├── 00-Env-Setup ├── 01-single-executable │ ├── .gitignore │ ├── CMakeLists.txt │ └── hello-slam.cpp ├── 02-single-executable-with-shared-lib │ ├── .gitignore │ ├── CMakeLists.txt │ ├── lib-hello-slam.cpp │ ├── lib-hello-slam.hpp │ └── main.cpp └── README.md ├── 01-introduction ├── README.md ├── cmake-practice │ └── backup │ │ └── cmake │ │ ├── 01-introduction │ │ ├── CMakeLists.txt │ │ ├── build │ │ │ ├── CMakeCache.txt │ │ │ ├── CMakeFiles │ │ │ │ ├── 3.5.1 │ │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ │ ├── CompilerIdC │ │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ │ └── a.out │ │ │ │ │ └── CompilerIdCXX │ │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ │ └── a.out │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── CMakeOutput.log │ │ │ │ ├── Makefile.cmake │ │ │ │ ├── Makefile2 │ │ │ │ ├── TargetDirectories.txt │ │ │ │ ├── cmake.check_cache │ │ │ │ ├── feature_tests.bin │ │ │ │ ├── feature_tests.c │ │ │ │ ├── feature_tests.cxx │ │ │ │ ├── introduction.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ ├── main.cpp.o │ │ │ │ │ └── progress.make │ │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ ├── cmake_install.cmake │ │ │ └── introduction │ │ └── main.cpp │ │ ├── 02-basic-project-organization │ │ ├── CMakeLists.txt │ │ ├── COPYRIGHT │ │ ├── README.md │ │ ├── doc │ │ │ └── CMake-Practice.txt │ │ ├── run.sh │ │ └── src │ │ │ ├── CMakeLists.txt │ │ │ └── main.cpp │ │ ├── 03-build-libraries │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── build │ │ │ ├── CMakeCache.txt │ │ │ ├── CMakeFiles │ │ │ │ ├── 3.5.1 │ │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ │ ├── CompilerIdC │ │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ │ └── a.out │ │ │ │ │ └── CompilerIdCXX │ │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ │ └── a.out │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── CMakeOutput.log │ │ │ │ ├── Makefile.cmake │ │ │ │ ├── Makefile2 │ │ │ │ ├── TargetDirectories.txt │ │ │ │ ├── cmake.check_cache │ │ │ │ ├── feature_tests.bin │ │ │ │ ├── feature_tests.c │ │ │ │ ├── feature_tests.cxx │ │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ ├── cmake_install.cmake │ │ │ ├── install_manifest.txt │ │ │ └── lib │ │ │ │ ├── CMakeFiles │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── hello_shared.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── hello.o │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ ├── hello_static.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── cmake_clean_target.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── hello.o │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ └── progress.marks │ │ │ │ ├── Makefile │ │ │ │ ├── cmake_install.cmake │ │ │ │ ├── libhello.a │ │ │ │ ├── libhello.so │ │ │ │ ├── libhello.so.1 │ │ │ │ └── libhello.so.1.0 │ │ └── lib │ │ │ ├── CMakeLists.txt │ │ │ ├── hello.cpp │ │ │ └── hello.h │ │ └── 04-use-libraries │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── build │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 3.5.1 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeOutput.log │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── TargetDirectories.txt │ │ │ ├── cmake.check_cache │ │ │ ├── feature_tests.bin │ │ │ ├── feature_tests.c │ │ │ ├── feature_tests.cxx │ │ │ └── progress.marks │ │ ├── Makefile │ │ ├── bin │ │ │ └── main │ │ ├── cmake_install.cmake │ │ └── src │ │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── main.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── main.o │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ └── cmake_install.cmake │ │ └── src │ │ ├── CMakeLists.txt │ │ └── main.cpp ├── doc │ ├── orb-slam2-compilation.png │ ├── orb-slam2-git-pull.png │ ├── orb-slam2-terminal.png │ ├── orb-slam2-visualization--frame.png │ └── orb-slam2-visualization--map.png ├── hello-slam │ ├── CMakeLists.txt │ ├── Release │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 3.5.1 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeOutput.log │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── TargetDirectories.txt │ │ │ ├── cmake.check_cache │ │ │ ├── feature_tests.bin │ │ │ ├── feature_tests.c │ │ │ ├── feature_tests.cxx │ │ │ ├── hello_shared.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── src │ │ │ │ │ └── hello.cpp.o │ │ │ ├── progress.marks │ │ │ └── sayhello.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ ├── src │ │ │ │ └── hello.cpp.o │ │ │ │ └── useHello.cpp.o │ │ ├── Makefile │ │ ├── bin │ │ │ └── sayhello │ │ ├── cmake_install.cmake │ │ ├── install_manifest.txt │ │ ├── libhello.so │ │ ├── libhello.so.1 │ │ └── libhello.so.1.0 │ ├── include │ │ └── hello.h │ ├── src │ │ └── hello.cpp │ └── useHello.cpp ├── instructions.pdf └── reference │ ├── monocular-SLAM-a-survey.pdf │ ├── past-present-and-future-of-SLAM.pdf │ └── visual-SLAM-a-survey.pdf ├── 02-kinematics-in-3d-space ├── .vscode │ └── settings.json ├── README.md ├── doc │ ├── 03-a-rotation-matrix-properties-proof.jpg │ ├── 03-b-quaternion-dimension.jpg │ ├── 03-c-quaternion-multiplication.jpg │ ├── 04-a-rotation-matrix-representation.jpg │ ├── 04-b-rodrigues-formula-proof.jpg │ └── 05-properties-of-unit-quaternion.jpg ├── instructions.pdf └── workspace │ ├── 01-solve-linear-equations │ ├── solve-linear-equations │ └── solve-linear-equations.cpp │ ├── 02-coordinate-transform │ ├── coordinate-transform │ └── coordinate-transform.cpp │ ├── CMakeLists.txt │ └── Eigen │ ├── .hg_archival.txt │ ├── .hgeol │ ├── .hgignore │ ├── .hgtags │ ├── CMakeLists.txt │ ├── COPYING.BSD │ ├── COPYING.GPL │ ├── COPYING.LGPL │ ├── COPYING.MINPACK │ ├── COPYING.MPL2 │ ├── COPYING.README │ ├── CTestConfig.cmake │ ├── CTestCustom.cmake.in │ ├── Eigen │ ├── CMakeLists.txt │ ├── Cholesky │ ├── CholmodSupport │ ├── Core │ ├── Dense │ ├── Eigen │ ├── Eigenvalues │ ├── Geometry │ ├── Householder │ ├── IterativeLinearSolvers │ ├── Jacobi │ ├── LU │ ├── MetisSupport │ ├── OrderingMethods │ ├── PaStiXSupport │ ├── PardisoSupport │ ├── QR │ ├── QtAlignedMalloc │ ├── SPQRSupport │ ├── SVD │ ├── Sparse │ ├── SparseCholesky │ ├── SparseCore │ ├── SparseLU │ ├── SparseQR │ ├── StdDeque │ ├── StdList │ ├── StdVector │ ├── SuperLUSupport │ ├── UmfPackSupport │ └── src │ │ ├── Cholesky │ │ ├── LDLT.h │ │ ├── LLT.h │ │ └── LLT_LAPACKE.h │ │ ├── CholmodSupport │ │ └── CholmodSupport.h │ │ ├── Core │ │ ├── Array.h │ │ ├── ArrayBase.h │ │ ├── ArrayWrapper.h │ │ ├── Assign.h │ │ ├── AssignEvaluator.h │ │ ├── Assign_MKL.h │ │ ├── BandMatrix.h │ │ ├── Block.h │ │ ├── BooleanRedux.h │ │ ├── CommaInitializer.h │ │ ├── ConditionEstimator.h │ │ ├── CoreEvaluators.h │ │ ├── CoreIterators.h │ │ ├── CwiseBinaryOp.h │ │ ├── CwiseNullaryOp.h │ │ ├── CwiseTernaryOp.h │ │ ├── CwiseUnaryOp.h │ │ ├── CwiseUnaryView.h │ │ ├── DenseBase.h │ │ ├── DenseCoeffsBase.h │ │ ├── DenseStorage.h │ │ ├── Diagonal.h │ │ ├── DiagonalMatrix.h │ │ ├── DiagonalProduct.h │ │ ├── Dot.h │ │ ├── EigenBase.h │ │ ├── ForceAlignedAccess.h │ │ ├── Fuzzy.h │ │ ├── GeneralProduct.h │ │ ├── GenericPacketMath.h │ │ ├── GlobalFunctions.h │ │ ├── IO.h │ │ ├── Inverse.h │ │ ├── Map.h │ │ ├── MapBase.h │ │ ├── MathFunctions.h │ │ ├── MathFunctionsImpl.h │ │ ├── Matrix.h │ │ ├── MatrixBase.h │ │ ├── NestByValue.h │ │ ├── NoAlias.h │ │ ├── NumTraits.h │ │ ├── PermutationMatrix.h │ │ ├── PlainObjectBase.h │ │ ├── Product.h │ │ ├── ProductEvaluators.h │ │ ├── Random.h │ │ ├── Redux.h │ │ ├── Ref.h │ │ ├── Replicate.h │ │ ├── ReturnByValue.h │ │ ├── Reverse.h │ │ ├── Select.h │ │ ├── SelfAdjointView.h │ │ ├── SelfCwiseBinaryOp.h │ │ ├── Solve.h │ │ ├── SolveTriangular.h │ │ ├── SolverBase.h │ │ ├── StableNorm.h │ │ ├── Stride.h │ │ ├── Swap.h │ │ ├── Transpose.h │ │ ├── Transpositions.h │ │ ├── TriangularMatrix.h │ │ ├── VectorBlock.h │ │ ├── VectorwiseOp.h │ │ ├── Visitor.h │ │ ├── arch │ │ │ ├── AVX │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ ├── PacketMath.h │ │ │ │ └── TypeCasting.h │ │ │ ├── AVX512 │ │ │ │ ├── MathFunctions.h │ │ │ │ └── PacketMath.h │ │ │ ├── AltiVec │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ └── PacketMath.h │ │ │ ├── CUDA │ │ │ │ ├── Complex.h │ │ │ │ ├── Half.h │ │ │ │ ├── MathFunctions.h │ │ │ │ ├── PacketMath.h │ │ │ │ ├── PacketMathHalf.h │ │ │ │ └── TypeCasting.h │ │ │ ├── Default │ │ │ │ └── Settings.h │ │ │ ├── NEON │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ └── PacketMath.h │ │ │ ├── SSE │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ ├── PacketMath.h │ │ │ │ └── TypeCasting.h │ │ │ └── ZVector │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ └── PacketMath.h │ │ ├── functors │ │ │ ├── AssignmentFunctors.h │ │ │ ├── BinaryFunctors.h │ │ │ ├── NullaryFunctors.h │ │ │ ├── StlFunctors.h │ │ │ ├── TernaryFunctors.h │ │ │ └── UnaryFunctors.h │ │ ├── products │ │ │ ├── GeneralBlockPanelKernel.h │ │ │ ├── GeneralMatrixMatrix.h │ │ │ ├── GeneralMatrixMatrixTriangular.h │ │ │ ├── GeneralMatrixMatrixTriangular_BLAS.h │ │ │ ├── GeneralMatrixMatrix_BLAS.h │ │ │ ├── GeneralMatrixVector.h │ │ │ ├── GeneralMatrixVector_BLAS.h │ │ │ ├── Parallelizer.h │ │ │ ├── SelfadjointMatrixMatrix.h │ │ │ ├── SelfadjointMatrixMatrix_BLAS.h │ │ │ ├── SelfadjointMatrixVector.h │ │ │ ├── SelfadjointMatrixVector_BLAS.h │ │ │ ├── SelfadjointProduct.h │ │ │ ├── SelfadjointRank2Update.h │ │ │ ├── TriangularMatrixMatrix.h │ │ │ ├── TriangularMatrixMatrix_BLAS.h │ │ │ ├── TriangularMatrixVector.h │ │ │ ├── TriangularMatrixVector_BLAS.h │ │ │ ├── TriangularSolverMatrix.h │ │ │ ├── TriangularSolverMatrix_BLAS.h │ │ │ └── TriangularSolverVector.h │ │ └── util │ │ │ ├── BlasUtil.h │ │ │ ├── Constants.h │ │ │ ├── DisableStupidWarnings.h │ │ │ ├── ForwardDeclarations.h │ │ │ ├── MKL_support.h │ │ │ ├── Macros.h │ │ │ ├── Memory.h │ │ │ ├── Meta.h │ │ │ ├── NonMPL2.h │ │ │ ├── ReenableStupidWarnings.h │ │ │ ├── StaticAssert.h │ │ │ └── XprHelper.h │ │ ├── Eigenvalues │ │ ├── ComplexEigenSolver.h │ │ ├── ComplexSchur.h │ │ ├── ComplexSchur_LAPACKE.h │ │ ├── EigenSolver.h │ │ ├── GeneralizedEigenSolver.h │ │ ├── GeneralizedSelfAdjointEigenSolver.h │ │ ├── HessenbergDecomposition.h │ │ ├── MatrixBaseEigenvalues.h │ │ ├── RealQZ.h │ │ ├── RealSchur.h │ │ ├── RealSchur_LAPACKE.h │ │ ├── SelfAdjointEigenSolver.h │ │ ├── SelfAdjointEigenSolver_LAPACKE.h │ │ └── Tridiagonalization.h │ │ ├── Geometry │ │ ├── AlignedBox.h │ │ ├── AngleAxis.h │ │ ├── EulerAngles.h │ │ ├── Homogeneous.h │ │ ├── Hyperplane.h │ │ ├── OrthoMethods.h │ │ ├── ParametrizedLine.h │ │ ├── Quaternion.h │ │ ├── Rotation2D.h │ │ ├── RotationBase.h │ │ ├── Scaling.h │ │ ├── Transform.h │ │ ├── Translation.h │ │ ├── Umeyama.h │ │ └── arch │ │ │ └── Geometry_SSE.h │ │ ├── Householder │ │ ├── BlockHouseholder.h │ │ ├── Householder.h │ │ └── HouseholderSequence.h │ │ ├── IterativeLinearSolvers │ │ ├── BasicPreconditioners.h │ │ ├── BiCGSTAB.h │ │ ├── ConjugateGradient.h │ │ ├── IncompleteCholesky.h │ │ ├── IncompleteLUT.h │ │ ├── IterativeSolverBase.h │ │ ├── LeastSquareConjugateGradient.h │ │ └── SolveWithGuess.h │ │ ├── Jacobi │ │ └── Jacobi.h │ │ ├── LU │ │ ├── Determinant.h │ │ ├── FullPivLU.h │ │ ├── InverseImpl.h │ │ ├── PartialPivLU.h │ │ ├── PartialPivLU_LAPACKE.h │ │ └── arch │ │ │ └── Inverse_SSE.h │ │ ├── MetisSupport │ │ └── MetisSupport.h │ │ ├── OrderingMethods │ │ ├── Amd.h │ │ ├── Eigen_Colamd.h │ │ └── Ordering.h │ │ ├── PaStiXSupport │ │ └── PaStiXSupport.h │ │ ├── PardisoSupport │ │ └── PardisoSupport.h │ │ ├── QR │ │ ├── ColPivHouseholderQR.h │ │ ├── ColPivHouseholderQR_LAPACKE.h │ │ ├── CompleteOrthogonalDecomposition.h │ │ ├── FullPivHouseholderQR.h │ │ ├── HouseholderQR.h │ │ └── HouseholderQR_LAPACKE.h │ │ ├── SPQRSupport │ │ └── SuiteSparseQRSupport.h │ │ ├── SVD │ │ ├── BDCSVD.h │ │ ├── JacobiSVD.h │ │ ├── JacobiSVD_LAPACKE.h │ │ ├── SVDBase.h │ │ └── UpperBidiagonalization.h │ │ ├── SparseCholesky │ │ ├── SimplicialCholesky.h │ │ └── SimplicialCholesky_impl.h │ │ ├── SparseCore │ │ ├── AmbiVector.h │ │ ├── CompressedStorage.h │ │ ├── ConservativeSparseSparseProduct.h │ │ ├── MappedSparseMatrix.h │ │ ├── SparseAssign.h │ │ ├── SparseBlock.h │ │ ├── SparseColEtree.h │ │ ├── SparseCompressedBase.h │ │ ├── SparseCwiseBinaryOp.h │ │ ├── SparseCwiseUnaryOp.h │ │ ├── SparseDenseProduct.h │ │ ├── SparseDiagonalProduct.h │ │ ├── SparseDot.h │ │ ├── SparseFuzzy.h │ │ ├── SparseMap.h │ │ ├── SparseMatrix.h │ │ ├── SparseMatrixBase.h │ │ ├── SparsePermutation.h │ │ ├── SparseProduct.h │ │ ├── SparseRedux.h │ │ ├── SparseRef.h │ │ ├── SparseSelfAdjointView.h │ │ ├── SparseSolverBase.h │ │ ├── SparseSparseProductWithPruning.h │ │ ├── SparseTranspose.h │ │ ├── SparseTriangularView.h │ │ ├── SparseUtil.h │ │ ├── SparseVector.h │ │ ├── SparseView.h │ │ └── TriangularSolver.h │ │ ├── SparseLU │ │ ├── SparseLU.h │ │ ├── SparseLUImpl.h │ │ ├── SparseLU_Memory.h │ │ ├── SparseLU_Structs.h │ │ ├── SparseLU_SupernodalMatrix.h │ │ ├── SparseLU_Utils.h │ │ ├── SparseLU_column_bmod.h │ │ ├── SparseLU_column_dfs.h │ │ ├── SparseLU_copy_to_ucol.h │ │ ├── SparseLU_gemm_kernel.h │ │ ├── SparseLU_heap_relax_snode.h │ │ ├── SparseLU_kernel_bmod.h │ │ ├── SparseLU_panel_bmod.h │ │ ├── SparseLU_panel_dfs.h │ │ ├── SparseLU_pivotL.h │ │ ├── SparseLU_pruneL.h │ │ └── SparseLU_relax_snode.h │ │ ├── SparseQR │ │ └── SparseQR.h │ │ ├── StlSupport │ │ ├── StdDeque.h │ │ ├── StdList.h │ │ ├── StdVector.h │ │ └── details.h │ │ ├── SuperLUSupport │ │ └── SuperLUSupport.h │ │ ├── UmfPackSupport │ │ └── UmfPackSupport.h │ │ ├── misc │ │ ├── Image.h │ │ ├── Kernel.h │ │ ├── RealSvd2x2.h │ │ ├── blas.h │ │ ├── lapack.h │ │ ├── lapacke.h │ │ └── lapacke_mangling.h │ │ └── plugins │ │ ├── ArrayCwiseBinaryOps.h │ │ ├── ArrayCwiseUnaryOps.h │ │ ├── BlockMethods.h │ │ ├── CommonCwiseBinaryOps.h │ │ ├── CommonCwiseUnaryOps.h │ │ ├── MatrixCwiseBinaryOps.h │ │ └── MatrixCwiseUnaryOps.h │ ├── INSTALL │ ├── README.md │ ├── bench │ ├── BenchSparseUtil.h │ ├── BenchTimer.h │ ├── BenchUtil.h │ ├── README.txt │ ├── analyze-blocking-sizes.cpp │ ├── basicbench.cxxlist │ ├── basicbenchmark.cpp │ ├── basicbenchmark.h │ ├── benchBlasGemm.cpp │ ├── benchCholesky.cpp │ ├── benchEigenSolver.cpp │ ├── benchFFT.cpp │ ├── benchGeometry.cpp │ ├── benchVecAdd.cpp │ ├── bench_gemm.cpp │ ├── bench_multi_compilers.sh │ ├── bench_norm.cpp │ ├── bench_reverse.cpp │ ├── bench_sum.cpp │ ├── bench_unrolling │ ├── benchmark-blocking-sizes.cpp │ ├── benchmark.cpp │ ├── benchmarkSlice.cpp │ ├── benchmarkX.cpp │ ├── benchmarkXcwise.cpp │ ├── benchmark_suite │ ├── btl │ │ ├── CMakeLists.txt │ │ ├── COPYING │ │ ├── README │ │ ├── actions │ │ │ ├── action_aat_product.hh │ │ │ ├── action_ata_product.hh │ │ │ ├── action_atv_product.hh │ │ │ ├── action_axpby.hh │ │ │ ├── action_axpy.hh │ │ │ ├── action_cholesky.hh │ │ │ ├── action_ger.hh │ │ │ ├── action_hessenberg.hh │ │ │ ├── action_lu_decomp.hh │ │ │ ├── action_lu_solve.hh │ │ │ ├── action_matrix_matrix_product.hh │ │ │ ├── action_matrix_matrix_product_bis.hh │ │ │ ├── action_matrix_vector_product.hh │ │ │ ├── action_partial_lu.hh │ │ │ ├── action_rot.hh │ │ │ ├── action_symv.hh │ │ │ ├── action_syr2.hh │ │ │ ├── action_trisolve.hh │ │ │ ├── action_trisolve_matrix.hh │ │ │ ├── action_trmm.hh │ │ │ └── basic_actions.hh │ │ ├── cmake │ │ │ ├── FindACML.cmake │ │ │ ├── FindATLAS.cmake │ │ │ ├── FindBLAZE.cmake │ │ │ ├── FindBlitz.cmake │ │ │ ├── FindCBLAS.cmake │ │ │ ├── FindGMM.cmake │ │ │ ├── FindMKL.cmake │ │ │ ├── FindMTL4.cmake │ │ │ ├── FindOPENBLAS.cmake │ │ │ ├── FindPackageHandleStandardArgs.cmake │ │ │ ├── FindTvmet.cmake │ │ │ └── MacroOptionalAddSubdirectory.cmake │ │ ├── data │ │ │ ├── CMakeLists.txt │ │ │ ├── action_settings.txt │ │ │ ├── gnuplot_common_settings.hh │ │ │ ├── go_mean │ │ │ ├── mean.cxx │ │ │ ├── mk_gnuplot_script.sh │ │ │ ├── mk_mean_script.sh │ │ │ ├── mk_new_gnuplot.sh │ │ │ ├── perlib_plot_settings.txt │ │ │ ├── regularize.cxx │ │ │ ├── smooth.cxx │ │ │ └── smooth_all.sh │ │ ├── generic_bench │ │ │ ├── bench.hh │ │ │ ├── bench_parameter.hh │ │ │ ├── btl.hh │ │ │ ├── init │ │ │ │ ├── init_function.hh │ │ │ │ ├── init_matrix.hh │ │ │ │ └── init_vector.hh │ │ │ ├── static │ │ │ │ ├── bench_static.hh │ │ │ │ ├── intel_bench_fixed_size.hh │ │ │ │ └── static_size_generator.hh │ │ │ ├── timers │ │ │ │ ├── STL_perf_analyzer.hh │ │ │ │ ├── STL_timer.hh │ │ │ │ ├── mixed_perf_analyzer.hh │ │ │ │ ├── portable_perf_analyzer.hh │ │ │ │ ├── portable_perf_analyzer_old.hh │ │ │ │ ├── portable_timer.hh │ │ │ │ ├── x86_perf_analyzer.hh │ │ │ │ └── x86_timer.hh │ │ │ └── utils │ │ │ │ ├── size_lin_log.hh │ │ │ │ ├── size_log.hh │ │ │ │ ├── utilities.h │ │ │ │ └── xy_file.hh │ │ └── libs │ │ │ ├── BLAS │ │ │ ├── CMakeLists.txt │ │ │ ├── blas.h │ │ │ ├── blas_interface.hh │ │ │ ├── blas_interface_impl.hh │ │ │ ├── c_interface_base.h │ │ │ └── main.cpp │ │ │ ├── STL │ │ │ ├── CMakeLists.txt │ │ │ ├── STL_interface.hh │ │ │ └── main.cpp │ │ │ ├── blaze │ │ │ ├── CMakeLists.txt │ │ │ ├── blaze_interface.hh │ │ │ └── main.cpp │ │ │ ├── blitz │ │ │ ├── CMakeLists.txt │ │ │ ├── blitz_LU_solve_interface.hh │ │ │ ├── blitz_interface.hh │ │ │ ├── btl_blitz.cpp │ │ │ ├── btl_tiny_blitz.cpp │ │ │ └── tiny_blitz_interface.hh │ │ │ ├── eigen2 │ │ │ ├── CMakeLists.txt │ │ │ ├── btl_tiny_eigen2.cpp │ │ │ ├── eigen2_interface.hh │ │ │ ├── main_adv.cpp │ │ │ ├── main_linear.cpp │ │ │ ├── main_matmat.cpp │ │ │ └── main_vecmat.cpp │ │ │ ├── eigen3 │ │ │ ├── CMakeLists.txt │ │ │ ├── btl_tiny_eigen3.cpp │ │ │ ├── eigen3_interface.hh │ │ │ ├── main_adv.cpp │ │ │ ├── main_linear.cpp │ │ │ ├── main_matmat.cpp │ │ │ └── main_vecmat.cpp │ │ │ ├── gmm │ │ │ ├── CMakeLists.txt │ │ │ ├── gmm_LU_solve_interface.hh │ │ │ ├── gmm_interface.hh │ │ │ └── main.cpp │ │ │ ├── mtl4 │ │ │ ├── .kdbgrc.main │ │ │ ├── CMakeLists.txt │ │ │ ├── main.cpp │ │ │ ├── mtl4_LU_solve_interface.hh │ │ │ └── mtl4_interface.hh │ │ │ ├── tensors │ │ │ ├── CMakeLists.txt │ │ │ ├── main_linear.cpp │ │ │ ├── main_matmat.cpp │ │ │ ├── main_vecmat.cpp │ │ │ └── tensor_interface.hh │ │ │ ├── tvmet │ │ │ ├── CMakeLists.txt │ │ │ ├── main.cpp │ │ │ └── tvmet_interface.hh │ │ │ └── ublas │ │ │ ├── CMakeLists.txt │ │ │ ├── main.cpp │ │ │ └── ublas_interface.hh │ ├── check_cache_queries.cpp │ ├── dense_solvers.cpp │ ├── eig33.cpp │ ├── geometry.cpp │ ├── perf_monitoring │ │ └── gemm │ │ │ ├── changesets.txt │ │ │ ├── gemm.cpp │ │ │ ├── gemm_settings.txt │ │ │ ├── lazy_gemm.cpp │ │ │ ├── lazy_gemm_settings.txt │ │ │ ├── make_plot.sh │ │ │ └── run.sh │ ├── product_threshold.cpp │ ├── quat_slerp.cpp │ ├── quatmul.cpp │ ├── sparse_cholesky.cpp │ ├── sparse_dense_product.cpp │ ├── sparse_lu.cpp │ ├── sparse_product.cpp │ ├── sparse_randomsetter.cpp │ ├── sparse_setter.cpp │ ├── sparse_transpose.cpp │ ├── sparse_trisolver.cpp │ ├── spbench │ │ ├── CMakeLists.txt │ │ ├── sp_solver.cpp │ │ ├── spbench.dtd │ │ ├── spbenchsolver.cpp │ │ ├── spbenchsolver.h │ │ ├── spbenchstyle.h │ │ └── test_sparseLU.cpp │ ├── spmv.cpp │ ├── tensors │ │ ├── README │ │ ├── benchmark.h │ │ ├── benchmark_main.cc │ │ ├── contraction_benchmarks_cpu.cc │ │ ├── tensor_benchmarks.h │ │ ├── tensor_benchmarks_cpu.cc │ │ ├── tensor_benchmarks_fp16_gpu.cu │ │ ├── tensor_benchmarks_gpu.cu │ │ └── tensor_benchmarks_sycl.cc │ └── vdw_new.cpp │ ├── blas │ ├── BandTriangularSolver.h │ ├── CMakeLists.txt │ ├── GeneralRank1Update.h │ ├── PackedSelfadjointProduct.h │ ├── PackedTriangularMatrixVector.h │ ├── PackedTriangularSolverVector.h │ ├── README.txt │ ├── Rank2Update.h │ ├── common.h │ ├── complex_double.cpp │ ├── complex_single.cpp │ ├── double.cpp │ ├── f2c │ │ ├── chbmv.c │ │ ├── chpmv.c │ │ ├── complexdots.c │ │ ├── ctbmv.c │ │ ├── d_cnjg.c │ │ ├── datatypes.h │ │ ├── drotm.c │ │ ├── drotmg.c │ │ ├── dsbmv.c │ │ ├── dspmv.c │ │ ├── dtbmv.c │ │ ├── lsame.c │ │ ├── r_cnjg.c │ │ ├── srotm.c │ │ ├── srotmg.c │ │ ├── ssbmv.c │ │ ├── sspmv.c │ │ ├── stbmv.c │ │ ├── zhbmv.c │ │ ├── zhpmv.c │ │ └── ztbmv.c │ ├── fortran │ │ └── complexdots.f │ ├── level1_cplx_impl.h │ ├── level1_impl.h │ ├── level1_real_impl.h │ ├── level2_cplx_impl.h │ ├── level2_impl.h │ ├── level2_real_impl.h │ ├── level3_impl.h │ ├── single.cpp │ ├── testing │ │ ├── CMakeLists.txt │ │ ├── cblat1.f │ │ ├── cblat2.dat │ │ ├── cblat2.f │ │ ├── cblat3.dat │ │ ├── cblat3.f │ │ ├── dblat1.f │ │ ├── dblat2.dat │ │ ├── dblat2.f │ │ ├── dblat3.dat │ │ ├── dblat3.f │ │ ├── runblastest.sh │ │ ├── sblat1.f │ │ ├── sblat2.dat │ │ ├── sblat2.f │ │ ├── sblat3.dat │ │ ├── sblat3.f │ │ ├── zblat1.f │ │ ├── zblat2.dat │ │ ├── zblat2.f │ │ ├── zblat3.dat │ │ └── zblat3.f │ └── xerbla.cpp │ ├── cmake │ ├── Eigen3Config.cmake.in │ ├── Eigen3ConfigLegacy.cmake.in │ ├── EigenConfigureTesting.cmake │ ├── EigenDetermineOSVersion.cmake │ ├── EigenDetermineVSServicePack.cmake │ ├── EigenTesting.cmake │ ├── EigenUninstall.cmake │ ├── FindAdolc.cmake │ ├── FindBLAS.cmake │ ├── FindBLASEXT.cmake │ ├── FindCholmod.cmake │ ├── FindComputeCpp.cmake │ ├── FindEigen2.cmake │ ├── FindEigen3.cmake │ ├── FindFFTW.cmake │ ├── FindGLEW.cmake │ ├── FindGMP.cmake │ ├── FindGSL.cmake │ ├── FindGoogleHash.cmake │ ├── FindHWLOC.cmake │ ├── FindLAPACK.cmake │ ├── FindMPFR.cmake │ ├── FindMetis.cmake │ ├── FindPTSCOTCH.cmake │ ├── FindPastix.cmake │ ├── FindSPQR.cmake │ ├── FindScotch.cmake │ ├── FindStandardMathLibrary.cmake │ ├── FindSuperLU.cmake │ ├── FindUmfpack.cmake │ ├── RegexUtils.cmake │ ├── UseEigen3.cmake │ └── language_support.cmake │ ├── debug │ ├── gdb │ │ ├── __init__.py │ │ └── printers.py │ └── msvc │ │ ├── eigen.natvis │ │ └── eigen_autoexp_part.dat │ ├── demos │ ├── CMakeLists.txt │ ├── mandelbrot │ │ ├── CMakeLists.txt │ │ ├── README │ │ ├── mandelbrot.cpp │ │ └── mandelbrot.h │ ├── mix_eigen_and_c │ │ ├── README │ │ ├── binary_library.cpp │ │ ├── binary_library.h │ │ └── example.c │ └── opengl │ │ ├── CMakeLists.txt │ │ ├── README │ │ ├── camera.cpp │ │ ├── camera.h │ │ ├── gpuhelper.cpp │ │ ├── gpuhelper.h │ │ ├── icosphere.cpp │ │ ├── icosphere.h │ │ ├── quaternion_demo.cpp │ │ ├── quaternion_demo.h │ │ ├── trackball.cpp │ │ └── trackball.h │ ├── doc │ ├── A05_PortingFrom2To3.dox │ ├── AsciiQuickReference.txt │ ├── B01_Experimental.dox │ ├── CMakeLists.txt │ ├── ClassHierarchy.dox │ ├── CoeffwiseMathFunctionsTable.dox │ ├── CustomizingEigen_CustomScalar.dox │ ├── CustomizingEigen_InheritingMatrix.dox │ ├── CustomizingEigen_NullaryExpr.dox │ ├── CustomizingEigen_Plugins.dox │ ├── DenseDecompositionBenchmark.dox │ ├── Doxyfile.in │ ├── Eigen_Silly_Professor_64x64.png │ ├── FixedSizeVectorizable.dox │ ├── FunctionsTakingEigenTypes.dox │ ├── HiPerformance.dox │ ├── InplaceDecomposition.dox │ ├── InsideEigenExample.dox │ ├── LeastSquares.dox │ ├── Manual.dox │ ├── MatrixfreeSolverExample.dox │ ├── NewExpressionType.dox │ ├── Overview.dox │ ├── PassingByValue.dox │ ├── Pitfalls.dox │ ├── PreprocessorDirectives.dox │ ├── QuickReference.dox │ ├── QuickStartGuide.dox │ ├── SparseLinearSystems.dox │ ├── SparseQuickReference.dox │ ├── StlContainers.dox │ ├── StorageOrders.dox │ ├── StructHavingEigenMembers.dox │ ├── TemplateKeyword.dox │ ├── TopicAliasing.dox │ ├── TopicAssertions.dox │ ├── TopicCMakeGuide.dox │ ├── TopicEigenExpressionTemplates.dox │ ├── TopicLazyEvaluation.dox │ ├── TopicLinearAlgebraDecompositions.dox │ ├── TopicMultithreading.dox │ ├── TopicResizing.dox │ ├── TopicScalarTypes.dox │ ├── TopicVectorization.dox │ ├── TutorialAdvancedInitialization.dox │ ├── TutorialArrayClass.dox │ ├── TutorialBlockOperations.dox │ ├── TutorialGeometry.dox │ ├── TutorialLinearAlgebra.dox │ ├── TutorialMapClass.dox │ ├── TutorialMatrixArithmetic.dox │ ├── TutorialMatrixClass.dox │ ├── TutorialReductionsVisitorsBroadcasting.dox │ ├── TutorialReshapeSlicing.dox │ ├── TutorialSparse.dox │ ├── TutorialSparse_example_details.dox │ ├── UnalignedArrayAssert.dox │ ├── UsingBlasLapackBackends.dox │ ├── UsingIntelMKL.dox │ ├── UsingNVCC.dox │ ├── WrongStackAlignment.dox │ ├── eigen_navtree_hacks.js │ ├── eigendoxy.css │ ├── eigendoxy_footer.html.in │ ├── eigendoxy_header.html.in │ ├── eigendoxy_layout.xml.in │ ├── eigendoxy_tabs.css │ ├── examples │ │ ├── .krazy │ │ ├── CMakeLists.txt │ │ ├── CustomizingEigen_Inheritance.cpp │ │ ├── Cwise_erf.cpp │ │ ├── Cwise_erfc.cpp │ │ ├── Cwise_lgamma.cpp │ │ ├── DenseBase_middleCols_int.cpp │ │ ├── DenseBase_middleRows_int.cpp │ │ ├── DenseBase_template_int_middleCols.cpp │ │ ├── DenseBase_template_int_middleRows.cpp │ │ ├── QuickStart_example.cpp │ │ ├── QuickStart_example2_dynamic.cpp │ │ ├── QuickStart_example2_fixed.cpp │ │ ├── TemplateKeyword_flexible.cpp │ │ ├── TemplateKeyword_simple.cpp │ │ ├── TutorialInplaceLU.cpp │ │ ├── TutorialLinAlgComputeTwice.cpp │ │ ├── TutorialLinAlgExComputeSolveError.cpp │ │ ├── TutorialLinAlgExSolveColPivHouseholderQR.cpp │ │ ├── TutorialLinAlgExSolveLDLT.cpp │ │ ├── TutorialLinAlgInverseDeterminant.cpp │ │ ├── TutorialLinAlgRankRevealing.cpp │ │ ├── TutorialLinAlgSVDSolve.cpp │ │ ├── TutorialLinAlgSelfAdjointEigenSolver.cpp │ │ ├── TutorialLinAlgSetThreshold.cpp │ │ ├── Tutorial_ArrayClass_accessors.cpp │ │ ├── Tutorial_ArrayClass_addition.cpp │ │ ├── Tutorial_ArrayClass_cwise_other.cpp │ │ ├── Tutorial_ArrayClass_interop.cpp │ │ ├── Tutorial_ArrayClass_interop_matrix.cpp │ │ ├── Tutorial_ArrayClass_mult.cpp │ │ ├── Tutorial_BlockOperations_block_assignment.cpp │ │ ├── Tutorial_BlockOperations_colrow.cpp │ │ ├── Tutorial_BlockOperations_corner.cpp │ │ ├── Tutorial_BlockOperations_print_block.cpp │ │ ├── Tutorial_BlockOperations_vector.cpp │ │ ├── Tutorial_PartialLU_solve.cpp │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_broadcast_1nn.cpp │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_broadcast_simple.cpp │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_broadcast_simple_rowwise.cpp │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_colwise.cpp │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_maxnorm.cpp │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_reductions_bool.cpp │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_reductions_norm.cpp │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_reductions_operatornorm.cpp │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_rowwise.cpp │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_visitors.cpp │ │ ├── Tutorial_simple_example_dynamic_size.cpp │ │ ├── Tutorial_simple_example_fixed_size.cpp │ │ ├── class_Block.cpp │ │ ├── class_CwiseBinaryOp.cpp │ │ ├── class_CwiseUnaryOp.cpp │ │ ├── class_CwiseUnaryOp_ptrfun.cpp │ │ ├── class_FixedBlock.cpp │ │ ├── class_FixedVectorBlock.cpp │ │ ├── class_VectorBlock.cpp │ │ ├── function_taking_eigenbase.cpp │ │ ├── function_taking_ref.cpp │ │ ├── make_circulant.cpp │ │ ├── make_circulant.cpp.entry │ │ ├── make_circulant.cpp.evaluator │ │ ├── make_circulant.cpp.expression │ │ ├── make_circulant.cpp.main │ │ ├── make_circulant.cpp.preamble │ │ ├── make_circulant.cpp.traits │ │ ├── make_circulant2.cpp │ │ ├── matrixfree_cg.cpp │ │ ├── nullary_indexing.cpp │ │ ├── tut_arithmetic_add_sub.cpp │ │ ├── tut_arithmetic_dot_cross.cpp │ │ ├── tut_arithmetic_matrix_mul.cpp │ │ ├── tut_arithmetic_redux_basic.cpp │ │ ├── tut_arithmetic_scalar_mul_div.cpp │ │ ├── tut_matrix_coefficient_accessors.cpp │ │ ├── tut_matrix_resize.cpp │ │ └── tut_matrix_resize_fixed_size.cpp │ ├── ftv2node.png │ ├── ftv2pnode.png │ ├── snippets │ │ ├── .krazy │ │ ├── AngleAxis_mimic_euler.cpp │ │ ├── BiCGSTAB_simple.cpp │ │ ├── BiCGSTAB_step_by_step.cpp │ │ ├── CMakeLists.txt │ │ ├── ColPivHouseholderQR_solve.cpp │ │ ├── ComplexEigenSolver_compute.cpp │ │ ├── ComplexEigenSolver_eigenvalues.cpp │ │ ├── ComplexEigenSolver_eigenvectors.cpp │ │ ├── ComplexSchur_compute.cpp │ │ ├── ComplexSchur_matrixT.cpp │ │ ├── ComplexSchur_matrixU.cpp │ │ ├── Cwise_abs.cpp │ │ ├── Cwise_abs2.cpp │ │ ├── Cwise_acos.cpp │ │ ├── Cwise_arg.cpp │ │ ├── Cwise_array_power_array.cpp │ │ ├── Cwise_asin.cpp │ │ ├── Cwise_atan.cpp │ │ ├── Cwise_boolean_and.cpp │ │ ├── Cwise_boolean_not.cpp │ │ ├── Cwise_boolean_or.cpp │ │ ├── Cwise_boolean_xor.cpp │ │ ├── Cwise_ceil.cpp │ │ ├── Cwise_cos.cpp │ │ ├── Cwise_cosh.cpp │ │ ├── Cwise_cube.cpp │ │ ├── Cwise_equal_equal.cpp │ │ ├── Cwise_exp.cpp │ │ ├── Cwise_floor.cpp │ │ ├── Cwise_greater.cpp │ │ ├── Cwise_greater_equal.cpp │ │ ├── Cwise_inverse.cpp │ │ ├── Cwise_isFinite.cpp │ │ ├── Cwise_isInf.cpp │ │ ├── Cwise_isNaN.cpp │ │ ├── Cwise_less.cpp │ │ ├── Cwise_less_equal.cpp │ │ ├── Cwise_log.cpp │ │ ├── Cwise_log10.cpp │ │ ├── Cwise_max.cpp │ │ ├── Cwise_min.cpp │ │ ├── Cwise_minus.cpp │ │ ├── Cwise_minus_equal.cpp │ │ ├── Cwise_not_equal.cpp │ │ ├── Cwise_plus.cpp │ │ ├── Cwise_plus_equal.cpp │ │ ├── Cwise_pow.cpp │ │ ├── Cwise_product.cpp │ │ ├── Cwise_quotient.cpp │ │ ├── Cwise_round.cpp │ │ ├── Cwise_scalar_power_array.cpp │ │ ├── Cwise_sign.cpp │ │ ├── Cwise_sin.cpp │ │ ├── Cwise_sinh.cpp │ │ ├── Cwise_slash_equal.cpp │ │ ├── Cwise_sqrt.cpp │ │ ├── Cwise_square.cpp │ │ ├── Cwise_tan.cpp │ │ ├── Cwise_tanh.cpp │ │ ├── Cwise_times_equal.cpp │ │ ├── DenseBase_LinSpaced.cpp │ │ ├── DenseBase_LinSpacedInt.cpp │ │ ├── DenseBase_LinSpaced_seq.cpp │ │ ├── DenseBase_setLinSpaced.cpp │ │ ├── DirectionWise_hnormalized.cpp │ │ ├── DirectionWise_replicate.cpp │ │ ├── DirectionWise_replicate_int.cpp │ │ ├── EigenSolver_EigenSolver_MatrixType.cpp │ │ ├── EigenSolver_compute.cpp │ │ ├── EigenSolver_eigenvalues.cpp │ │ ├── EigenSolver_eigenvectors.cpp │ │ ├── EigenSolver_pseudoEigenvectors.cpp │ │ ├── FullPivHouseholderQR_solve.cpp │ │ ├── FullPivLU_image.cpp │ │ ├── FullPivLU_kernel.cpp │ │ ├── FullPivLU_solve.cpp │ │ ├── GeneralizedEigenSolver.cpp │ │ ├── HessenbergDecomposition_compute.cpp │ │ ├── HessenbergDecomposition_matrixH.cpp │ │ ├── HessenbergDecomposition_packedMatrix.cpp │ │ ├── HouseholderQR_householderQ.cpp │ │ ├── HouseholderQR_solve.cpp │ │ ├── HouseholderSequence_HouseholderSequence.cpp │ │ ├── IOFormat.cpp │ │ ├── JacobiSVD_basic.cpp │ │ ├── Jacobi_makeGivens.cpp │ │ ├── Jacobi_makeJacobi.cpp │ │ ├── LLT_example.cpp │ │ ├── LLT_solve.cpp │ │ ├── LeastSquaresNormalEquations.cpp │ │ ├── LeastSquaresQR.cpp │ │ ├── Map_general_stride.cpp │ │ ├── Map_inner_stride.cpp │ │ ├── Map_outer_stride.cpp │ │ ├── Map_placement_new.cpp │ │ ├── Map_simple.cpp │ │ ├── MatrixBase_adjoint.cpp │ │ ├── MatrixBase_all.cpp │ │ ├── MatrixBase_applyOnTheLeft.cpp │ │ ├── MatrixBase_applyOnTheRight.cpp │ │ ├── MatrixBase_array.cpp │ │ ├── MatrixBase_array_const.cpp │ │ ├── MatrixBase_asDiagonal.cpp │ │ ├── MatrixBase_block_int_int.cpp │ │ ├── MatrixBase_block_int_int_int_int.cpp │ │ ├── MatrixBase_bottomLeftCorner_int_int.cpp │ │ ├── MatrixBase_bottomRightCorner_int_int.cpp │ │ ├── MatrixBase_bottomRows_int.cpp │ │ ├── MatrixBase_cast.cpp │ │ ├── MatrixBase_col.cpp │ │ ├── MatrixBase_colwise.cpp │ │ ├── MatrixBase_computeInverseAndDetWithCheck.cpp │ │ ├── MatrixBase_computeInverseWithCheck.cpp │ │ ├── MatrixBase_cwiseAbs.cpp │ │ ├── MatrixBase_cwiseAbs2.cpp │ │ ├── MatrixBase_cwiseEqual.cpp │ │ ├── MatrixBase_cwiseInverse.cpp │ │ ├── MatrixBase_cwiseMax.cpp │ │ ├── MatrixBase_cwiseMin.cpp │ │ ├── MatrixBase_cwiseNotEqual.cpp │ │ ├── MatrixBase_cwiseProduct.cpp │ │ ├── MatrixBase_cwiseQuotient.cpp │ │ ├── MatrixBase_cwiseSign.cpp │ │ ├── MatrixBase_cwiseSqrt.cpp │ │ ├── MatrixBase_diagonal.cpp │ │ ├── MatrixBase_diagonal_int.cpp │ │ ├── MatrixBase_diagonal_template_int.cpp │ │ ├── MatrixBase_eigenvalues.cpp │ │ ├── MatrixBase_end_int.cpp │ │ ├── MatrixBase_eval.cpp │ │ ├── MatrixBase_fixedBlock_int_int.cpp │ │ ├── MatrixBase_hnormalized.cpp │ │ ├── MatrixBase_homogeneous.cpp │ │ ├── MatrixBase_identity.cpp │ │ ├── MatrixBase_identity_int_int.cpp │ │ ├── MatrixBase_inverse.cpp │ │ ├── MatrixBase_isDiagonal.cpp │ │ ├── MatrixBase_isIdentity.cpp │ │ ├── MatrixBase_isOnes.cpp │ │ ├── MatrixBase_isOrthogonal.cpp │ │ ├── MatrixBase_isUnitary.cpp │ │ ├── MatrixBase_isZero.cpp │ │ ├── MatrixBase_leftCols_int.cpp │ │ ├── MatrixBase_noalias.cpp │ │ ├── MatrixBase_ones.cpp │ │ ├── MatrixBase_ones_int.cpp │ │ ├── MatrixBase_ones_int_int.cpp │ │ ├── MatrixBase_operatorNorm.cpp │ │ ├── MatrixBase_prod.cpp │ │ ├── MatrixBase_random.cpp │ │ ├── MatrixBase_random_int.cpp │ │ ├── MatrixBase_random_int_int.cpp │ │ ├── MatrixBase_replicate.cpp │ │ ├── MatrixBase_replicate_int_int.cpp │ │ ├── MatrixBase_reverse.cpp │ │ ├── MatrixBase_rightCols_int.cpp │ │ ├── MatrixBase_row.cpp │ │ ├── MatrixBase_rowwise.cpp │ │ ├── MatrixBase_segment_int_int.cpp │ │ ├── MatrixBase_select.cpp │ │ ├── MatrixBase_selfadjointView.cpp │ │ ├── MatrixBase_set.cpp │ │ ├── MatrixBase_setIdentity.cpp │ │ ├── MatrixBase_setOnes.cpp │ │ ├── MatrixBase_setRandom.cpp │ │ ├── MatrixBase_setZero.cpp │ │ ├── MatrixBase_start_int.cpp │ │ ├── MatrixBase_template_int_bottomRows.cpp │ │ ├── MatrixBase_template_int_end.cpp │ │ ├── MatrixBase_template_int_int_block_int_int_int_int.cpp │ │ ├── MatrixBase_template_int_int_bottomLeftCorner.cpp │ │ ├── MatrixBase_template_int_int_bottomLeftCorner_int_int.cpp │ │ ├── MatrixBase_template_int_int_bottomRightCorner.cpp │ │ ├── MatrixBase_template_int_int_bottomRightCorner_int_int.cpp │ │ ├── MatrixBase_template_int_int_topLeftCorner.cpp │ │ ├── MatrixBase_template_int_int_topLeftCorner_int_int.cpp │ │ ├── MatrixBase_template_int_int_topRightCorner.cpp │ │ ├── MatrixBase_template_int_int_topRightCorner_int_int.cpp │ │ ├── MatrixBase_template_int_leftCols.cpp │ │ ├── MatrixBase_template_int_rightCols.cpp │ │ ├── MatrixBase_template_int_segment.cpp │ │ ├── MatrixBase_template_int_start.cpp │ │ ├── MatrixBase_template_int_topRows.cpp │ │ ├── MatrixBase_topLeftCorner_int_int.cpp │ │ ├── MatrixBase_topRightCorner_int_int.cpp │ │ ├── MatrixBase_topRows_int.cpp │ │ ├── MatrixBase_transpose.cpp │ │ ├── MatrixBase_triangularView.cpp │ │ ├── MatrixBase_zero.cpp │ │ ├── MatrixBase_zero_int.cpp │ │ ├── MatrixBase_zero_int_int.cpp │ │ ├── Matrix_resize_NoChange_int.cpp │ │ ├── Matrix_resize_int.cpp │ │ ├── Matrix_resize_int_NoChange.cpp │ │ ├── Matrix_resize_int_int.cpp │ │ ├── Matrix_setConstant_int.cpp │ │ ├── Matrix_setConstant_int_int.cpp │ │ ├── Matrix_setIdentity_int_int.cpp │ │ ├── Matrix_setOnes_int.cpp │ │ ├── Matrix_setOnes_int_int.cpp │ │ ├── Matrix_setRandom_int.cpp │ │ ├── Matrix_setRandom_int_int.cpp │ │ ├── Matrix_setZero_int.cpp │ │ ├── Matrix_setZero_int_int.cpp │ │ ├── PartialPivLU_solve.cpp │ │ ├── PartialRedux_count.cpp │ │ ├── PartialRedux_maxCoeff.cpp │ │ ├── PartialRedux_minCoeff.cpp │ │ ├── PartialRedux_norm.cpp │ │ ├── PartialRedux_prod.cpp │ │ ├── PartialRedux_squaredNorm.cpp │ │ ├── PartialRedux_sum.cpp │ │ ├── RealQZ_compute.cpp │ │ ├── RealSchur_RealSchur_MatrixType.cpp │ │ ├── RealSchur_compute.cpp │ │ ├── SelfAdjointEigenSolver_SelfAdjointEigenSolver.cpp │ │ ├── SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType.cpp │ │ ├── SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType2.cpp │ │ ├── SelfAdjointEigenSolver_compute_MatrixType.cpp │ │ ├── SelfAdjointEigenSolver_compute_MatrixType2.cpp │ │ ├── SelfAdjointEigenSolver_eigenvalues.cpp │ │ ├── SelfAdjointEigenSolver_eigenvectors.cpp │ │ ├── SelfAdjointEigenSolver_operatorInverseSqrt.cpp │ │ ├── SelfAdjointEigenSolver_operatorSqrt.cpp │ │ ├── SelfAdjointView_eigenvalues.cpp │ │ ├── SelfAdjointView_operatorNorm.cpp │ │ ├── SparseMatrix_coeffs.cpp │ │ ├── TopicAliasing_block.cpp │ │ ├── TopicAliasing_block_correct.cpp │ │ ├── TopicAliasing_cwise.cpp │ │ ├── TopicAliasing_mult1.cpp │ │ ├── TopicAliasing_mult2.cpp │ │ ├── TopicAliasing_mult3.cpp │ │ ├── TopicAliasing_mult4.cpp │ │ ├── TopicAliasing_mult5.cpp │ │ ├── TopicStorageOrders_example.cpp │ │ ├── Triangular_solve.cpp │ │ ├── Tridiagonalization_Tridiagonalization_MatrixType.cpp │ │ ├── Tridiagonalization_compute.cpp │ │ ├── Tridiagonalization_decomposeInPlace.cpp │ │ ├── Tridiagonalization_diagonal.cpp │ │ ├── Tridiagonalization_householderCoefficients.cpp │ │ ├── Tridiagonalization_packedMatrix.cpp │ │ ├── Tutorial_AdvancedInitialization_Block.cpp │ │ ├── Tutorial_AdvancedInitialization_CommaTemporary.cpp │ │ ├── Tutorial_AdvancedInitialization_Join.cpp │ │ ├── Tutorial_AdvancedInitialization_LinSpaced.cpp │ │ ├── Tutorial_AdvancedInitialization_ThreeWays.cpp │ │ ├── Tutorial_AdvancedInitialization_Zero.cpp │ │ ├── Tutorial_Map_rowmajor.cpp │ │ ├── Tutorial_Map_using.cpp │ │ ├── Tutorial_ReshapeMat2Mat.cpp │ │ ├── Tutorial_ReshapeMat2Vec.cpp │ │ ├── Tutorial_SlicingCol.cpp │ │ ├── Tutorial_SlicingVec.cpp │ │ ├── Tutorial_commainit_01.cpp │ │ ├── Tutorial_commainit_01b.cpp │ │ ├── Tutorial_commainit_02.cpp │ │ ├── Tutorial_solve_matrix_inverse.cpp │ │ ├── Tutorial_solve_multiple_rhs.cpp │ │ ├── Tutorial_solve_reuse_decomposition.cpp │ │ ├── Tutorial_solve_singular.cpp │ │ ├── Tutorial_solve_triangular.cpp │ │ ├── Tutorial_solve_triangular_inplace.cpp │ │ ├── VectorwiseOp_homogeneous.cpp │ │ ├── Vectorwise_reverse.cpp │ │ ├── class_FullPivLU.cpp │ │ ├── compile_snippet.cpp.in │ │ ├── tut_arithmetic_redux_minmax.cpp │ │ ├── tut_arithmetic_transpose_aliasing.cpp │ │ ├── tut_arithmetic_transpose_conjugate.cpp │ │ ├── tut_arithmetic_transpose_inplace.cpp │ │ └── tut_matrix_assignment_resizing.cpp │ ├── special_examples │ │ ├── CMakeLists.txt │ │ ├── Tutorial_sparse_example.cpp │ │ ├── Tutorial_sparse_example_details.cpp │ │ └── random_cpp11.cpp │ └── tutorial.cpp │ ├── eigen3.pc.in │ ├── failtest │ ├── CMakeLists.txt │ ├── bdcsvd_int.cpp │ ├── block_nonconst_ctor_on_const_xpr_0.cpp │ ├── block_nonconst_ctor_on_const_xpr_1.cpp │ ├── block_nonconst_ctor_on_const_xpr_2.cpp │ ├── block_on_const_type_actually_const_0.cpp │ ├── block_on_const_type_actually_const_1.cpp │ ├── colpivqr_int.cpp │ ├── const_qualified_block_method_retval_0.cpp │ ├── const_qualified_block_method_retval_1.cpp │ ├── const_qualified_diagonal_method_retval.cpp │ ├── const_qualified_transpose_method_retval.cpp │ ├── cwiseunaryview_nonconst_ctor_on_const_xpr.cpp │ ├── cwiseunaryview_on_const_type_actually_const.cpp │ ├── diagonal_nonconst_ctor_on_const_xpr.cpp │ ├── diagonal_on_const_type_actually_const.cpp │ ├── eigensolver_cplx.cpp │ ├── eigensolver_int.cpp │ ├── failtest_sanity_check.cpp │ ├── fullpivlu_int.cpp │ ├── fullpivqr_int.cpp │ ├── jacobisvd_int.cpp │ ├── ldlt_int.cpp │ ├── llt_int.cpp │ ├── map_nonconst_ctor_on_const_ptr_0.cpp │ ├── map_nonconst_ctor_on_const_ptr_1.cpp │ ├── map_nonconst_ctor_on_const_ptr_2.cpp │ ├── map_nonconst_ctor_on_const_ptr_3.cpp │ ├── map_nonconst_ctor_on_const_ptr_4.cpp │ ├── map_on_const_type_actually_const_0.cpp │ ├── map_on_const_type_actually_const_1.cpp │ ├── partialpivlu_int.cpp │ ├── qr_int.cpp │ ├── ref_1.cpp │ ├── ref_2.cpp │ ├── ref_3.cpp │ ├── ref_4.cpp │ ├── ref_5.cpp │ ├── selfadjointview_nonconst_ctor_on_const_xpr.cpp │ ├── selfadjointview_on_const_type_actually_const.cpp │ ├── sparse_ref_1.cpp │ ├── sparse_ref_2.cpp │ ├── sparse_ref_3.cpp │ ├── sparse_ref_4.cpp │ ├── sparse_ref_5.cpp │ ├── sparse_storage_mismatch.cpp │ ├── swap_1.cpp │ ├── swap_2.cpp │ ├── ternary_1.cpp │ ├── ternary_2.cpp │ ├── transpose_nonconst_ctor_on_const_xpr.cpp │ ├── transpose_on_const_type_actually_const.cpp │ ├── triangularview_nonconst_ctor_on_const_xpr.cpp │ └── triangularview_on_const_type_actually_const.cpp │ ├── lapack │ ├── CMakeLists.txt │ ├── cholesky.cpp │ ├── clacgv.f │ ├── cladiv.f │ ├── clarf.f │ ├── clarfb.f │ ├── clarfg.f │ ├── clarft.f │ ├── complex_double.cpp │ ├── complex_single.cpp │ ├── dladiv.f │ ├── dlamch.f │ ├── dlapy2.f │ ├── dlapy3.f │ ├── dlarf.f │ ├── dlarfb.f │ ├── dlarfg.f │ ├── dlarft.f │ ├── double.cpp │ ├── dsecnd_NONE.f │ ├── eigenvalues.cpp │ ├── ilaclc.f │ ├── ilaclr.f │ ├── iladlc.f │ ├── iladlr.f │ ├── ilaslc.f │ ├── ilaslr.f │ ├── ilazlc.f │ ├── ilazlr.f │ ├── lapack_common.h │ ├── lu.cpp │ ├── second_NONE.f │ ├── single.cpp │ ├── sladiv.f │ ├── slamch.f │ ├── slapy2.f │ ├── slapy3.f │ ├── slarf.f │ ├── slarfb.f │ ├── slarfg.f │ ├── slarft.f │ ├── svd.cpp │ ├── zlacgv.f │ ├── zladiv.f │ ├── zlarf.f │ ├── zlarfb.f │ ├── zlarfg.f │ └── zlarft.f │ ├── scripts │ ├── CMakeLists.txt │ ├── buildtests.in │ ├── cdashtesting.cmake.in │ ├── check.in │ ├── debug.in │ ├── eigen_gen_credits.cpp │ ├── eigen_gen_docs │ ├── release.in │ └── relicense.py │ ├── signature_of_eigen3_matrix_library │ ├── test │ ├── CMakeLists.txt │ ├── adjoint.cpp │ ├── array.cpp │ ├── array_for_matrix.cpp │ ├── array_of_string.cpp │ ├── array_replicate.cpp │ ├── array_reverse.cpp │ ├── bandmatrix.cpp │ ├── basicstuff.cpp │ ├── bdcsvd.cpp │ ├── bicgstab.cpp │ ├── block.cpp │ ├── boostmultiprec.cpp │ ├── bug1213.cpp │ ├── bug1213.h │ ├── bug1213_main.cpp │ ├── cholesky.cpp │ ├── cholmod_support.cpp │ ├── commainitializer.cpp │ ├── conjugate_gradient.cpp │ ├── conservative_resize.cpp │ ├── constructor.cpp │ ├── corners.cpp │ ├── ctorleak.cpp │ ├── cuda_basic.cu │ ├── cuda_common.h │ ├── denseLM.cpp │ ├── dense_storage.cpp │ ├── determinant.cpp │ ├── diagonal.cpp │ ├── diagonalmatrices.cpp │ ├── dontalign.cpp │ ├── dynalloc.cpp │ ├── eigen2support.cpp │ ├── eigensolver_complex.cpp │ ├── eigensolver_generalized_real.cpp │ ├── eigensolver_generic.cpp │ ├── eigensolver_selfadjoint.cpp │ ├── evaluator_common.h │ ├── evaluators.cpp │ ├── exceptions.cpp │ ├── fastmath.cpp │ ├── first_aligned.cpp │ ├── geo_alignedbox.cpp │ ├── geo_eulerangles.cpp │ ├── geo_homogeneous.cpp │ ├── geo_hyperplane.cpp │ ├── geo_orthomethods.cpp │ ├── geo_parametrizedline.cpp │ ├── geo_quaternion.cpp │ ├── geo_transformations.cpp │ ├── half_float.cpp │ ├── hessenberg.cpp │ ├── householder.cpp │ ├── incomplete_cholesky.cpp │ ├── inplace_decomposition.cpp │ ├── integer_types.cpp │ ├── inverse.cpp │ ├── is_same_dense.cpp │ ├── jacobi.cpp │ ├── jacobisvd.cpp │ ├── linearstructure.cpp │ ├── lscg.cpp │ ├── lu.cpp │ ├── main.h │ ├── mapped_matrix.cpp │ ├── mapstaticmethods.cpp │ ├── mapstride.cpp │ ├── meta.cpp │ ├── metis_support.cpp │ ├── miscmatrices.cpp │ ├── mixingtypes.cpp │ ├── mpl2only.cpp │ ├── nesting_ops.cpp │ ├── nomalloc.cpp │ ├── nullary.cpp │ ├── numext.cpp │ ├── packetmath.cpp │ ├── pardiso_support.cpp │ ├── pastix_support.cpp │ ├── permutationmatrices.cpp │ ├── prec_inverse_4x4.cpp │ ├── product.h │ ├── product_extra.cpp │ ├── product_large.cpp │ ├── product_mmtr.cpp │ ├── product_notemporary.cpp │ ├── product_selfadjoint.cpp │ ├── product_small.cpp │ ├── product_symm.cpp │ ├── product_syrk.cpp │ ├── product_trmm.cpp │ ├── product_trmv.cpp │ ├── product_trsolve.cpp │ ├── qr.cpp │ ├── qr_colpivoting.cpp │ ├── qr_fullpivoting.cpp │ ├── qtvector.cpp │ ├── rand.cpp │ ├── real_qz.cpp │ ├── redux.cpp │ ├── ref.cpp │ ├── resize.cpp │ ├── rvalue_types.cpp │ ├── schur_complex.cpp │ ├── schur_real.cpp │ ├── selfadjoint.cpp │ ├── simplicial_cholesky.cpp │ ├── sizeof.cpp │ ├── sizeoverflow.cpp │ ├── smallvectors.cpp │ ├── sparse.h │ ├── sparseLM.cpp │ ├── sparse_basic.cpp │ ├── sparse_block.cpp │ ├── sparse_permutations.cpp │ ├── sparse_product.cpp │ ├── sparse_ref.cpp │ ├── sparse_solver.h │ ├── sparse_solvers.cpp │ ├── sparse_vector.cpp │ ├── sparselu.cpp │ ├── sparseqr.cpp │ ├── special_numbers.cpp │ ├── spqr_support.cpp │ ├── stable_norm.cpp │ ├── stddeque.cpp │ ├── stddeque_overload.cpp │ ├── stdlist.cpp │ ├── stdlist_overload.cpp │ ├── stdvector.cpp │ ├── stdvector_overload.cpp │ ├── superlu_support.cpp │ ├── svd_common.h │ ├── svd_fill.h │ ├── swap.cpp │ ├── triangular.cpp │ ├── umeyama.cpp │ ├── umfpack_support.cpp │ ├── unalignedassert.cpp │ ├── unalignedcount.cpp │ ├── upperbidiagonalization.cpp │ ├── vectorization_logic.cpp │ ├── vectorwiseop.cpp │ ├── visitor.cpp │ └── zerosized.cpp │ └── unsupported │ ├── CMakeLists.txt │ ├── Eigen │ ├── AdolcForward │ ├── AlignedVector3 │ ├── ArpackSupport │ ├── AutoDiff │ ├── BVH │ ├── CMakeLists.txt │ ├── CXX11 │ │ ├── CMakeLists.txt │ │ ├── Tensor │ │ ├── TensorSymmetry │ │ ├── ThreadPool │ │ └── src │ │ │ ├── Tensor │ │ │ ├── README.md │ │ │ ├── Tensor.h │ │ │ ├── TensorArgMax.h │ │ │ ├── TensorAssign.h │ │ │ ├── TensorBase.h │ │ │ ├── TensorBroadcasting.h │ │ │ ├── TensorChipping.h │ │ │ ├── TensorConcatenation.h │ │ │ ├── TensorContraction.h │ │ │ ├── TensorContractionBlocking.h │ │ │ ├── TensorContractionCuda.h │ │ │ ├── TensorContractionMapper.h │ │ │ ├── TensorContractionThreadPool.h │ │ │ ├── TensorConversion.h │ │ │ ├── TensorConvolution.h │ │ │ ├── TensorCostModel.h │ │ │ ├── TensorCustomOp.h │ │ │ ├── TensorDevice.h │ │ │ ├── TensorDeviceCuda.h │ │ │ ├── TensorDeviceDefault.h │ │ │ ├── TensorDeviceSycl.h │ │ │ ├── TensorDeviceThreadPool.h │ │ │ ├── TensorDimensionList.h │ │ │ ├── TensorDimensions.h │ │ │ ├── TensorEvalTo.h │ │ │ ├── TensorEvaluator.h │ │ │ ├── TensorExecutor.h │ │ │ ├── TensorExpr.h │ │ │ ├── TensorFFT.h │ │ │ ├── TensorFixedSize.h │ │ │ ├── TensorForcedEval.h │ │ │ ├── TensorForwardDeclarations.h │ │ │ ├── TensorFunctors.h │ │ │ ├── TensorGenerator.h │ │ │ ├── TensorGlobalFunctions.h │ │ │ ├── TensorIO.h │ │ │ ├── TensorImagePatch.h │ │ │ ├── TensorIndexList.h │ │ │ ├── TensorInflation.h │ │ │ ├── TensorInitializer.h │ │ │ ├── TensorIntDiv.h │ │ │ ├── TensorLayoutSwap.h │ │ │ ├── TensorMacros.h │ │ │ ├── TensorMap.h │ │ │ ├── TensorMeta.h │ │ │ ├── TensorMorphing.h │ │ │ ├── TensorPadding.h │ │ │ ├── TensorPatch.h │ │ │ ├── TensorRandom.h │ │ │ ├── TensorReduction.h │ │ │ ├── TensorReductionCuda.h │ │ │ ├── TensorReductionSycl.h │ │ │ ├── TensorRef.h │ │ │ ├── TensorReverse.h │ │ │ ├── TensorScan.h │ │ │ ├── TensorShuffling.h │ │ │ ├── TensorStorage.h │ │ │ ├── TensorStriding.h │ │ │ ├── TensorSycl.h │ │ │ ├── TensorSyclConvertToDeviceExpression.h │ │ │ ├── TensorSyclExprConstructor.h │ │ │ ├── TensorSyclExtractAccessor.h │ │ │ ├── TensorSyclExtractFunctors.h │ │ │ ├── TensorSyclLeafCount.h │ │ │ ├── TensorSyclPlaceHolderExpr.h │ │ │ ├── TensorSyclRun.h │ │ │ ├── TensorSyclTuple.h │ │ │ ├── TensorTraits.h │ │ │ ├── TensorUInt128.h │ │ │ └── TensorVolumePatch.h │ │ │ ├── TensorSymmetry │ │ │ ├── DynamicSymmetry.h │ │ │ ├── StaticSymmetry.h │ │ │ ├── Symmetry.h │ │ │ └── util │ │ │ │ └── TemplateGroupTheory.h │ │ │ ├── ThreadPool │ │ │ ├── EventCount.h │ │ │ ├── NonBlockingThreadPool.h │ │ │ ├── RunQueue.h │ │ │ ├── SimpleThreadPool.h │ │ │ ├── ThreadEnvironment.h │ │ │ ├── ThreadLocal.h │ │ │ ├── ThreadPoolInterface.h │ │ │ └── ThreadYield.h │ │ │ └── util │ │ │ ├── CXX11Meta.h │ │ │ ├── CXX11Workarounds.h │ │ │ ├── EmulateArray.h │ │ │ ├── EmulateCXX11Meta.h │ │ │ └── MaxSizeVector.h │ ├── EulerAngles │ ├── FFT │ ├── IterativeSolvers │ ├── KroneckerProduct │ ├── LevenbergMarquardt │ ├── MPRealSupport │ ├── MatrixFunctions │ ├── MoreVectorization │ ├── NonLinearOptimization │ ├── NumericalDiff │ ├── OpenGLSupport │ ├── Polynomials │ ├── Skyline │ ├── SparseExtra │ ├── SpecialFunctions │ ├── Splines │ └── src │ │ ├── AutoDiff │ │ ├── AutoDiffJacobian.h │ │ ├── AutoDiffScalar.h │ │ └── AutoDiffVector.h │ │ ├── BVH │ │ ├── BVAlgorithms.h │ │ └── KdBVH.h │ │ ├── Eigenvalues │ │ └── ArpackSelfAdjointEigenSolver.h │ │ ├── EulerAngles │ │ ├── CMakeLists.txt │ │ ├── EulerAngles.h │ │ └── EulerSystem.h │ │ ├── FFT │ │ ├── ei_fftw_impl.h │ │ └── ei_kissfft_impl.h │ │ ├── IterativeSolvers │ │ ├── ConstrainedConjGrad.h │ │ ├── DGMRES.h │ │ ├── GMRES.h │ │ ├── IncompleteLU.h │ │ ├── IterationController.h │ │ ├── MINRES.h │ │ └── Scaling.h │ │ ├── KroneckerProduct │ │ └── KroneckerTensorProduct.h │ │ ├── LevenbergMarquardt │ │ ├── CopyrightMINPACK.txt │ │ ├── LMcovar.h │ │ ├── LMonestep.h │ │ ├── LMpar.h │ │ ├── LMqrsolv.h │ │ └── LevenbergMarquardt.h │ │ ├── MatrixFunctions │ │ ├── MatrixExponential.h │ │ ├── MatrixFunction.h │ │ ├── MatrixLogarithm.h │ │ ├── MatrixPower.h │ │ ├── MatrixSquareRoot.h │ │ └── StemFunction.h │ │ ├── MoreVectorization │ │ └── MathFunctions.h │ │ ├── NonLinearOptimization │ │ ├── HybridNonLinearSolver.h │ │ ├── LevenbergMarquardt.h │ │ ├── chkder.h │ │ ├── covar.h │ │ ├── dogleg.h │ │ ├── fdjac1.h │ │ ├── lmpar.h │ │ ├── qrsolv.h │ │ ├── r1mpyq.h │ │ ├── r1updt.h │ │ └── rwupdt.h │ │ ├── NumericalDiff │ │ └── NumericalDiff.h │ │ ├── Polynomials │ │ ├── Companion.h │ │ ├── PolynomialSolver.h │ │ └── PolynomialUtils.h │ │ ├── Skyline │ │ ├── SkylineInplaceLU.h │ │ ├── SkylineMatrix.h │ │ ├── SkylineMatrixBase.h │ │ ├── SkylineProduct.h │ │ ├── SkylineStorage.h │ │ └── SkylineUtil.h │ │ ├── SparseExtra │ │ ├── BlockOfDynamicSparseMatrix.h │ │ ├── BlockSparseMatrix.h │ │ ├── DynamicSparseMatrix.h │ │ ├── MarketIO.h │ │ ├── MatrixMarketIterator.h │ │ └── RandomSetter.h │ │ ├── SpecialFunctions │ │ ├── SpecialFunctionsArrayAPI.h │ │ ├── SpecialFunctionsFunctors.h │ │ ├── SpecialFunctionsHalf.h │ │ ├── SpecialFunctionsImpl.h │ │ ├── SpecialFunctionsPacketMath.h │ │ └── arch │ │ │ └── CUDA │ │ │ └── CudaSpecialFunctions.h │ │ └── Splines │ │ ├── Spline.h │ │ ├── SplineFitting.h │ │ └── SplineFwd.h │ ├── README.txt │ ├── bench │ └── bench_svd.cpp │ ├── doc │ ├── CMakeLists.txt │ ├── Overview.dox │ ├── eigendoxy_layout.xml.in │ ├── examples │ │ ├── BVH_Example.cpp │ │ ├── CMakeLists.txt │ │ ├── EulerAngles.cpp │ │ ├── FFT.cpp │ │ ├── MatrixExponential.cpp │ │ ├── MatrixFunction.cpp │ │ ├── MatrixLogarithm.cpp │ │ ├── MatrixPower.cpp │ │ ├── MatrixPower_optimal.cpp │ │ ├── MatrixSine.cpp │ │ ├── MatrixSinh.cpp │ │ ├── MatrixSquareRoot.cpp │ │ ├── PolynomialSolver1.cpp │ │ └── PolynomialUtils1.cpp │ └── snippets │ │ └── CMakeLists.txt │ └── test │ ├── BVH.cpp │ ├── CMakeLists.txt │ ├── EulerAngles.cpp │ ├── FFT.cpp │ ├── FFTW.cpp │ ├── NonLinearOptimization.cpp │ ├── NumericalDiff.cpp │ ├── alignedvector3.cpp │ ├── autodiff.cpp │ ├── autodiff_scalar.cpp │ ├── cxx11_eventcount.cpp │ ├── cxx11_meta.cpp │ ├── cxx11_non_blocking_thread_pool.cpp │ ├── cxx11_runqueue.cpp │ ├── cxx11_tensor_argmax.cpp │ ├── cxx11_tensor_argmax_cuda.cu │ ├── cxx11_tensor_assign.cpp │ ├── cxx11_tensor_broadcast_sycl.cpp │ ├── cxx11_tensor_broadcasting.cpp │ ├── cxx11_tensor_cast_float16_cuda.cu │ ├── cxx11_tensor_casts.cpp │ ├── cxx11_tensor_chipping.cpp │ ├── cxx11_tensor_comparisons.cpp │ ├── cxx11_tensor_complex_cuda.cu │ ├── cxx11_tensor_complex_cwise_ops_cuda.cu │ ├── cxx11_tensor_concatenation.cpp │ ├── cxx11_tensor_const.cpp │ ├── cxx11_tensor_contract_cuda.cu │ ├── cxx11_tensor_contraction.cpp │ ├── cxx11_tensor_convolution.cpp │ ├── cxx11_tensor_cuda.cu │ ├── cxx11_tensor_custom_index.cpp │ ├── cxx11_tensor_custom_op.cpp │ ├── cxx11_tensor_device.cu │ ├── cxx11_tensor_device_sycl.cpp │ ├── cxx11_tensor_dimension.cpp │ ├── cxx11_tensor_empty.cpp │ ├── cxx11_tensor_expr.cpp │ ├── cxx11_tensor_fft.cpp │ ├── cxx11_tensor_fixed_size.cpp │ ├── cxx11_tensor_forced_eval.cpp │ ├── cxx11_tensor_forced_eval_sycl.cpp │ ├── cxx11_tensor_generator.cpp │ ├── cxx11_tensor_ifft.cpp │ ├── cxx11_tensor_image_patch.cpp │ ├── cxx11_tensor_index_list.cpp │ ├── cxx11_tensor_inflation.cpp │ ├── cxx11_tensor_intdiv.cpp │ ├── cxx11_tensor_io.cpp │ ├── cxx11_tensor_layout_swap.cpp │ ├── cxx11_tensor_lvalue.cpp │ ├── cxx11_tensor_map.cpp │ ├── cxx11_tensor_math.cpp │ ├── cxx11_tensor_mixed_indices.cpp │ ├── cxx11_tensor_morphing.cpp │ ├── cxx11_tensor_notification.cpp │ ├── cxx11_tensor_of_complex.cpp │ ├── cxx11_tensor_of_const_values.cpp │ ├── cxx11_tensor_of_float16_cuda.cu │ ├── cxx11_tensor_of_strings.cpp │ ├── cxx11_tensor_padding.cpp │ ├── cxx11_tensor_patch.cpp │ ├── cxx11_tensor_random.cpp │ ├── cxx11_tensor_random_cuda.cu │ ├── cxx11_tensor_reduction.cpp │ ├── cxx11_tensor_reduction_cuda.cu │ ├── cxx11_tensor_reduction_sycl.cpp │ ├── cxx11_tensor_ref.cpp │ ├── cxx11_tensor_reverse.cpp │ ├── cxx11_tensor_roundings.cpp │ ├── cxx11_tensor_scan.cpp │ ├── cxx11_tensor_scan_cuda.cu │ ├── cxx11_tensor_shuffling.cpp │ ├── cxx11_tensor_simple.cpp │ ├── cxx11_tensor_striding.cpp │ ├── cxx11_tensor_sugar.cpp │ ├── cxx11_tensor_sycl.cpp │ ├── cxx11_tensor_symmetry.cpp │ ├── cxx11_tensor_thread_pool.cpp │ ├── cxx11_tensor_uint128.cpp │ ├── cxx11_tensor_volume_patch.cpp │ ├── dgmres.cpp │ ├── forward_adolc.cpp │ ├── gmres.cpp │ ├── kronecker_product.cpp │ ├── levenberg_marquardt.cpp │ ├── matrix_exponential.cpp │ ├── matrix_function.cpp │ ├── matrix_functions.h │ ├── matrix_power.cpp │ ├── matrix_square_root.cpp │ ├── minres.cpp │ ├── mpreal │ └── mpreal.h │ ├── mpreal_support.cpp │ ├── openglsupport.cpp │ ├── polynomialsolver.cpp │ ├── polynomialutils.cpp │ ├── sparse_extra.cpp │ ├── special_functions.cpp │ └── splines.cpp ├── 03-lie-group-and-lie-algebra ├── .vscode │ └── settings.json ├── README.md ├── doc │ ├── 01-a-group-of-integer-and-addition.jpg │ ├── 01-b-group-of-natural-number-and-addition.jpg │ ├── 02-lie-algebra-over-cross-product.jpg │ ├── 03-left-Jacobian-derivation.jpg │ ├── 04-adjoint-of-so3.jpg │ └── 05-trajectory-visualization.png ├── instructions.pdf └── workspace │ ├── 01-draw-trajectory │ ├── draw-trajectory │ ├── draw_trajectory.cpp │ └── trajectory.txt │ ├── 02-error-analysis │ ├── error-analysis │ ├── error-analysis.cpp │ ├── estimated.txt │ └── groundtruth.txt │ └── CMakeLists.txt ├── 04-camera-calibration ├── .vscode │ └── settings.json ├── README.md ├── doc │ ├── 01-a-original.png │ ├── 01-b-undistorted.png │ ├── 02-stereo-vision.png │ ├── 03-matrix-derivatives.jpg │ └── 05-batch-maximum-likelihood-estimation.jpg ├── instructions.pdf └── workspace │ ├── .gitignore │ ├── .vscode │ └── settings.json │ ├── 01-undistort-image │ ├── test.png │ ├── undistort-image │ ├── undistort_image.cpp │ └── undistorted.png │ ├── 02-stereo-vision │ ├── disparity.cpp │ ├── disparity.png │ ├── left.png │ ├── right.png │ └── stereo-vision │ ├── 03-gaussian-newton-estimation │ ├── gaussian-newton │ └── gaussnewton.cpp │ ├── 04-intro-to-ceres │ ├── intro-to-ceres │ └── intro-to-ceres.cpp │ ├── 05-intro-to-g2o │ ├── intro-to-g2o │ └── intro-to-g2o.cpp │ └── CMakeLists.txt ├── 05-visual-odometry-using-feature-points ├── .DS_Store ├── .vscode │ └── settings.json ├── 05-特征点法视觉里程计.docx ├── 05-特征点法视觉里程计.pdf ├── README.md ├── doc │ ├── 01-a-oriented-FAST-keypoints.png │ ├── 01-b-brute-force-feature-matching.png │ ├── 04-a-original.png │ └── 04-b-matched.png ├── instructions.pdf ├── workspace-submit │ ├── .gitignore │ ├── 01-ORB │ │ ├── 1.png │ │ ├── 2.png │ │ ├── computeORB.cpp │ │ ├── feat1.png │ │ └── matches.png │ ├── 02-camera-pose-estimation │ │ └── pose-estimation.cpp │ ├── 03-pnp-using-bundle-adjustment │ │ ├── GN-BA.cpp │ │ ├── p2d.txt │ │ └── p3d.txt │ ├── 04-ICP │ │ ├── compare.txt │ │ └── trajectory-matching.cpp │ └── CMakeLists.txt └── workspace │ ├── .gitignore │ ├── .vscode │ └── settings.json │ ├── 01-ORB │ ├── 1.png │ ├── 2.png │ ├── compute-orb │ ├── computeORB.cpp │ ├── feat1.png │ └── matches.png │ ├── 02-camera-pose-estimation │ ├── pose-estimation │ └── pose-estimation.cpp │ ├── 03-pnp-using-bundle-adjustment │ ├── GN-BA │ ├── GN-BA.cpp │ ├── p2d.txt │ └── p3d.txt │ ├── 04-ICP │ ├── compare.txt │ ├── trajectory-matching │ └── trajectory-matching.cpp │ ├── 05-pnp-using-g2o │ ├── p2d.txt │ ├── p3d.txt │ ├── pnp-using-g2o │ └── pnp-using-g2o.cpp │ ├── 06-ICP-using-g2o │ ├── ICP-using-g2o │ ├── ICP-using-g2o.cpp │ └── compare.txt │ ├── CMakeLists.txt │ └── cmake_modules │ ├── FindBLAS.cmake │ ├── FindCSparse.cmake │ ├── FindCholmod.cmake │ ├── FindEigen3.cmake │ ├── FindG2O.cmake │ ├── FindLAPACK.cmake │ ├── FindQGLViewer.cmake │ └── FindSuiteSparse.cmake ├── 06-visual-odometry-using-optical-flow ├── .DS_Store ├── .vscode │ └── settings.json ├── .~lock.06-光流法与直接法.docx# ├── 06-光流法与直接法.docx ├── README.md ├── doc │ ├── 01-a-single-level--forward.jpg │ ├── 01-b-single-level--inverse.jpg │ ├── 01-c-multi-level--forward.jpg │ ├── 01-d-multi-level--inverse.jpg │ └── 01-e-opencv.jpg ├── instructions.pdf ├── reference │ ├── .DS_Store │ └── Lucas-kanade-20-years-on-A-unifying-framework.pdf └── workspace │ ├── .gitignore │ ├── 01-lukas-kanade │ ├── 1.png │ ├── 2.png │ ├── multi-level--forward.jpg │ ├── multi-level--inverse.jpg │ ├── opencv.jpg │ ├── optical-flow │ ├── optical-flow.cpp │ ├── single-level--forward.jpg │ └── single-level--inverse.jpg │ ├── 02-direct-method │ ├── 000001.png │ ├── 000002.png │ ├── 000003.png │ ├── 000004.png │ ├── 000005.png │ ├── direct-method │ ├── direct-method.cpp │ ├── disparity.png │ ├── left.png │ └── right.png │ └── CMakeLists.txt ├── 07-backend-optimization ├── .DS_Store ├── .vscode │ └── settings.json ├── 07-后端优化.docx ├── README.md ├── doc │ ├── 01-bal-dubrovnik.png │ └── 02-bal-direct-method.png ├── instructions.pdf ├── paper │ ├── 01-g2o--a-general-framework-for-graph-optimization.pdf │ └── 02-bundle-adjustment--a-modern-synthesis.pdf └── workspace │ ├── .gitignore │ ├── 01-BAL-g2o │ ├── BALDataset │ │ ├── BALDataset.cpp │ │ └── BALDataset.h │ ├── BALTypes │ │ └── BALClass.h │ ├── bal │ ├── data │ │ └── .gitignore │ ├── jacobian-derivation │ │ ├── .gitignore │ │ └── Jacobian-Derivation-for-BAL.ipynb │ ├── main.cpp │ └── utils │ │ ├── projection.h │ │ └── rotation.h │ ├── 02-direct-g2o │ ├── .DS_Store │ ├── 0.png │ ├── 1.png │ ├── 2.png │ ├── 3.png │ ├── 4.png │ ├── 5.png │ ├── 6.png │ ├── directBA │ ├── directBA.cpp │ ├── jacobian-derivation │ │ ├── .gitignore │ │ └── Jacobian-Derivation-for-BAL.ipynb │ ├── points.txt │ └── poses.txt │ └── CMakeLists.txt ├── 08-imu ├── .gitignore ├── .vscode │ └── settings.json ├── README.md ├── doc │ ├── VIO_02_IMU.pdf │ ├── bib.bib │ ├── main.tex │ ├── viosim-allan-variance-curve.png │ ├── viosim-trajectory-euler.png │ └── viosim-trajectory-midpoint.png ├── image │ ├── viosim-allan-variance-curve.png │ ├── viosim-trajectory-euler.png │ └── viosim-trajectory-midpoint.png ├── ros │ ├── code_utils │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── include │ │ │ └── code_utils │ │ │ │ ├── backward.hpp │ │ │ │ ├── cv_utils.h │ │ │ │ ├── cv_utils │ │ │ │ ├── cv_type.hpp │ │ │ │ ├── dlt │ │ │ │ │ └── dlt.h │ │ │ │ ├── pnp │ │ │ │ │ ├── linearpnp.h │ │ │ │ │ ├── nonlinearpnp.h │ │ │ │ │ ├── pnp.h │ │ │ │ │ └── utils.h │ │ │ │ ├── randomcolor.h │ │ │ │ └── scalartodata.h │ │ │ │ ├── eigen_utils.h │ │ │ │ ├── math_utils │ │ │ │ ├── Polynomial.h │ │ │ │ ├── acos_fast.h │ │ │ │ └── math_utils.h │ │ │ │ ├── ros_utils.h │ │ │ │ └── sys_utils │ │ │ │ ├── cvmat_file_io.hpp │ │ │ │ ├── eigen_file_io.hpp │ │ │ │ ├── float_equal.hpp │ │ │ │ ├── printcolor.hpp │ │ │ │ ├── tic_toc.h │ │ │ │ └── timeinseconds.hpp │ │ ├── package.xml │ │ └── src │ │ │ ├── cv_utils.cc │ │ │ ├── cv_utils │ │ │ ├── dlt │ │ │ │ └── dlt.cpp │ │ │ └── pnp │ │ │ │ ├── linearpnp.cpp │ │ │ │ ├── nonlinearpnp.cpp │ │ │ │ └── pnp.cpp │ │ │ ├── mat_io_test.cpp │ │ │ ├── math_utils │ │ │ └── Polynomial.cpp │ │ │ ├── poly_test.cpp │ │ │ └── sumpixel_test.cpp │ ├── imu_utils │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── README.md │ │ ├── _config.yml │ │ ├── data │ │ │ ├── 16448_imu_param.yaml │ │ │ ├── A3_imu_param.yaml │ │ │ ├── BMI160_imu_param.yaml │ │ │ ├── N3_imu_param.yaml │ │ │ ├── VIOSim_imu_param.yaml │ │ │ ├── data_16448_acc_t.txt │ │ │ ├── data_16448_acc_x.txt │ │ │ ├── data_16448_acc_y.txt │ │ │ ├── data_16448_acc_z.txt │ │ │ ├── data_16448_gyr_t.txt │ │ │ ├── data_16448_gyr_x.txt │ │ │ ├── data_16448_gyr_y.txt │ │ │ ├── data_16448_gyr_z.txt │ │ │ ├── data_16448_sim_acc_t.txt │ │ │ ├── data_16448_sim_acc_x.txt │ │ │ ├── data_16448_sim_acc_y.txt │ │ │ ├── data_16448_sim_acc_z.txt │ │ │ ├── data_16448_sim_gyr_t.txt │ │ │ ├── data_16448_sim_gyr_x.txt │ │ │ ├── data_16448_sim_gyr_y.txt │ │ │ ├── data_16448_sim_gyr_z.txt │ │ │ ├── data_A3_acc_t.txt │ │ │ ├── data_A3_acc_x.txt │ │ │ ├── data_A3_acc_y.txt │ │ │ ├── data_A3_acc_z.txt │ │ │ ├── data_A3_gyr_t.txt │ │ │ ├── data_A3_gyr_x.txt │ │ │ ├── data_A3_gyr_y.txt │ │ │ ├── data_A3_gyr_z.txt │ │ │ ├── data_A3_sim_acc_t.txt │ │ │ ├── data_A3_sim_acc_x.txt │ │ │ ├── data_A3_sim_acc_y.txt │ │ │ ├── data_A3_sim_acc_z.txt │ │ │ ├── data_A3_sim_gyr_t.txt │ │ │ ├── data_A3_sim_gyr_x.txt │ │ │ ├── data_A3_sim_gyr_y.txt │ │ │ ├── data_A3_sim_gyr_z.txt │ │ │ ├── data_BMI160_acc_t.txt │ │ │ ├── data_BMI160_acc_x.txt │ │ │ ├── data_BMI160_acc_y.txt │ │ │ ├── data_BMI160_acc_z.txt │ │ │ ├── data_BMI160_gyr_t.txt │ │ │ ├── data_BMI160_gyr_x.txt │ │ │ ├── data_BMI160_gyr_y.txt │ │ │ ├── data_BMI160_gyr_z.txt │ │ │ ├── data_BMI160_sim_acc_t.txt │ │ │ ├── data_BMI160_sim_acc_x.txt │ │ │ ├── data_BMI160_sim_acc_y.txt │ │ │ ├── data_BMI160_sim_acc_z.txt │ │ │ ├── data_BMI160_sim_gyr_t.txt │ │ │ ├── data_BMI160_sim_gyr_x.txt │ │ │ ├── data_BMI160_sim_gyr_y.txt │ │ │ ├── data_BMI160_sim_gyr_z.txt │ │ │ ├── data_N3_acc_t.txt │ │ │ ├── data_N3_acc_x.txt │ │ │ ├── data_N3_acc_y.txt │ │ │ ├── data_N3_acc_z.txt │ │ │ ├── data_N3_gyr_t.txt │ │ │ ├── data_N3_gyr_x.txt │ │ │ ├── data_N3_gyr_y.txt │ │ │ ├── data_N3_gyr_z.txt │ │ │ ├── data_N3_sim_acc_t.txt │ │ │ ├── data_N3_sim_acc_x.txt │ │ │ ├── data_N3_sim_acc_y.txt │ │ │ ├── data_N3_sim_acc_z.txt │ │ │ ├── data_N3_sim_gyr_t.txt │ │ │ ├── data_N3_sim_gyr_x.txt │ │ │ ├── data_N3_sim_gyr_y.txt │ │ │ ├── data_N3_sim_gyr_z.txt │ │ │ ├── data_VIOSim_acc_t.txt │ │ │ ├── data_VIOSim_acc_x.txt │ │ │ ├── data_VIOSim_acc_y.txt │ │ │ ├── data_VIOSim_acc_z.txt │ │ │ ├── data_VIOSim_gyr_t.txt │ │ │ ├── data_VIOSim_gyr_x.txt │ │ │ ├── data_VIOSim_gyr_y.txt │ │ │ ├── data_VIOSim_gyr_z.txt │ │ │ ├── data_VIOSim_sim_acc_t.txt │ │ │ ├── data_VIOSim_sim_acc_x.txt │ │ │ ├── data_VIOSim_sim_acc_y.txt │ │ │ ├── data_VIOSim_sim_acc_z.txt │ │ │ ├── data_VIOSim_sim_gyr_t.txt │ │ │ ├── data_VIOSim_sim_gyr_x.txt │ │ │ ├── data_VIOSim_sim_gyr_y.txt │ │ │ ├── data_VIOSim_sim_gyr_z.txt │ │ │ ├── data_gx4_acc_t.txt │ │ │ ├── data_gx4_acc_x.txt │ │ │ ├── data_gx4_acc_y.txt │ │ │ ├── data_gx4_acc_z.txt │ │ │ ├── data_gx4_gyr_t.txt │ │ │ ├── data_gx4_gyr_x.txt │ │ │ ├── data_gx4_gyr_y.txt │ │ │ ├── data_gx4_gyr_z.txt │ │ │ ├── data_gx4_sim_acc_t.txt │ │ │ ├── data_gx4_sim_acc_x.txt │ │ │ ├── data_gx4_sim_acc_y.txt │ │ │ ├── data_gx4_sim_acc_z.txt │ │ │ ├── data_gx4_sim_gyr_t.txt │ │ │ ├── data_gx4_sim_gyr_x.txt │ │ │ ├── data_gx4_sim_gyr_y.txt │ │ │ ├── data_gx4_sim_gyr_z.txt │ │ │ ├── data_xsens_acc_t.txt │ │ │ ├── data_xsens_acc_x.txt │ │ │ ├── data_xsens_acc_y.txt │ │ │ ├── data_xsens_acc_z.txt │ │ │ ├── data_xsens_gyr_t.txt │ │ │ ├── data_xsens_gyr_x.txt │ │ │ ├── data_xsens_gyr_y.txt │ │ │ ├── data_xsens_gyr_z.txt │ │ │ ├── data_xsens_sim_acc_t.txt │ │ │ ├── data_xsens_sim_acc_x.txt │ │ │ ├── data_xsens_sim_acc_y.txt │ │ │ ├── data_xsens_sim_acc_z.txt │ │ │ ├── data_xsens_sim_gyr_t.txt │ │ │ ├── data_xsens_sim_gyr_x.txt │ │ │ ├── data_xsens_sim_gyr_y.txt │ │ │ ├── data_xsens_sim_gyr_z.txt │ │ │ ├── gx4_imu_param.yaml │ │ │ └── xsens_imu_param.yaml │ │ ├── figure │ │ │ ├── acc.jpg │ │ │ └── gyr.jpg │ │ ├── launch │ │ │ ├── 16448.launch │ │ │ ├── A3.launch │ │ │ ├── gx4.launch │ │ │ ├── n3.launch │ │ │ ├── sim.launch │ │ │ ├── tum.launch │ │ │ └── xsens.launch │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── all_of_draw_allan.m │ │ │ ├── all_of_draw_allan_acc.m │ │ │ ├── allan_with_degree.m │ │ │ ├── avg_of_all_sensors.m │ │ │ ├── avg_of_all_sensors_acc.m │ │ │ ├── draw_allan.m │ │ │ ├── draw_allan.py │ │ │ └── ideal_allan.m │ │ └── src │ │ │ ├── acc_lib │ │ │ ├── allan_acc.cpp │ │ │ ├── allan_acc.h │ │ │ ├── fitallan_acc.cpp │ │ │ └── fitallan_acc.h │ │ │ ├── gyr_lib │ │ │ ├── allan_gyr.cpp │ │ │ ├── allan_gyr.h │ │ │ ├── fitallan_gyr.cpp │ │ │ └── fitallan_gyr.h │ │ │ ├── imu_an.cpp │ │ │ ├── type.h │ │ │ └── utils.h │ └── vio_data_simulation │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── package.xml │ │ └── src │ │ ├── gener_alldata.cpp │ │ ├── imu.cpp │ │ ├── imu.h │ │ ├── param.cpp │ │ ├── param.h │ │ ├── utilities.cpp │ │ └── utilities.h └── standard │ ├── .gitignore │ ├── CMakeLists.txt │ ├── README.md │ ├── bin │ ├── all_points.txt │ ├── cam_pose.txt │ ├── cam_pose_tum.txt │ ├── data_gen │ ├── demo.png │ ├── house_model │ │ └── house.txt │ ├── imu_int_pose.txt │ ├── imu_int_pose_noise.txt │ ├── imu_pose.txt │ └── imu_pose_noise.txt │ ├── build │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.5.1 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeError.log │ │ ├── CMakeOutput.log │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── TargetDirectories.txt │ │ ├── cmake.check_cache │ │ ├── data_gen.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ ├── main │ │ │ │ └── gener_alldata.cpp.o │ │ │ ├── progress.make │ │ │ └── src │ │ │ │ ├── imu.cpp.o │ │ │ │ ├── param.cpp.o │ │ │ │ └── utilities.cpp.o │ │ ├── feature_tests.bin │ │ ├── feature_tests.c │ │ ├── feature_tests.cxx │ │ └── progress.marks │ ├── Makefile │ └── cmake_install.cmake │ ├── cmake_modules │ └── FindEigen3.cmake │ ├── main │ └── gener_alldata.cpp │ ├── python_tool │ ├── GeometryLib.py │ ├── GeometryLib.pyc │ ├── draw_points.py │ ├── draw_trajectory.py │ ├── transformations.py │ └── transformations.pyc │ └── src │ ├── imu.cpp │ ├── imu.h │ ├── param.cpp │ ├── param.h │ ├── utilities.cpp │ └── utilities.h ├── 16-lidar-transform ├── basic_transform_study.cpp └── report.pdf ├── 17-lidar-slam-motion-calib ├── direct-method │ ├── CMakeLists.txt │ ├── Odom_Calib.hpp │ ├── launch │ │ ├── calib.rviz │ │ └── odomCalib.launch │ ├── odom-calib.png │ ├── package.xml │ ├── results │ └── src │ │ ├── Odom_Calib.cpp │ │ └── main.cpp └── model-based │ └── odom_calib.cpp └── README.md /00-Env-Setup/01-single-executable/.gitignore: -------------------------------------------------------------------------------- 1 | # cmake workspace 2 | build/ 3 | -------------------------------------------------------------------------------- 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