├── .gitignore ├── .idea ├── .name ├── codeStyles │ └── Project.xml ├── lsd-slam.iml ├── misc.xml ├── modules.xml ├── vcs.xml └── workspace.xml ├── .qglviewer.xml ├── .qglviewer1.xml ├── CMakeLists.txt ├── LICENSE ├── README.md ├── lsd_slam_core ├── CMakeLists.txt ├── Makefile ├── calib │ ├── FOV_examle_calib.cfg │ ├── OpenCV_example_calib (copy).cfg~ │ ├── OpenCV_example_calib.cfg │ ├── OpenCV_example_calib.cfg~ │ ├── mycalib.cfg │ ├── mycalib.cfg~ │ └── pinhole_example_calib.cfg ├── cfg │ ├── LSDDebugParams.cfg │ └── LSDParams.cfg ├── cmake │ ├── FindEigen3.cmake │ └── FindSuiteParse.cmake ├── manifest.xml ├── src │ ├── DataStructures │ │ ├── Frame.cpp │ │ ├── Frame.h │ │ ├── FrameMemory.cpp │ │ ├── FrameMemory.h │ │ ├── FramePoseStruct.cpp │ │ └── FramePoseStruct.h │ ├── DepthEstimation │ │ ├── DepthMap.cpp │ │ ├── DepthMap.h │ │ ├── DepthMapPixelHypothesis.cpp │ │ └── DepthMapPixelHypothesis.h │ ├── GlobalMapping │ │ ├── FabMap.cpp │ │ ├── FabMap.h │ │ ├── KeyFrameGraph.cpp │ │ ├── KeyFrameGraph.h │ │ ├── TrackableKeyFrameSearch.cpp │ │ ├── TrackableKeyFrameSearch.h │ │ ├── g2oTypeSim3Sophus.cpp │ │ └── g2oTypeSim3Sophus.h │ ├── IOWrapper │ │ ├── ImageDisplay.h │ │ ├── InputImageStream.h │ │ ├── NotifyBuffer.h │ │ ├── OpenCV │ │ │ └── ImageDisplay_OpenCV.cpp │ │ ├── Output3DWrapper.h │ │ ├── ROS │ │ │ ├── ROSImageStreamThread.cpp │ │ │ ├── ROSImageStreamThread.h │ │ │ ├── ROSOutput3DWrapper.cpp │ │ │ ├── ROSOutput3DWrapper.h │ │ │ └── rosReconfigure.h │ │ ├── Timestamp.cpp │ │ ├── Timestamp.h │ │ └── TimestampedObject.h │ ├── LiveSLAMWrapper.cpp │ ├── LiveSLAMWrapper.h │ ├── SlamSystem.cpp │ ├── SlamSystem.h │ ├── Tracking │ │ ├── LGSX.h │ │ ├── Relocalizer.cpp │ │ ├── Relocalizer.h │ │ ├── SE3Tracker.cpp │ │ ├── SE3Tracker.h │ │ ├── Sim3Tracker.cpp │ │ ├── Sim3Tracker.h │ │ ├── TrackingReference.cpp │ │ └── TrackingReference.h │ ├── main_live_odometry.cpp │ ├── main_on_images.cpp │ └── util │ │ ├── EigenCoreInclude.h │ │ ├── IndexThreadReduce.h │ │ ├── SophusUtil.cpp │ │ ├── SophusUtil.h │ │ ├── Undistorter.cpp │ │ ├── Undistorter.h │ │ ├── globalFuncs.cpp │ │ ├── globalFuncs.h │ │ ├── settings.cpp │ │ └── settings.h └── thirdparty │ ├── Sophus │ ├── CMakeLists.txt │ ├── FindEigen3.cmake │ ├── README │ ├── SophusConfig.cmake.in │ ├── cmake_modules │ │ └── FindEigen3.cmake │ └── sophus │ │ ├── rxso3.hpp │ │ ├── se2.hpp │ │ ├── se3.hpp │ │ ├── sim3.hpp │ │ ├── so2.hpp │ │ ├── so3.hpp │ │ ├── sophus.hpp │ │ ├── test_rxso3.cpp │ │ ├── test_se2.cpp │ │ ├── test_se3.cpp │ │ ├── test_sim3.cpp │ │ ├── test_so2.cpp │ │ ├── test_so3.cpp │ │ └── tests.hpp │ └── openFabMap │ ├── CMakeLists.txt │ ├── FindOpenCV.cmake │ ├── README.txt │ ├── gpl.txt │ ├── include │ └── openfabmap.hpp │ ├── samples │ ├── openFABMAPcli.cpp │ └── settings.yml │ ├── src │ ├── BOWMSCTrainer.cpp │ ├── ChowLiuTree.cpp │ └── FabMap.cpp │ └── trainingdata │ ├── StLuciaShortTraindata.yml │ ├── StLuciaShortTree.yml │ └── StLuciaShortVocabulary.yml ├── lsd_slam_viewer ├── CMakeLists.txt ├── Makefile ├── cfg │ └── LSDSLAMViewerParams.cfg ├── cmake │ ├── FindEigen3.cmake │ └── FindQGLViewer.cmake ├── launch │ └── lsd_slam_viewer.launch ├── manifest.xml ├── msg │ ├── keyframeGraphMsg.msg │ └── keyframeMsg.msg ├── pc.ply ├── pic │ └── 1.jpeg ├── src │ ├── .main_viewer.cpp.swp │ ├── KeyFrameDisplay.cpp │ ├── KeyFrameDisplay.h │ ├── KeyFrameGraphDisplay.cpp │ ├── KeyFrameGraphDisplay.h │ ├── PointCloudViewer.cpp │ ├── PointCloudViewer.h │ ├── keyboard │ │ ├── keyboard.cc │ │ └── keyboard.h │ ├── main_stitchVideos.cpp │ ├── main_viewer.cpp │ ├── main_viewer.h │ ├── robot │ │ ├── robot.cc │ │ └── robot.h │ ├── serial │ │ ├── serial.cc │ │ └── serial.h │ ├── settings.cpp │ └── settings.h └── thirdparty │ └── Sophus │ ├── CMakeLists.txt │ ├── FindEigen3.cmake │ ├── README │ ├── SophusConfig.cmake.in │ ├── cmake_modules │ └── FindEigen3.cmake │ └── sophus │ ├── rxso3.hpp │ ├── se2.hpp │ ├── se3.hpp │ ├── sim3.hpp │ ├── so2.hpp │ ├── so3.hpp │ ├── sophus.hpp │ ├── 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