├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── app ├── kitti_lidar_odometry.cpp ├── mid360_lidar_odometry.cpp └── player │ ├── kitti_player.cpp │ ├── kitti_player.h │ ├── ply_player.cpp │ └── ply_player.h ├── config ├── kitti.yaml └── mid360.yaml ├── src ├── database │ ├── LidarFrame.cpp │ └── LidarFrame.h ├── optimization │ ├── AdaptiveMEstimator.cpp │ ├── AdaptiveMEstimator.h │ ├── Factors.cpp │ ├── Factors.h │ ├── IterativeClosestPointOptimizer.cpp │ ├── IterativeClosestPointOptimizer.h │ ├── Parameters.cpp │ ├── Parameters.h │ ├── PoseGraphOptimizer.cpp │ └── PoseGraphOptimizer.h ├── processing │ ├── Estimator.cpp │ ├── Estimator.h │ ├── FeatureExtractor.cpp │ ├── FeatureExtractor.h │ ├── LoopClosureDetector.cpp │ └── LoopClosureDetector.h ├── util │ ├── Config.cpp │ ├── Config.h │ ├── ICPConfig.h │ ├── MathUtils.cpp │ ├── MathUtils.h │ ├── PointCloudUtils.cpp │ ├── PointCloudUtils.h │ └── Types.h └── viewer │ ├── PangolinViewer.cpp │ └── PangolinViewer.h └── thirdparty ├── LidarIris ├── LidarIris.cpp ├── LidarIris.h └── fftm │ ├── fftm.cpp │ └── fftm.hpp ├── Sophus ├── CMakeLists.txt ├── LICENSE.txt ├── README.md ├── SOPHUS_VERSION ├── Sophus.code-workspace ├── SophusConfig.cmake.in ├── examples │ ├── CMakeLists.txt │ ├── custom_ensure_handler.cpp │ ├── ensure_example.cpp │ └── hello_so3.cpp ├── generate_stubs.py ├── scripts │ ├── install_osx_deps_incl_ceres.sh │ ├── install_ubuntu_deps_incl_ceres.sh │ ├── run_cpp_tests_clang.sh │ └── run_cpp_tests_gcc.sh ├── setup.py ├── sophus │ ├── average.hpp │ ├── cartesian.hpp │ ├── ceres_manifold.hpp │ ├── ceres_typetraits.hpp │ ├── common.hpp │ ├── geometry.hpp │ ├── interpolate.hpp │ ├── interpolate_details.hpp │ ├── num_diff.hpp │ ├── rotation_matrix.hpp │ ├── rxso2.hpp │ ├── rxso3.hpp │ ├── se2.hpp │ ├── se3.hpp │ ├── sim2.hpp │ ├── sim3.hpp │ ├── sim_details.hpp │ ├── so2.hpp │ ├── so3.hpp │ ├── spline.hpp │ ├── test_macros.hpp │ └── types.hpp ├── sophus_pybind-stubs │ ├── py.typed │ └── sophus_pybind.pyi ├── sophus_pybind │ ├── README │ ├── SE3PyBind.h │ ├── SO3PyBind.h │ ├── SophusPyBind.h │ ├── bindings.cpp │ ├── examples │ │ └── sophus_quickstart_tutorial.ipynb │ └── tests │ │ └── sophusPybindTests.py ├── sympy │ ├── cpp_gencode │ │ ├── Se2_Dx_exp_x.cpp │ │ ├── Se2_Dx_log_this.cpp │ │ ├── Se2_Dx_this_mul_exp_x_at_0.cpp │ │ ├── Se3_Dx_exp_x.cpp │ │ ├── Se3_Dx_log_this.cpp │ │ ├── Se3_Dx_this_mul_exp_x_at_0.cpp │ │ ├── So2_Dx_exp_x.cpp │ │ ├── So2_Dx_log_exp_x_times_this_at_0.cpp │ │ ├── So2_Dx_log_this.cpp │ │ ├── So2_Dx_this_mul_exp_x_at_0.cpp │ │ ├── So3_Dx_exp_x.cpp │ │ ├── So3_Dx_log_exp_x_times_this_at_0.cpp │ │ ├── So3_Dx_log_this.cpp │ │ └── So3_Dx_this_mul_exp_x_at_0.cpp │ ├── run_tests.sh │ └── sophus │ │ ├── __init__.py │ │ ├── complex.py │ │ ├── cse_codegen.py │ │ ├── dual_quaternion.py │ │ ├── matrix.py │ │ ├── quaternion.py │ │ ├── se2.py │ │ ├── se3.py │ │ ├── so2.py │ │ └── so3.py └── test │ ├── CMakeLists.txt │ ├── ceres │ ├── CMakeLists.txt │ ├── test_ceres_rxso2.cpp │ ├── test_ceres_rxso3.cpp │ ├── test_ceres_se2.cpp │ ├── test_ceres_se3.cpp │ ├── test_ceres_sim2.cpp │ ├── test_ceres_sim3.cpp │ ├── test_ceres_so2.cpp │ ├── test_ceres_so3.cpp │ └── tests.hpp │ └── core │ ├── CMakeLists.txt │ ├── test_cartesian2.cpp │ ├── test_cartesian3.cpp │ ├── test_common.cpp │ ├── test_geometry.cpp │ ├── test_rxso2.cpp │ ├── test_rxso3.cpp │ ├── test_se2.cpp │ ├── test_se3.cpp │ ├── test_sim2.cpp │ ├── test_sim3.cpp │ ├── test_so2.cpp │ ├── test_so3.cpp │ └── tests.hpp ├── ceres-solver ├── .clang-format ├── .gitignore ├── .travis.yml ├── BUILD ├── CMakeLists.txt ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── WORKSPACE ├── bazel │ └── ceres.bzl ├── cmake │ ├── AddCompileFlagsIfSupported.cmake │ ├── AddGerritCommitHook.cmake │ ├── AppendTargetProperty.cmake │ ├── CeresCompileOptionsToComponents.cmake │ ├── CeresConfig.cmake.in │ ├── CeresThreadingModels.cmake │ ├── CheckIfUnderscorePrefixedBesselFunctionsExist.cmake │ ├── CreateCeresConfig.cmake │ ├── DetectBrokenStackCheckMacOSXcodePairing.cmake │ ├── EnableSanitizer.cmake │ ├── FindAccelerateSparse.cmake │ ├── FindCXSparse.cmake │ ├── FindGlog.cmake │ ├── FindSphinx.cmake │ ├── FindSuiteSparse.cmake │ ├── FindTBB.cmake │ ├── PrettyPrintCMakeList.cmake │ ├── ReadCeresVersionFromSource.cmake │ ├── UpdateCacheVariable.cmake │ ├── config.h.in │ ├── iOS.cmake │ └── uninstall.cmake.in ├── config │ └── ceres │ │ └── internal │ │ └── config.h ├── data │ ├── 2x2.foe │ ├── 3x3.foe │ ├── 5x5.foe │ ├── README.foe │ ├── ceres_noisy.pgm │ ├── libmv-ba-problems │ │ ├── Readme.txt │ │ ├── problem_01.bin │ │ ├── problem_02.bin │ │ └── problem_03.bin │ ├── nist │ │ ├── Bennett5.dat │ │ ├── BoxBOD.dat │ │ ├── Chwirut1.dat │ │ ├── Chwirut2.dat │ │ ├── DanWood.dat │ │ ├── ENSO.dat │ │ ├── Eckerle4.dat │ │ ├── Gauss1.dat │ │ ├── Gauss2.dat │ │ ├── Gauss3.dat │ │ ├── Hahn1.dat │ │ ├── Kirby2.dat │ │ ├── Lanczos1.dat │ │ ├── Lanczos2.dat │ │ ├── Lanczos3.dat │ │ ├── MGH09.dat │ │ ├── MGH10.dat │ │ ├── MGH17.dat │ │ ├── Misra1a.dat │ │ ├── Misra1b.dat │ │ ├── Misra1c.dat │ │ ├── Misra1d.dat │ │ ├── Nelson.dat │ │ ├── Rat42.dat │ │ ├── Rat43.dat │ │ ├── Roszman1.dat │ │ └── Thurber.dat │ └── problem-16-22106-pre.txt ├── docs │ ├── CMakeLists.txt │ └── source │ │ ├── CMakeLists.txt │ │ ├── _templates │ │ └── layout.html │ │ ├── analytical_derivatives.rst │ │ ├── automatic_derivatives.rst │ │ ├── bibliography.rst │ │ ├── conf.py │ │ ├── contributing.rst │ │ ├── derivatives.rst │ │ ├── faqs.rst │ │ ├── features.rst │ │ ├── forward_central_error.png │ │ ├── forward_central_ridders_error.png │ │ ├── gradient_solver.rst │ │ ├── gradient_tutorial.rst │ │ ├── index.rst │ │ ├── installation.rst │ │ ├── interfacing_with_autodiff.rst │ │ ├── least_squares_fit.png │ │ ├── license.rst │ │ ├── loss.png │ │ ├── manhattan_olson_3500_result.png │ │ ├── modeling_faqs.rst │ │ ├── nnls_covariance.rst │ │ ├── nnls_modeling.rst │ │ ├── nnls_solving.rst │ │ ├── nnls_tutorial.rst │ │ ├── non_robust_least_squares_fit.png │ │ ├── numerical_derivatives.rst │ │ ├── pose_graph_3d_ex.png │ │ ├── robust_least_squares_fit.png │ │ ├── slam2d.png │ │ ├── solving_faqs.rst │ │ ├── spivak_notation.rst │ │ ├── tutorial.rst │ │ ├── users.rst │ │ └── version_history.rst ├── examples │ ├── BUILD │ ├── CMakeLists.txt │ ├── Makefile.example │ ├── bal_problem.cc │ ├── bal_problem.h │ ├── bundle_adjuster.cc │ ├── circle_fit.cc │ ├── curve_fitting.c │ ├── curve_fitting.cc │ ├── denoising.cc │ ├── ellipse_approximation.cc │ ├── fields_of_experts.cc │ ├── fields_of_experts.h │ ├── helloworld.cc │ ├── helloworld_analytic_diff.cc │ ├── helloworld_numeric_diff.cc │ ├── libmv_bundle_adjuster.cc │ ├── libmv_homography.cc │ ├── more_garbow_hillstrom.cc │ ├── nist.cc │ ├── pgm_image.h │ ├── powell.cc │ ├── random.h │ ├── robot_pose_mle.cc │ ├── robust_curve_fitting.cc │ ├── rosenbrock.cc │ ├── sampled_function │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ └── sampled_function.cc │ ├── simple_bundle_adjuster.cc │ ├── slam │ │ ├── CMakeLists.txt │ │ ├── common │ │ │ └── read_g2o.h │ │ ├── pose_graph_2d │ │ │ ├── CMakeLists.txt │ │ │ ├── README.md │ │ │ ├── angle_local_parameterization.h │ │ │ ├── normalize_angle.h │ │ │ ├── plot_results.py │ │ │ ├── pose_graph_2d.cc │ │ │ ├── pose_graph_2d_error_term.h │ │ │ └── types.h │ │ └── pose_graph_3d │ │ │ ├── CMakeLists.txt │ │ │ ├── README.md │ │ │ ├── plot_results.py │ │ │ ├── pose_graph_3d.cc │ │ │ ├── pose_graph_3d_error_term.h │ │ │ └── types.h │ └── snavely_reprojection_error.h ├── include │ └── ceres │ │ ├── autodiff_cost_function.h │ │ ├── autodiff_first_order_function.h │ │ ├── autodiff_local_parameterization.h │ │ ├── c_api.h │ │ ├── ceres.h │ │ ├── conditioned_cost_function.h │ │ ├── context.h │ │ ├── cost_function.h │ │ ├── cost_function_to_functor.h │ │ ├── covariance.h │ │ ├── crs_matrix.h │ │ ├── cubic_interpolation.h │ │ ├── dynamic_autodiff_cost_function.h │ │ ├── dynamic_cost_function.h │ │ ├── dynamic_cost_function_to_functor.h │ │ ├── dynamic_numeric_diff_cost_function.h │ │ ├── evaluation_callback.h │ │ ├── first_order_function.h │ │ ├── gradient_checker.h │ │ ├── gradient_problem.h │ │ ├── gradient_problem_solver.h │ │ ├── internal │ │ ├── array_selector.h │ │ ├── autodiff.h │ │ ├── disable_warnings.h │ │ ├── eigen.h │ │ ├── fixed_array.h │ │ ├── householder_vector.h │ │ ├── integer_sequence_algorithm.h │ │ ├── line_parameterization.h │ │ ├── memory.h │ │ ├── numeric_diff.h │ │ ├── parameter_dims.h │ │ ├── port.h │ │ ├── reenable_warnings.h │ │ └── variadic_evaluate.h │ │ ├── iteration_callback.h │ │ ├── jet.h │ │ ├── local_parameterization.h │ │ ├── loss_function.h │ │ ├── normal_prior.h │ │ ├── numeric_diff_cost_function.h │ │ ├── numeric_diff_options.h │ │ ├── ordered_groups.h │ │ ├── problem.h │ │ ├── rotation.h │ │ ├── sized_cost_function.h │ │ ├── solver.h │ │ ├── tiny_solver.h │ │ ├── tiny_solver_autodiff_function.h │ │ ├── tiny_solver_cost_function_adapter.h │ │ ├── types.h │ │ └── version.h ├── internal │ └── ceres │ │ ├── CMakeLists.txt │ │ ├── accelerate_sparse.cc │ │ ├── accelerate_sparse.h │ │ ├── array_selector_test.cc │ │ ├── array_utils.cc │ │ ├── array_utils.h │ │ ├── array_utils_test.cc │ │ ├── autodiff_benchmarks │ │ ├── CMakeLists.txt │ │ ├── autodiff_benchmarks.cc │ │ ├── brdf_cost_function.h │ │ ├── constant_cost_function.h │ │ ├── linear_cost_functions.h │ │ ├── photometric_error.h │ │ ├── relative_pose_error.h │ │ └── snavely_reprojection_error.h │ │ ├── autodiff_cost_function_test.cc │ │ ├── autodiff_first_order_function_test.cc │ │ ├── autodiff_local_parameterization_test.cc │ │ ├── autodiff_test.cc │ │ ├── benchmarks │ │ ├── macbook-pro-2014-small_blas_gemm_benchmark.json │ │ └── macbook-pro-2014-small_blas_gemv_benchmark.json │ │ ├── blas.cc │ │ ├── blas.h │ │ ├── block_evaluate_preparer.cc │ │ ├── block_evaluate_preparer.h │ │ ├── block_jacobi_preconditioner.cc │ │ ├── block_jacobi_preconditioner.h │ │ ├── block_jacobi_preconditioner_test.cc │ │ ├── block_jacobian_writer.cc │ │ ├── block_jacobian_writer.h │ │ ├── block_random_access_dense_matrix.cc │ │ ├── block_random_access_dense_matrix.h │ │ ├── block_random_access_dense_matrix_test.cc │ │ ├── block_random_access_diagonal_matrix.cc │ │ ├── block_random_access_diagonal_matrix.h │ │ ├── block_random_access_diagonal_matrix_test.cc │ │ ├── block_random_access_matrix.cc │ │ ├── block_random_access_matrix.h │ │ ├── block_random_access_sparse_matrix.cc │ │ ├── block_random_access_sparse_matrix.h │ │ ├── block_random_access_sparse_matrix_test.cc │ │ ├── block_sparse_matrix.cc │ │ ├── block_sparse_matrix.h │ │ ├── block_sparse_matrix_test.cc │ │ ├── block_structure.cc │ │ ├── block_structure.h │ │ ├── bundle_adjustment_test_util.h │ │ ├── c_api.cc │ │ ├── c_api_test.cc │ │ ├── callbacks.cc │ │ ├── callbacks.h │ │ ├── canonical_views_clustering.cc │ │ ├── canonical_views_clustering.h │ │ ├── canonical_views_clustering_test.cc │ │ ├── casts.h │ │ ├── cgnr_linear_operator.h │ │ ├── cgnr_solver.cc │ │ ├── cgnr_solver.h │ │ ├── compressed_col_sparse_matrix_utils.cc │ │ ├── compressed_col_sparse_matrix_utils.h │ │ ├── compressed_col_sparse_matrix_utils_test.cc │ │ ├── compressed_row_jacobian_writer.cc │ │ ├── compressed_row_jacobian_writer.h │ │ ├── compressed_row_sparse_matrix.cc │ │ ├── compressed_row_sparse_matrix.h │ │ ├── compressed_row_sparse_matrix_test.cc │ │ ├── concurrent_queue.h │ │ ├── concurrent_queue_test.cc │ │ ├── conditioned_cost_function.cc │ │ ├── conditioned_cost_function_test.cc │ │ ├── conjugate_gradients_solver.cc │ │ ├── conjugate_gradients_solver.h │ │ ├── conjugate_gradients_solver_test.cc │ │ ├── context.cc │ │ ├── context_impl.cc │ │ ├── context_impl.h │ │ ├── coordinate_descent_minimizer.cc │ │ ├── coordinate_descent_minimizer.h │ │ ├── corrector.cc │ │ ├── corrector.h │ │ ├── corrector_test.cc │ │ ├── cost_function_to_functor_test.cc │ │ ├── covariance.cc │ │ ├── covariance_impl.cc │ │ ├── covariance_impl.h │ │ ├── covariance_test.cc │ │ ├── cubic_interpolation_test.cc │ │ ├── cxsparse.cc │ │ ├── cxsparse.h │ │ ├── dense_jacobian_writer.h │ │ ├── dense_linear_solver_test.cc │ │ ├── dense_normal_cholesky_solver.cc │ │ ├── dense_normal_cholesky_solver.h │ │ ├── dense_qr_solver.cc │ │ ├── dense_qr_solver.h │ │ ├── dense_sparse_matrix.cc │ │ ├── dense_sparse_matrix.h │ │ ├── dense_sparse_matrix_test.cc │ │ ├── detect_structure.cc │ │ ├── detect_structure.h │ │ ├── detect_structure_test.cc │ │ ├── dogleg_strategy.cc │ │ ├── dogleg_strategy.h │ │ ├── dogleg_strategy_test.cc │ │ ├── dynamic_autodiff_cost_function_test.cc │ │ ├── dynamic_compressed_row_finalizer.h │ │ ├── dynamic_compressed_row_jacobian_writer.cc │ │ ├── dynamic_compressed_row_jacobian_writer.h │ │ ├── dynamic_compressed_row_sparse_matrix.cc │ │ ├── dynamic_compressed_row_sparse_matrix.h │ │ ├── dynamic_compressed_row_sparse_matrix_test.cc │ │ ├── dynamic_numeric_diff_cost_function_test.cc │ │ ├── dynamic_sparse_normal_cholesky_solver.cc │ │ ├── dynamic_sparse_normal_cholesky_solver.h │ │ ├── dynamic_sparse_normal_cholesky_solver_test.cc │ │ ├── dynamic_sparsity_test.cc │ │ ├── eigensparse.cc │ │ ├── eigensparse.h │ │ ├── evaluation_callback_test.cc │ │ ├── evaluator.cc │ │ ├── evaluator.h │ │ ├── evaluator_test.cc │ │ ├── evaluator_test_utils.cc │ │ ├── evaluator_test_utils.h │ │ ├── execution_summary.h │ │ ├── file.cc │ │ ├── file.h │ │ ├── fixed_array_test.cc │ │ ├── float_cxsparse.cc │ │ ├── float_cxsparse.h │ │ ├── float_suitesparse.cc │ │ ├── float_suitesparse.h │ │ ├── function_sample.cc │ │ ├── function_sample.h │ │ ├── generate_bundle_adjustment_tests.py │ │ ├── generate_template_specializations.py │ │ ├── generated │ │ ├── .clang-format │ │ ├── partitioned_matrix_view_2_2_2.cc │ │ ├── partitioned_matrix_view_2_2_3.cc │ │ ├── partitioned_matrix_view_2_2_4.cc │ │ ├── partitioned_matrix_view_2_2_d.cc │ │ ├── partitioned_matrix_view_2_3_3.cc │ │ ├── partitioned_matrix_view_2_3_4.cc │ │ ├── partitioned_matrix_view_2_3_6.cc │ │ ├── partitioned_matrix_view_2_3_9.cc │ │ ├── partitioned_matrix_view_2_3_d.cc │ │ ├── partitioned_matrix_view_2_4_3.cc │ │ ├── partitioned_matrix_view_2_4_4.cc │ │ ├── partitioned_matrix_view_2_4_6.cc │ │ ├── partitioned_matrix_view_2_4_8.cc │ │ ├── partitioned_matrix_view_2_4_9.cc │ │ ├── partitioned_matrix_view_2_4_d.cc │ │ ├── partitioned_matrix_view_2_d_d.cc │ │ ├── partitioned_matrix_view_3_3_3.cc │ │ ├── partitioned_matrix_view_4_4_2.cc │ │ ├── partitioned_matrix_view_4_4_3.cc │ │ ├── partitioned_matrix_view_4_4_4.cc │ │ ├── partitioned_matrix_view_4_4_d.cc │ │ ├── partitioned_matrix_view_d_d_d.cc │ │ ├── schur_eliminator_2_2_2.cc │ │ ├── schur_eliminator_2_2_3.cc │ │ ├── schur_eliminator_2_2_4.cc │ │ ├── schur_eliminator_2_2_d.cc │ │ ├── schur_eliminator_2_3_3.cc │ │ ├── schur_eliminator_2_3_4.cc │ │ ├── schur_eliminator_2_3_6.cc │ │ ├── schur_eliminator_2_3_9.cc │ │ ├── schur_eliminator_2_3_d.cc │ │ ├── schur_eliminator_2_4_3.cc │ │ ├── schur_eliminator_2_4_4.cc │ │ ├── schur_eliminator_2_4_6.cc │ │ ├── schur_eliminator_2_4_8.cc │ │ ├── schur_eliminator_2_4_9.cc │ │ ├── schur_eliminator_2_4_d.cc │ │ ├── schur_eliminator_2_d_d.cc │ │ ├── schur_eliminator_3_3_3.cc │ │ ├── schur_eliminator_4_4_2.cc │ │ ├── schur_eliminator_4_4_3.cc │ │ ├── schur_eliminator_4_4_4.cc │ │ ├── schur_eliminator_4_4_d.cc │ │ └── schur_eliminator_d_d_d.cc │ │ ├── generated_bundle_adjustment_tests │ │ ├── .clang-format │ │ ├── CMakeLists.txt │ │ ├── ba_denseschur_auto_test.cc │ │ ├── ba_denseschur_auto_threads_test.cc │ │ ├── ba_denseschur_user_test.cc │ │ ├── ba_denseschur_user_threads_test.cc │ │ ├── ba_iterschur_acceleratesparse_clustjacobi_auto_test.cc │ │ ├── ba_iterschur_acceleratesparse_clustjacobi_auto_threads_test.cc │ │ ├── ba_iterschur_acceleratesparse_clustjacobi_user_test.cc │ │ ├── ba_iterschur_acceleratesparse_clustjacobi_user_threads_test.cc │ │ ├── ba_iterschur_acceleratesparse_clusttri_auto_test.cc │ │ ├── ba_iterschur_acceleratesparse_clusttri_auto_threads_test.cc │ │ ├── ba_iterschur_acceleratesparse_clusttri_user_test.cc │ │ ├── ba_iterschur_acceleratesparse_clusttri_user_threads_test.cc │ │ ├── ba_iterschur_cxsparse_clustjacobi_auto_test.cc │ │ ├── ba_iterschur_cxsparse_clustjacobi_auto_threads_test.cc │ │ ├── ba_iterschur_cxsparse_clustjacobi_user_test.cc │ │ ├── ba_iterschur_cxsparse_clustjacobi_user_threads_test.cc │ │ ├── ba_iterschur_cxsparse_clusttri_auto_test.cc │ │ ├── ba_iterschur_cxsparse_clusttri_auto_threads_test.cc │ │ ├── ba_iterschur_cxsparse_clusttri_user_test.cc │ │ ├── ba_iterschur_cxsparse_clusttri_user_threads_test.cc │ │ ├── ba_iterschur_eigensparse_clustjacobi_auto_test.cc │ │ ├── ba_iterschur_eigensparse_clustjacobi_auto_threads_test.cc │ │ ├── ba_iterschur_eigensparse_clustjacobi_user_test.cc │ │ ├── ba_iterschur_eigensparse_clustjacobi_user_threads_test.cc │ │ ├── ba_iterschur_eigensparse_clusttri_auto_test.cc │ │ ├── ba_iterschur_eigensparse_clusttri_auto_threads_test.cc │ │ ├── ba_iterschur_eigensparse_clusttri_user_test.cc │ │ ├── ba_iterschur_eigensparse_clusttri_user_threads_test.cc │ │ ├── ba_iterschur_jacobi_auto_test.cc │ │ ├── ba_iterschur_jacobi_auto_threads_test.cc │ │ ├── ba_iterschur_jacobi_user_test.cc │ │ ├── ba_iterschur_jacobi_user_threads_test.cc │ │ ├── ba_iterschur_schurjacobi_auto_test.cc │ │ ├── ba_iterschur_schurjacobi_auto_threads_test.cc │ │ ├── ba_iterschur_schurjacobi_user_test.cc │ │ ├── ba_iterschur_schurjacobi_user_threads_test.cc │ │ ├── ba_iterschur_suitesparse_clustjacobi_auto_test.cc │ │ ├── ba_iterschur_suitesparse_clustjacobi_auto_threads_test.cc │ │ ├── ba_iterschur_suitesparse_clustjacobi_user_test.cc │ │ ├── ba_iterschur_suitesparse_clustjacobi_user_threads_test.cc │ │ ├── ba_iterschur_suitesparse_clusttri_auto_test.cc │ │ ├── ba_iterschur_suitesparse_clusttri_auto_threads_test.cc │ │ ├── ba_iterschur_suitesparse_clusttri_user_test.cc │ │ ├── ba_iterschur_suitesparse_clusttri_user_threads_test.cc │ │ ├── ba_sparsecholesky_acceleratesparse_auto_test.cc │ │ ├── ba_sparsecholesky_acceleratesparse_auto_threads_test.cc │ │ ├── ba_sparsecholesky_acceleratesparse_user_test.cc │ │ ├── ba_sparsecholesky_acceleratesparse_user_threads_test.cc │ │ ├── ba_sparsecholesky_cxsparse_auto_test.cc │ │ ├── ba_sparsecholesky_cxsparse_auto_threads_test.cc │ │ ├── ba_sparsecholesky_cxsparse_user_test.cc │ │ ├── ba_sparsecholesky_cxsparse_user_threads_test.cc │ │ ├── ba_sparsecholesky_eigensparse_auto_test.cc │ │ ├── ba_sparsecholesky_eigensparse_auto_threads_test.cc │ │ ├── ba_sparsecholesky_eigensparse_user_test.cc │ │ ├── ba_sparsecholesky_eigensparse_user_threads_test.cc │ │ ├── ba_sparsecholesky_suitesparse_auto_test.cc │ │ ├── ba_sparsecholesky_suitesparse_auto_threads_test.cc │ │ ├── ba_sparsecholesky_suitesparse_user_test.cc │ │ ├── ba_sparsecholesky_suitesparse_user_threads_test.cc │ │ ├── ba_sparseschur_acceleratesparse_auto_test.cc │ │ ├── ba_sparseschur_acceleratesparse_auto_threads_test.cc │ │ ├── ba_sparseschur_acceleratesparse_user_test.cc │ │ ├── ba_sparseschur_acceleratesparse_user_threads_test.cc │ │ ├── ba_sparseschur_cxsparse_auto_test.cc │ │ ├── ba_sparseschur_cxsparse_auto_threads_test.cc │ │ ├── ba_sparseschur_cxsparse_user_test.cc │ │ ├── ba_sparseschur_cxsparse_user_threads_test.cc │ │ ├── ba_sparseschur_eigensparse_auto_test.cc │ │ ├── ba_sparseschur_eigensparse_auto_threads_test.cc │ │ ├── ba_sparseschur_eigensparse_user_test.cc │ │ ├── ba_sparseschur_eigensparse_user_threads_test.cc │ │ ├── ba_sparseschur_suitesparse_auto_test.cc │ │ ├── ba_sparseschur_suitesparse_auto_threads_test.cc │ │ ├── ba_sparseschur_suitesparse_user_test.cc │ │ └── ba_sparseschur_suitesparse_user_threads_test.cc │ │ ├── gmock │ │ ├── .clang-format │ │ ├── gmock.h │ │ └── mock-log.h │ │ ├── gmock_gtest_all.cc │ │ ├── gmock_main.cc │ │ ├── gradient_checker.cc │ │ ├── gradient_checker_test.cc │ │ ├── gradient_checking_cost_function.cc │ │ ├── gradient_checking_cost_function.h │ │ ├── gradient_checking_cost_function_test.cc │ │ ├── gradient_problem.cc │ │ ├── gradient_problem_evaluator.h │ │ ├── gradient_problem_solver.cc │ │ ├── gradient_problem_solver_test.cc │ │ ├── gradient_problem_test.cc │ │ ├── graph.h │ │ ├── graph_algorithms.h │ │ ├── graph_algorithms_test.cc │ │ ├── graph_test.cc │ │ ├── gtest │ │ ├── .clang-format │ │ └── gtest.h │ │ ├── householder_vector_test.cc │ │ ├── implicit_schur_complement.cc │ │ ├── implicit_schur_complement.h │ │ ├── implicit_schur_complement_test.cc │ │ ├── inner_product_computer.cc │ │ ├── inner_product_computer.h │ │ ├── inner_product_computer_test.cc │ │ ├── integer_sequence_algorithm_test.cc │ │ ├── invert_psd_matrix.h │ │ ├── invert_psd_matrix_benchmark.cc │ │ ├── invert_psd_matrix_test.cc │ │ ├── is_close.cc │ │ ├── is_close.h │ │ ├── is_close_test.cc │ │ ├── iterative_refiner.cc │ │ ├── iterative_refiner.h │ │ ├── iterative_refiner_test.cc │ │ ├── iterative_schur_complement_solver.cc │ │ ├── iterative_schur_complement_solver.h │ │ ├── iterative_schur_complement_solver_test.cc │ │ ├── jet_test.cc │ │ ├── lapack.cc │ │ ├── lapack.h │ │ ├── levenberg_marquardt_strategy.cc │ │ ├── levenberg_marquardt_strategy.h │ │ ├── levenberg_marquardt_strategy_test.cc │ │ ├── line_search.cc │ │ ├── line_search.h │ │ ├── line_search_direction.cc │ │ ├── line_search_direction.h │ │ ├── line_search_minimizer.cc │ │ ├── line_search_minimizer.h │ │ ├── line_search_minimizer_test.cc │ │ ├── line_search_preprocessor.cc │ │ ├── line_search_preprocessor.h │ │ ├── line_search_preprocessor_test.cc │ │ ├── linear_least_squares_problems.cc │ │ ├── linear_least_squares_problems.h │ │ ├── linear_operator.cc │ │ ├── linear_operator.h │ │ ├── linear_solver.cc │ │ ├── linear_solver.h │ │ ├── local_parameterization.cc │ │ ├── local_parameterization_test.cc │ │ ├── loss_function.cc │ │ ├── loss_function_test.cc │ │ ├── low_rank_inverse_hessian.cc │ │ ├── low_rank_inverse_hessian.h │ │ ├── map_util.h │ │ ├── miniglog │ │ └── glog │ │ │ ├── logging.cc │ │ │ └── logging.h │ │ ├── minimizer.cc │ │ ├── minimizer.h │ │ ├── minimizer_test.cc │ │ ├── normal_prior.cc │ │ ├── normal_prior_test.cc │ │ ├── numeric_diff_cost_function_test.cc │ │ ├── numeric_diff_test_utils.cc │ │ ├── numeric_diff_test_utils.h │ │ ├── ordered_groups_test.cc │ │ ├── pair_hash.h │ │ ├── parallel_for.h │ │ ├── parallel_for_cxx.cc │ │ ├── parallel_for_nothreads.cc │ │ ├── parallel_for_openmp.cc │ │ ├── parallel_for_test.cc │ │ ├── parallel_utils.cc │ │ ├── parallel_utils.h │ │ ├── parallel_utils_test.cc │ │ ├── parameter_block.h │ │ ├── parameter_block_ordering.cc │ │ ├── parameter_block_ordering.h │ │ ├── parameter_block_ordering_test.cc │ │ ├── parameter_block_test.cc │ │ ├── parameter_dims_test.cc │ │ ├── partitioned_matrix_view.cc │ │ ├── partitioned_matrix_view.h │ │ ├── partitioned_matrix_view_impl.h │ │ ├── partitioned_matrix_view_template.py │ │ ├── partitioned_matrix_view_test.cc │ │ ├── polynomial.cc │ │ ├── polynomial.h │ │ ├── polynomial_test.cc │ │ ├── preconditioner.cc │ │ ├── preconditioner.h │ │ ├── preprocessor.cc │ │ ├── preprocessor.h │ │ ├── problem.cc │ │ ├── problem_impl.cc │ │ ├── problem_impl.h │ │ ├── problem_test.cc │ │ ├── program.cc │ │ ├── program.h │ │ ├── program_evaluator.h │ │ ├── program_test.cc │ │ ├── random.h │ │ ├── reorder_program.cc │ │ ├── reorder_program.h │ │ ├── reorder_program_test.cc │ │ ├── residual_block.cc │ │ ├── residual_block.h │ │ ├── residual_block_test.cc │ │ ├── residual_block_utils.cc │ │ ├── residual_block_utils.h │ │ ├── residual_block_utils_test.cc │ │ ├── rotation_test.cc │ │ ├── schur_complement_solver.cc │ │ ├── schur_complement_solver.h │ │ ├── schur_complement_solver_test.cc │ │ ├── schur_eliminator.cc │ │ ├── schur_eliminator.h │ │ ├── schur_eliminator_benchmark.cc │ │ ├── schur_eliminator_impl.h │ │ ├── schur_eliminator_template.py │ │ ├── schur_eliminator_test.cc │ │ ├── schur_jacobi_preconditioner.cc │ │ ├── schur_jacobi_preconditioner.h │ │ ├── schur_templates.cc │ │ ├── schur_templates.h │ │ ├── scoped_thread_token.h │ │ ├── scratch_evaluate_preparer.cc │ │ ├── scratch_evaluate_preparer.h │ │ ├── single_linkage_clustering.cc │ │ ├── single_linkage_clustering.h │ │ ├── single_linkage_clustering_test.cc │ │ ├── small_blas.h │ │ ├── small_blas_gemm_benchmark.cc │ │ ├── small_blas_gemv_benchmark.cc │ │ ├── small_blas_generic.h │ │ ├── small_blas_test.cc │ │ ├── solver.cc │ │ ├── solver_test.cc │ │ ├── solver_utils.cc │ │ ├── solver_utils.h │ │ ├── sparse_cholesky.cc │ │ ├── sparse_cholesky.h │ │ ├── sparse_cholesky_test.cc │ │ ├── sparse_matrix.cc │ │ ├── sparse_matrix.h │ │ ├── sparse_normal_cholesky_solver.cc │ │ ├── sparse_normal_cholesky_solver.h │ │ ├── sparse_normal_cholesky_solver_test.cc │ │ ├── split.cc │ │ ├── split.h │ │ ├── stl_util.h │ │ ├── stringprintf.cc │ │ ├── stringprintf.h │ │ ├── subset_preconditioner.cc │ │ ├── subset_preconditioner.h │ │ ├── subset_preconditioner_test.cc │ │ ├── suitesparse.cc │ │ ├── suitesparse.h │ │ ├── system_test.cc │ │ ├── test_util.cc │ │ ├── test_util.h │ │ ├── thread_pool.cc │ │ ├── thread_pool.h │ │ ├── thread_pool_test.cc │ │ ├── thread_token_provider.cc │ │ ├── thread_token_provider.h │ │ ├── tiny_solver_autodiff_function_test.cc │ │ ├── tiny_solver_cost_function_adapter_test.cc │ │ ├── tiny_solver_test.cc │ │ ├── tiny_solver_test_util.h │ │ ├── triplet_sparse_matrix.cc │ │ ├── triplet_sparse_matrix.h │ │ ├── triplet_sparse_matrix_test.cc │ │ ├── trust_region_minimizer.cc │ │ ├── trust_region_minimizer.h │ │ ├── trust_region_minimizer_test.cc │ │ ├── trust_region_preprocessor.cc │ │ ├── trust_region_preprocessor.h │ │ ├── trust_region_preprocessor_test.cc │ │ ├── trust_region_step_evaluator.cc │ │ ├── trust_region_step_evaluator.h │ │ ├── trust_region_strategy.cc │ │ ├── trust_region_strategy.h │ │ ├── types.cc │ │ ├── visibility.cc │ │ ├── visibility.h │ │ ├── visibility_based_preconditioner.cc │ │ ├── visibility_based_preconditioner.h │ │ ├── visibility_based_preconditioner_test.cc │ │ ├── visibility_test.cc │ │ ├── wall_time.cc │ │ └── wall_time.h ├── package.xml ├── scripts │ ├── format_all.sh │ ├── make_docs.py │ └── make_release └── travis │ ├── install_travis_linux_deps.sh │ └── install_travis_osx_deps.sh ├── nanoflann ├── .circleci │ ├── check_style.sh │ ├── clang_format_codebase.sh │ ├── clang_git_format │ │ ├── .gitignore │ │ ├── LICENSE │ │ ├── README.md │ │ ├── clang_git_format │ │ │ ├── __init__.py │ │ │ ├── clang_format.py │ │ │ ├── config.py │ │ │ ├── custom_exceptions.py │ │ │ ├── repo.py │ │ │ └── utils.py │ │ ├── format_code.py │ │ └── scripts │ │ │ └── convert_inline_dox_comments_file.sh │ ├── config.yml │ └── python_reqs.txt ├── .clang-format ├── .github │ └── workflows │ │ ├── check-clang-format.yml │ │ └── ci-linux.yml ├── .gitignore ├── .travis.sh ├── .travis.yml ├── CHANGELOG.md ├── CMakeLists.txt ├── COPYING ├── Doxyfile ├── README.md ├── appveyor.yml ├── doc │ ├── logo.png │ ├── perf1_conv_matrix.png │ ├── perf1_conv_matrix.small.png │ ├── perf2_build_index.png │ ├── perf2_build_index.small.png │ ├── perf3_query.png │ ├── perf3_query.small.png │ ├── perf4_time_saved.png │ ├── perf4_time_saved.small.png │ ├── perf5_1e5pts_time_vs_maxleaf.png │ ├── perf5_1e5pts_time_vs_maxleaf_double.png │ └── perf5_1e5pts_time_vs_maxleaf_real_dataset.png ├── examples │ ├── CMakeLists.txt │ ├── KDTreeVectorOfVectorsAdaptor.h │ ├── SO2_adaptor_example.cpp │ ├── SO3_adaptor_example.cpp │ ├── dynamic_pointcloud_example.cpp │ ├── example_with_cmake │ │ ├── CMakeLists.txt │ │ └── pointcloud_example.cpp │ ├── example_with_pkgconfig │ │ └── pointcloud_example.cpp │ ├── examples_gui │ │ ├── README.md │ │ ├── nanoflann_gui_example_R3 │ │ │ ├── CMakeLists.txt │ │ │ └── nanoflann_gui_example_R3.cpp │ │ └── nanoflann_gui_example_bearings │ │ │ ├── CMakeLists.txt │ │ │ └── nanoflann_gui_example_bearings.cpp │ ├── matrix_example.cpp │ ├── pointcloud_adaptor_example.cpp │ ├── pointcloud_custom_metric.cpp │ ├── pointcloud_custom_resultset.cpp │ ├── pointcloud_example.cpp │ ├── pointcloud_kdd_radius.cpp │ ├── saveload_example.cpp │ ├── utils.h │ └── vector_of_vectors_example.cpp ├── include │ └── nanoflann.hpp ├── scripts │ ├── cmake_uninstall.cmake.in │ ├── nanoflann.pc.in │ ├── nanoflannConfig.cmake.in │ ├── prepare_debian.sh │ ├── prepare_release.sh │ └── prepare_ubuntu_pkgs_for_ppa.sh └── tests │ ├── CMakeLists.txt │ ├── gtest-1.8.0 │ ├── CMakeLists.txt │ ├── CONTRIBUTORS │ ├── README.md │ ├── include │ │ └── gtest │ │ │ ├── gtest-death-test.h │ │ │ ├── gtest-message.h │ │ │ ├── gtest-param-test.h │ │ │ ├── gtest-param-test.h.pump │ │ │ ├── gtest-printers.h │ │ │ ├── gtest-spi.h │ │ │ ├── gtest-test-part.h │ │ │ ├── gtest-typed-test.h │ │ │ ├── gtest.h │ │ │ ├── gtest_pred_impl.h │ │ │ ├── gtest_prod.h │ │ │ └── internal │ │ │ ├── custom │ │ │ ├── gtest-port.h │ │ │ ├── gtest-printers.h │ │ │ └── gtest.h │ │ │ ├── gtest-death-test-internal.h │ │ │ ├── gtest-filepath.h │ │ │ ├── gtest-internal.h │ │ │ ├── gtest-linked_ptr.h │ │ │ ├── gtest-param-util-generated.h │ │ │ ├── gtest-param-util-generated.h.pump │ │ │ ├── gtest-param-util.h │ │ │ ├── gtest-port-arch.h │ │ │ ├── gtest-port.h │ │ │ ├── gtest-string.h │ │ │ ├── gtest-tuple.h │ │ │ ├── gtest-tuple.h.pump │ │ │ ├── gtest-type-util.h │ │ │ └── gtest-type-util.h.pump │ └── src │ │ ├── gtest-all.cc │ │ ├── gtest-death-test.cc │ │ ├── gtest-filepath.cc │ │ ├── gtest-internal-inl.h │ │ ├── gtest-port.cc │ │ ├── gtest-printers.cc │ │ ├── gtest-test-part.cc │ │ ├── gtest-typed-test.cc │ │ ├── gtest.cc │ │ └── gtest_main.cc │ └── test_main.cpp ├── pangolin ├── .clang-format ├── CMakeLists.txt ├── LICENCE ├── README.md ├── cmake │ ├── AndroidUtils.cmake │ ├── CreateMethodCallFile.cmake │ ├── EmbedBinaryFiles.cmake │ ├── EmscriptenUtils.cmake │ ├── FindDC1394.cmake │ ├── FindDepthSense.cmake │ ├── FindFFMPEG.cmake │ ├── FindGLEW.cmake │ ├── FindGLUES.cmake │ ├── FindLibraw.cmake │ ├── FindLz4.cmake │ ├── FindMediaFoundation.cmake │ ├── FindOculus.cmake │ ├── FindOpenEXR.cmake │ ├── FindOpenNI.cmake │ ├── FindOpenNI2.cmake │ ├── FindPleora.cmake │ ├── FindRealSense.cmake │ ├── FindRealSense2.cmake │ ├── FindTeliCam.cmake │ ├── FindTooN.cmake │ ├── FindXrandr.cmake │ ├── Findlibusb1.cmake │ ├── Findpthread.cmake │ ├── Finduvc.cmake │ ├── Findzstd.cmake │ ├── MakePythonWheel.cmake │ ├── PangolinConfig.cmake.in │ ├── PangolinConfigVersion.cmake.in │ ├── PangolinFactory.cmake │ ├── SetPlatformVars.cmake │ ├── cmake_uninstall.cmake.in │ └── wheel-dist-info │ │ ├── METADATA │ │ ├── WHEEL │ │ └── top_level.txt ├── components │ ├── pango_core │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ ├── NaturalSort │ │ │ │ ├── LICENSE.md │ │ │ │ ├── README.md │ │ │ │ └── natural_sort.hpp │ │ │ ├── dynalo │ │ │ │ ├── detail │ │ │ │ │ ├── config.hpp │ │ │ │ │ ├── linux │ │ │ │ │ │ └── dynalo.hpp │ │ │ │ │ ├── macos │ │ │ │ │ │ └── dynalo.hpp │ │ │ │ │ └── windows │ │ │ │ │ │ └── dynalo.hpp │ │ │ │ ├── dynalo.hpp │ │ │ │ └── symbol_helper.hpp │ │ │ ├── pangolin │ │ │ │ ├── compat │ │ │ │ │ ├── glutbitmap.h │ │ │ │ │ └── type_traits.h │ │ │ │ ├── factory │ │ │ │ │ ├── factory.h │ │ │ │ │ ├── factory_help.h │ │ │ │ │ └── factory_registry.h │ │ │ │ ├── pangolin.h │ │ │ │ ├── platform.h │ │ │ │ └── utils │ │ │ │ │ ├── argagg.hpp │ │ │ │ │ ├── assert.h │ │ │ │ │ ├── avx_math.h │ │ │ │ │ ├── bitmask.h │ │ │ │ │ ├── compontent_cast.h │ │ │ │ │ ├── file_extension.h │ │ │ │ │ ├── file_utils.h │ │ │ │ │ ├── fix_size_buffer_queue.h │ │ │ │ │ ├── format_string.h │ │ │ │ │ ├── is_streamable.h │ │ │ │ │ ├── log.h │ │ │ │ │ ├── memstreambuf.h │ │ │ │ │ ├── param_set.h │ │ │ │ │ ├── params.h │ │ │ │ │ ├── parse.h │ │ │ │ │ ├── picojson.h │ │ │ │ │ ├── posix │ │ │ │ │ ├── condition_variable.h │ │ │ │ │ ├── semaphore.h │ │ │ │ │ └── shared_memory_buffer.h │ │ │ │ │ ├── range.h │ │ │ │ │ ├── signal_slot.h │ │ │ │ │ ├── sigstate.h │ │ │ │ │ ├── simple_math.h │ │ │ │ │ ├── threadedfilebuf.h │ │ │ │ │ ├── timer.h │ │ │ │ │ ├── transform.h │ │ │ │ │ ├── true_false_toggle.h │ │ │ │ │ ├── type_convert.h │ │ │ │ │ ├── uri.h │ │ │ │ │ ├── variadic_all.h │ │ │ │ │ └── xml │ │ │ │ │ ├── license.txt │ │ │ │ │ ├── rapidxml.hpp │ │ │ │ │ ├── rapidxml_iterators.hpp │ │ │ │ │ ├── rapidxml_print.hpp │ │ │ │ │ └── rapidxml_utils.hpp │ │ │ └── sigslot │ │ │ │ ├── LICENCE │ │ │ │ ├── README.md │ │ │ │ └── signal.hpp │ │ ├── src │ │ │ ├── avx_math.cpp │ │ │ ├── dummy.cpp │ │ │ ├── factory │ │ │ │ ├── factory_help.cpp │ │ │ │ └── factory_registry.cpp │ │ │ ├── file_extension.cpp │ │ │ ├── file_utils.cpp │ │ │ ├── param_set.cpp │ │ │ ├── posix │ │ │ │ ├── condition_variable.cpp │ │ │ │ ├── semaphore.cpp │ │ │ │ └── shared_memory_buffer.cpp │ │ │ ├── sigstate.cpp │ │ │ ├── threadedfilebuf.cpp │ │ │ └── uri.cpp │ │ └── tests │ │ │ └── tests_uri.cpp │ ├── pango_display │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── pangolin │ │ │ │ ├── console │ │ │ │ ├── ConsoleView.h │ │ │ │ └── InterpreterInterface.h │ │ │ │ ├── display │ │ │ │ ├── attach.h │ │ │ │ ├── default_font.h │ │ │ │ ├── display.h │ │ │ │ ├── display.hpp │ │ │ │ ├── image_view.h │ │ │ │ ├── process.h │ │ │ │ ├── user_app.h │ │ │ │ ├── view.h │ │ │ │ └── widgets.h │ │ │ │ └── handler │ │ │ │ ├── handler.h │ │ │ │ ├── handler_glbuffer.h │ │ │ │ └── handler_image.h │ │ └── src │ │ │ ├── ConsoleView.cpp │ │ │ ├── default_font.cpp │ │ │ ├── display.cpp │ │ │ ├── handler.cpp │ │ │ ├── handler_glbuffer.cpp │ │ │ ├── handler_image.cpp │ │ │ ├── image_view.cpp │ │ │ ├── pangolin_gl.cpp │ │ │ ├── pangolin_gl.h │ │ │ ├── process.cpp │ │ │ ├── view.cpp │ │ │ └── widgets.cpp │ ├── pango_geometry │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── pangolin │ │ │ │ └── geometry │ │ │ │ ├── geometry.h │ │ │ │ ├── geometry_obj.h │ │ │ │ └── geometry_ply.h │ │ └── src │ │ │ ├── geometry.cpp │ │ │ ├── geometry_obj.cpp │ │ │ └── geometry_ply.cpp │ ├── pango_glgeometry │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── pangolin │ │ │ │ └── geometry │ │ │ │ └── glgeometry.h │ │ └── src │ │ │ └── glgeometry.cpp │ ├── pango_image │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── pangolin │ │ │ │ └── image │ │ │ │ ├── copy.h │ │ │ │ ├── image.h │ │ │ │ ├── image_convert.h │ │ │ │ ├── image_io.h │ │ │ │ ├── image_utils.h │ │ │ │ ├── managed_image.h │ │ │ │ ├── memcpy.h │ │ │ │ ├── pixel_format.h │ │ │ │ ├── shared_image.h │ │ │ │ └── typed_image.h │ │ └── src │ │ │ ├── image_io.cpp │ │ │ ├── image_io_bmp.cpp │ │ │ ├── image_io_exr.cpp │ │ │ ├── image_io_jpg.cpp │ │ │ ├── image_io_libraw.cpp │ │ │ ├── image_io_lz4.cpp │ │ │ ├── image_io_packed12bit.cpp │ │ │ ├── image_io_pango.cpp │ │ │ ├── image_io_png.cpp │ │ │ ├── image_io_ppm.cpp │ │ │ ├── image_io_raw.cpp │ │ │ ├── image_io_tga.cpp │ │ │ ├── image_io_zstd.cpp │ │ │ └── pixel_format.cpp │ ├── pango_opengl │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── pangolin │ │ │ │ └── gl │ │ │ │ ├── cg.h │ │ │ │ ├── colour.h │ │ │ │ ├── compat │ │ │ │ ├── gl2engine.h │ │ │ │ └── gl_es_compat.h │ │ │ │ ├── gl.h │ │ │ │ ├── gl.hpp │ │ │ │ ├── glchar.h │ │ │ │ ├── glcuda.h │ │ │ │ ├── gldraw.h │ │ │ │ ├── glfont.h │ │ │ │ ├── glformattraits.h │ │ │ │ ├── glinclude.h │ │ │ │ ├── glpangoglu.h │ │ │ │ ├── glpixformat.h │ │ │ │ ├── glplatform.h │ │ │ │ ├── glsl.h │ │ │ │ ├── glstate.h │ │ │ │ ├── gltext.h │ │ │ │ ├── gltexturecache.h │ │ │ │ ├── glvbo.h │ │ │ │ ├── opengl_render_state.h │ │ │ │ └── viewport.h │ │ └── src │ │ │ ├── compat │ │ │ └── gl2engine.cpp │ │ │ ├── fonts │ │ │ ├── AnonymousPro.ttf │ │ │ └── AnonymousPro.txt │ │ │ ├── glchar.cpp │ │ │ ├── gldraw.cpp │ │ │ ├── glfont.cpp │ │ │ ├── glpangoglu.cpp │ │ │ ├── gltext.cpp │ │ │ ├── gltexturecache.cpp │ │ │ ├── opengl_render_state.cpp │ │ │ ├── stb_truetype.h │ │ │ └── viewport.cpp │ ├── pango_packetstream │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── pangolin │ │ │ │ └── log │ │ │ │ ├── packet.h │ │ │ │ ├── packetstream.h │ │ │ │ ├── packetstream_reader.h │ │ │ │ ├── packetstream_source.h │ │ │ │ ├── packetstream_tags.h │ │ │ │ ├── packetstream_writer.h │ │ │ │ ├── playback_session.h │ │ │ │ └── sync_time.h │ │ └── src │ │ │ ├── packet.cpp │ │ │ ├── packetstream.cpp │ │ │ ├── packetstream_reader.cpp │ │ │ ├── packetstream_writer.cpp │ │ │ └── playback_session.cpp │ ├── pango_plot │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── pangolin │ │ │ │ └── plot │ │ │ │ ├── datalog.h │ │ │ │ ├── loaders │ │ │ │ ├── csv_table_loader.h │ │ │ │ └── table_loader.h │ │ │ │ └── plotter.h │ │ └── src │ │ │ ├── datalog.cpp │ │ │ ├── loaders │ │ │ └── csv_table_loader.cpp │ │ │ └── plotter.cpp │ ├── pango_python │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── pangolin │ │ │ │ └── python │ │ │ │ └── pyinterpreter.h │ │ └── src │ │ │ ├── pyinterpreter.cpp │ │ │ ├── pypangolin │ │ │ ├── attach.cpp │ │ │ ├── attach.hpp │ │ │ ├── colour.cpp │ │ │ ├── colour.hpp │ │ │ ├── datalog.cpp │ │ │ ├── datalog.hpp │ │ │ ├── display.cpp │ │ │ ├── display.hpp │ │ │ ├── gl.cpp │ │ │ ├── gl.hpp │ │ │ ├── gl_draw.cpp │ │ │ ├── gl_draw.hpp │ │ │ ├── glsl.cpp │ │ │ ├── glsl.hpp │ │ │ ├── glvbo.cpp │ │ │ ├── glvbo.hpp │ │ │ ├── handler.cpp │ │ │ ├── handler.hpp │ │ │ ├── image.cpp │ │ │ ├── image.hpp │ │ │ ├── image_view.cpp │ │ │ ├── image_view.hpp │ │ │ ├── opengl_render_state.cpp │ │ │ ├── opengl_render_state.hpp │ │ │ ├── params.cpp │ │ │ ├── params.hpp │ │ │ ├── pixel_format.cpp │ │ │ ├── pixel_format.hpp │ │ │ ├── plotter.cpp │ │ │ ├── plotter.hpp │ │ │ ├── pypangoio.cpp │ │ │ ├── pypangoio.h │ │ │ ├── pypangolin.h │ │ │ ├── var.cpp │ │ │ ├── var.hpp │ │ │ ├── video.cpp │ │ │ ├── video.hpp │ │ │ ├── view.cpp │ │ │ ├── view.hpp │ │ │ ├── viewport.cpp │ │ │ ├── viewport.hpp │ │ │ ├── widget.cpp │ │ │ ├── widget.hpp │ │ │ ├── window.cpp │ │ │ └── window.hpp │ │ │ ├── pypangolin_embed.cpp │ │ │ └── pypangolin_module.cpp │ ├── pango_scene │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── pangolin │ │ │ │ └── scene │ │ │ │ ├── axis.h │ │ │ │ ├── interactive.h │ │ │ │ ├── interactive_index.h │ │ │ │ ├── renderable.h │ │ │ │ ├── scenehandler.h │ │ │ │ └── tree.h │ │ └── src │ │ │ └── renderable.cpp │ ├── pango_tools │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── pangolin │ │ │ │ └── tools │ │ │ │ └── video_viewer.h │ │ └── src │ │ │ └── video_viewer.cpp │ ├── pango_vars │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── pangolin │ │ │ │ └── var │ │ │ │ ├── var.h │ │ │ │ ├── varextra.h │ │ │ │ ├── varinit.h │ │ │ │ ├── varstate.h │ │ │ │ ├── varvalue.h │ │ │ │ ├── varvaluegeneric.h │ │ │ │ ├── varvaluet.h │ │ │ │ └── varwrapper.h │ │ ├── src │ │ │ ├── vars.cpp │ │ │ └── varstate.cpp │ │ └── tests │ │ │ └── test_all.cpp │ ├── pango_video │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── pangolin │ │ │ │ └── video │ │ │ │ ├── drivers │ │ │ │ ├── debayer.h │ │ │ │ ├── deinterlace.h │ │ │ │ ├── depthsense.h │ │ │ │ ├── ffmpeg.h │ │ │ │ ├── ffmpeg_common.h │ │ │ │ ├── ffmpeg_convert.h │ │ │ │ ├── ffmpeg_output.h │ │ │ │ ├── firewire.h │ │ │ │ ├── gamma.h │ │ │ │ ├── images.h │ │ │ │ ├── images_out.h │ │ │ │ ├── join.h │ │ │ │ ├── merge.h │ │ │ │ ├── mjpeg.h │ │ │ │ ├── openni.h │ │ │ │ ├── openni2.h │ │ │ │ ├── openni_common.h │ │ │ │ ├── pack.h │ │ │ │ ├── pango.h │ │ │ │ ├── pango_video_output.h │ │ │ │ ├── pleora.h │ │ │ │ ├── realsense.h │ │ │ │ ├── realsense2.h │ │ │ │ ├── shared_memory.h │ │ │ │ ├── shift.h │ │ │ │ ├── split.h │ │ │ │ ├── teli.h │ │ │ │ ├── test.h │ │ │ │ ├── thread.h │ │ │ │ ├── transform.h │ │ │ │ ├── truncate.h │ │ │ │ ├── unpack.h │ │ │ │ ├── uvc.h │ │ │ │ ├── uvc_mediafoundation.h │ │ │ │ └── v4l.h │ │ │ │ ├── iostream_operators.h │ │ │ │ ├── stream_encoder_factory.h │ │ │ │ ├── stream_info.h │ │ │ │ ├── video.h │ │ │ │ ├── video_exception.h │ │ │ │ ├── video_help.h │ │ │ │ ├── video_input.h │ │ │ │ ├── video_interface.h │ │ │ │ ├── video_output.h │ │ │ │ ├── video_output_interface.h │ │ │ │ └── video_record_repeat.h │ │ ├── src │ │ │ ├── drivers │ │ │ │ ├── debayer.cpp │ │ │ │ ├── deinterlace.cpp │ │ │ │ ├── depthsense.cpp │ │ │ │ ├── ffmpeg.cpp │ │ │ │ ├── ffmpeg_convert.cpp │ │ │ │ ├── ffmpeg_output.cpp │ │ │ │ ├── firewire.cpp │ │ │ │ ├── gamma.cpp │ │ │ │ ├── images.cpp │ │ │ │ ├── images_out.cpp │ │ │ │ ├── join.cpp │ │ │ │ ├── json.cpp │ │ │ │ ├── merge.cpp │ │ │ │ ├── mjpeg.cpp │ │ │ │ ├── openni.cpp │ │ │ │ ├── openni2.cpp │ │ │ │ ├── pack.cpp │ │ │ │ ├── pango.cpp │ │ │ │ ├── pango_video_output.cpp │ │ │ │ ├── pleora.cpp │ │ │ │ ├── realsense.cpp │ │ │ │ ├── realsense2.cpp │ │ │ │ ├── shared_memory.cpp │ │ │ │ ├── shift.cpp │ │ │ │ ├── split.cpp │ │ │ │ ├── teli.cpp │ │ │ │ ├── test.cpp │ │ │ │ ├── thread.cpp │ │ │ │ ├── transform.cpp │ │ │ │ ├── truncate.cpp │ │ │ │ ├── unpack.cpp │ │ │ │ ├── uvc.cpp │ │ │ │ ├── uvc_mediafoundation.cpp │ │ │ │ └── v4l.cpp │ │ │ ├── stream_encoder_factory.cpp │ │ │ ├── video.cpp │ │ │ ├── video_help.cpp │ │ │ ├── video_input.cpp │ │ │ └── video_output.cpp │ │ └── tests │ │ │ ├── tests_video_loading.cpp │ │ │ └── tests_video_uri.cpp │ ├── pango_windowing │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── pangolin │ │ │ │ └── windowing │ │ │ │ ├── EmscriptenWindow.h │ │ │ │ ├── OsxWindow.h │ │ │ │ ├── PangolinNSApplication.h │ │ │ │ ├── PangolinNSGLView.h │ │ │ │ ├── WinWindow.h │ │ │ │ ├── X11GlContext.h │ │ │ │ ├── X11Window.h │ │ │ │ ├── display_android.h │ │ │ │ ├── handler_bitsets.h │ │ │ │ ├── handler_enums.h │ │ │ │ └── window.h │ │ └── src │ │ │ ├── PangolinNSApplication.mm │ │ │ ├── PangolinNSGLView.mm │ │ │ ├── display_android.cpp │ │ │ ├── display_emscripten.cpp │ │ │ ├── display_headless.cpp │ │ │ ├── display_osx.mm │ │ │ ├── display_wayland.cpp │ │ │ ├── display_win.cpp │ │ │ ├── display_x11.cpp │ │ │ └── window.cpp │ └── tinyobj │ │ ├── CMakeLists.txt │ │ ├── include │ │ └── tinyobj │ │ │ └── tiny_obj_loader.h │ │ └── src │ │ └── tinyobj.cpp ├── examples │ ├── BasicOpenGL │ │ ├── 1_gl_intro_classic_triangle.cpp │ │ ├── 1_gl_intro_pango_triangle.cpp │ │ ├── 2_gl_intro_classic_triangle_vbo.cpp │ │ ├── 2_gl_intro_pango_triangle_vbo.cpp │ │ ├── 3_gl_intro_classic_triangle_vbo_shader.cpp │ │ ├── 3_gl_intro_pango_triangle_vbo_shader.cpp │ │ ├── 4_gl_intro_viewport.cpp │ │ ├── 5_gl_intro_view_transforms.cpp │ │ ├── CMakeLists.txt │ │ └── README.md │ ├── CMakeLists.txt │ ├── HelloPangolin │ │ ├── CMakeLists.txt │ │ └── main.cpp │ ├── HelloPangolinOffscreen │ │ ├── CMakeLists.txt │ │ └── main.cpp │ ├── HelloPangolinThreads │ │ ├── CMakeLists.txt │ │ └── main.cpp │ ├── PythonExamples │ │ ├── SimpleDisplay.py │ │ ├── SimplePlot.py │ │ └── SimpleVideo.py │ ├── SharedMemoryCamera │ │ ├── CMakeLists.txt │ │ └── main.cpp │ ├── SimpleDisplay │ │ ├── CMakeLists.txt │ │ ├── app.cfg │ │ └── main.cpp │ ├── SimpleDisplayImage │ │ ├── CMakeLists.txt │ │ └── main.cpp │ ├── SimpleMultiDisplay │ │ ├── CMakeLists.txt │ │ ├── app.cfg │ │ └── main.cpp │ ├── SimplePlot │ │ ├── CMakeLists.txt │ │ └── main.cpp │ ├── SimpleRecord │ │ ├── CMakeLists.txt │ │ └── main.cpp │ ├── SimpleScene │ │ ├── CMakeLists.txt │ │ └── main.cpp │ ├── SimpleVideo │ │ ├── CMakeLists.txt │ │ └── main.cpp │ └── VBODisplay │ │ ├── CMakeLists.txt │ │ ├── kernal.cu │ │ └── main.cpp ├── package.xml ├── scripts │ ├── install_prerequisites.sh │ └── utils │ │ └── ansi2html.sh └── tools │ ├── CMakeLists.txt │ ├── ModelViewer │ ├── CMakeLists.txt │ ├── main.cpp │ ├── rendertree.h │ ├── shader.h │ └── util.h │ ├── Plotter │ ├── CMakeLists.txt │ ├── application-x-pangoplot.xml │ └── main.cpp │ ├── VideoConvert │ ├── CMakeLists.txt │ └── main.cpp │ ├── VideoJson │ ├── CMakeLists.txt │ ├── main-print.cpp │ └── main-transform.cpp │ └── VideoViewer │ ├── CMakeLists.txt │ ├── application-x-pango.svg │ ├── application-x-pango.xml │ └── main.cpp └── spdlog ├── .clang-format ├── .clang-tidy ├── .git-blame-ignore-revs ├── .gitattributes ├── .github └── workflows │ ├── coverity_scan.yml │ ├── linux.yml │ ├── macos.yml │ └── windows.yml ├── .gitignore ├── CMakeLists.txt ├── INSTALL ├── LICENSE ├── README.md ├── appveyor.yml ├── bench ├── CMakeLists.txt ├── async_bench.cpp ├── bench.cpp ├── formatter-bench.cpp ├── latency.cpp └── utils.h ├── cmake ├── ide.cmake ├── pch.h.in ├── spdlog.pc.in ├── spdlogCPack.cmake ├── spdlogConfig.cmake.in ├── utils.cmake └── version.rc.in ├── example ├── CMakeLists.txt └── example.cpp ├── include └── spdlog │ ├── async.h │ ├── async_logger-inl.h │ ├── async_logger.h │ ├── cfg │ ├── argv.h │ ├── env.h │ ├── helpers-inl.h │ └── helpers.h │ ├── common-inl.h │ ├── common.h │ ├── details │ ├── backtracer-inl.h │ ├── backtracer.h │ ├── circular_q.h │ ├── console_globals.h │ ├── file_helper-inl.h │ ├── file_helper.h │ ├── fmt_helper.h │ ├── log_msg-inl.h │ ├── log_msg.h │ ├── log_msg_buffer-inl.h │ ├── log_msg_buffer.h │ ├── mpmc_blocking_q.h │ ├── null_mutex.h │ ├── os-inl.h │ ├── os.h │ ├── periodic_worker-inl.h │ ├── periodic_worker.h │ ├── registry-inl.h │ ├── registry.h │ ├── synchronous_factory.h │ ├── tcp_client-windows.h │ ├── tcp_client.h │ ├── thread_pool-inl.h │ ├── thread_pool.h │ ├── udp_client-windows.h │ ├── udp_client.h │ └── windows_include.h │ ├── fmt │ ├── bin_to_hex.h │ ├── bundled │ │ ├── args.h │ │ ├── base.h │ │ ├── chrono.h │ │ ├── color.h │ │ ├── compile.h │ │ ├── core.h │ │ ├── fmt.license.rst │ │ ├── format-inl.h │ │ ├── format.h │ │ ├── os.h │ │ ├── ostream.h │ │ ├── printf.h │ │ ├── ranges.h │ │ ├── std.h │ │ └── xchar.h │ ├── chrono.h │ ├── compile.h │ ├── fmt.h │ ├── ostr.h │ ├── ranges.h │ ├── std.h │ └── xchar.h │ ├── formatter.h │ ├── fwd.h │ ├── logger-inl.h │ ├── logger.h │ ├── mdc.h │ ├── pattern_formatter-inl.h │ ├── pattern_formatter.h │ ├── sinks │ ├── android_sink.h │ ├── ansicolor_sink-inl.h │ ├── ansicolor_sink.h │ ├── base_sink-inl.h │ ├── base_sink.h │ ├── basic_file_sink-inl.h │ ├── basic_file_sink.h │ ├── callback_sink.h │ ├── daily_file_sink.h │ ├── dist_sink.h │ ├── dup_filter_sink.h │ ├── hourly_file_sink.h │ ├── kafka_sink.h │ ├── mongo_sink.h │ ├── msvc_sink.h │ ├── null_sink.h │ ├── ostream_sink.h │ ├── qt_sinks.h │ ├── ringbuffer_sink.h │ ├── rotating_file_sink-inl.h │ ├── rotating_file_sink.h │ ├── sink-inl.h │ ├── sink.h │ ├── stdout_color_sinks-inl.h │ ├── stdout_color_sinks.h │ ├── stdout_sinks-inl.h │ ├── stdout_sinks.h │ ├── syslog_sink.h │ ├── systemd_sink.h │ ├── tcp_sink.h │ ├── udp_sink.h │ ├── win_eventlog_sink.h │ ├── wincolor_sink-inl.h │ └── wincolor_sink.h │ ├── spdlog-inl.h │ ├── spdlog.h │ ├── stopwatch.h │ ├── tweakme.h │ └── version.h ├── logos ├── jetbrains-variant-4.svg └── spdlog.png ├── scripts ├── ci_setup_clang.sh ├── extract_version.py └── format.sh ├── src ├── async.cpp ├── bundled_fmtlib_format.cpp ├── cfg.cpp ├── color_sinks.cpp ├── file_sinks.cpp ├── spdlog.cpp └── stdout_sinks.cpp └── tests ├── CMakeLists.txt ├── includes.h ├── main.cpp ├── test_async.cpp ├── test_backtrace.cpp ├── test_bin_to_hex.cpp ├── test_cfg.cpp ├── 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