3_pointxyz.h
edge_se3_pointxyz_depth.cpp
edge_se3_pointxyz_depth.h
edge_se3_pointxyz_disparity.cpp
edge_se3_pointxyz_disparity.h
edge_se3_prior.cpp
edge_se3_prior.h
edge_se3_xyzprior.cpp
edge_se3_xyzprior.h
edge_xyz_prior.cpp
edge_xyz_prior.h
g2o_types_slam3d_api.h
isometry3d_gradients.cpp
isometry3d_gradients.h
isometry3d_mappings.cpp
isometry3d_mappings.h
parameter_camera.cpp
parameter_camera.h
parameter_se3_offset.cpp
parameter_se3_offset.h
parameter_stereo_camera.cpp
parameter_stereo_camera.h
se3_ops.h
se3_ops.hpp
se3quat.h
types_slam3d.cpp
types_slam3d.h
vertex_pointxyz.cpp
vertex_pointxyz.h
vertex_se3.cpp
vertex_se3.h
slam3d_addons
edge_plane.cpp
edge_plane.h
edge_se3_calib.cpp
edge_se3_calib.h
edge_se3_euler.cpp
edge_se3_euler.h
edge_se3_line.cpp
edge_se3_line.h
edge_se3_plane_calib.cpp
edge_se3_plane_calib.h
g2o_types_slam3d_addons_api.h
line3d.cpp
line3d.h
plane3d.h
types_slam3d_addons.cpp
types_slam3d_addons.h
vertex_line3d.cpp
vertex_line3d.h
vertex_plane.cpp
vertex_plane.h
vertex_se3_euler.cpp
vertex_se3_euler.h