├── 3dParty └── orb_slam_2_ros │ ├── CMakeLists.txt │ ├── CTestConfiguration.ini │ ├── CTestCustom.cmake │ ├── CTestTestfile.cmake │ ├── Dependencies.md │ ├── LICENSE.txt │ ├── License-gpl.txt │ ├── README.md │ ├── docker │ ├── kinetic │ │ └── Dockerfile │ └── melodic │ │ └── Dockerfile │ ├── msg │ └── ORBState.msg │ ├── odom_transfer.py │ ├── orb_slam2 │ ├── Thirdparty │ │ ├── DBoW2 │ │ │ ├── CMakeLists.txt │ │ │ ├── DBoW2 │ │ │ │ ├── BowVector.cpp │ │ │ │ ├── BowVector.h │ │ │ │ ├── FClass.h │ │ │ │ ├── FORB.cpp │ │ │ │ ├── FORB.h │ │ │ │ ├── FeatureVector.cpp │ │ │ │ ├── FeatureVector.h │ │ │ │ ├── ScoringObject.cpp │ │ │ │ ├── ScoringObject.h │ │ │ │ └── TemplatedVocabulary.h │ │ │ ├── DUtils │ │ │ │ ├── Random.cpp │ │ │ │ ├── Random.h │ │ │ │ ├── Timestamp.cpp │ │ │ │ └── Timestamp.h │ │ │ ├── LICENSE.txt │ │ │ ├── README.txt │ │ │ └── lib │ │ │ │ └── libDBoW2.so │ │ └── g2o │ │ │ ├── CMakeLists.txt │ │ │ ├── README.txt │ │ │ ├── cmake_modules │ │ │ ├── FindBLAS.cmake │ │ │ ├── FindEigen3.cmake │ │ │ └── FindLAPACK.cmake │ │ │ ├── config.h │ │ │ ├── config.h.in │ │ │ ├── g2o │ │ │ ├── core │ │ │ │ ├── base_binary_edge.h │ │ │ │ ├── base_binary_edge.hpp │ │ │ │ ├── base_edge.h │ │ │ │ ├── base_multi_edge.h │ │ │ │ ├── base_multi_edge.hpp │ │ │ │ ├── base_unary_edge.h │ │ │ │ ├── base_unary_edge.hpp │ │ │ │ ├── base_vertex.h │ │ │ │ ├── base_vertex.hpp │ │ │ │ ├── batch_stats.cpp │ │ │ │ ├── batch_stats.h │ │ │ │ ├── block_solver.h │ │ │ │ ├── block_solver.hpp │ │ │ │ ├── cache.cpp │ │ │ │ ├── cache.h │ │ │ │ ├── creators.h │ │ │ │ ├── eigen_types.h │ │ │ │ ├── estimate_propagator.cpp │ │ │ │ ├── estimate_propagator.h │ │ │ │ ├── factory.cpp │ │ │ │ ├── factory.h │ │ │ │ ├── hyper_dijkstra.cpp │ │ │ │ ├── hyper_dijkstra.h │ │ │ │ ├── hyper_graph.cpp │ │ │ │ ├── hyper_graph.h │ │ │ │ ├── hyper_graph_action.cpp │ │ │ │ ├── hyper_graph_action.h │ │ │ │ ├── jacobian_workspace.cpp │ │ │ │ ├── jacobian_workspace.h │ │ │ │ ├── linear_solver.h │ │ │ │ ├── marginal_covariance_cholesky.cpp │ │ │ │ ├── marginal_covariance_cholesky.h │ │ │ │ ├── matrix_operations.h │ │ │ │ ├── matrix_structure.cpp │ │ │ │ ├── matrix_structure.h │ │ │ │ ├── openmp_mutex.h │ │ │ │ ├── optimizable_graph.cpp │ │ │ │ ├── optimizable_graph.h │ │ │ │ ├── optimization_algorithm.cpp │ │ │ │ ├── optimization_algorithm.h │ │ │ │ ├── optimization_algorithm_dogleg.cpp │ │ │ │ ├── optimization_algorithm_dogleg.h │ │ │ │ ├── optimization_algorithm_factory.cpp │ │ │ │ ├── optimization_algorithm_factory.h │ │ │ │ ├── optimization_algorithm_gauss_newton.cpp │ │ │ │ ├── optimization_algorithm_gauss_newton.h │ │ │ │ ├── optimization_algorithm_levenberg.cpp │ │ │ │ ├── optimization_algorithm_levenberg.h │ │ │ │ ├── optimization_algorithm_property.h │ │ │ │ ├── optimization_algorithm_with_hessian.cpp │ │ │ │ ├── optimization_algorithm_with_hessian.h │ │ │ │ ├── parameter.cpp │ │ │ │ ├── parameter.h │ │ │ │ ├── parameter_container.cpp │ │ │ │ ├── parameter_container.h │ │ │ │ ├── robust_kernel.cpp │ │ │ │ ├── robust_kernel.h │ │ │ │ ├── robust_kernel_factory.cpp │ │ │ │ ├── robust_kernel_factory.h │ │ │ │ ├── robust_kernel_impl.cpp │ │ │ │ ├── robust_kernel_impl.h │ │ │ │ ├── solver.cpp │ │ │ │ ├── solver.h │ │ │ │ ├── sparse_block_matrix.h │ │ │ │ ├── sparse_block_matrix.hpp │ │ │ │ ├── sparse_block_matrix_ccs.h │ │ │ │ ├── sparse_block_matrix_diagonal.h │ │ │ │ ├── sparse_block_matrix_test.cpp │ │ │ │ ├── sparse_optimizer.cpp │ │ │ │ └── sparse_optimizer.h │ │ │ ├── solvers │ │ │ │ ├── linear_solver_dense.h │ │ │ │ └── linear_solver_eigen.h │ │ │ ├── stuff │ │ │ │ ├── color_macros.h │ │ │ │ ├── macros.h │ │ │ │ ├── misc.h │ │ │ │ ├── os_specific.c │ │ │ │ ├── os_specific.h │ │ │ │ ├── property.cpp │ │ │ │ ├── property.h │ │ │ │ ├── string_tools.cpp │ │ │ │ ├── string_tools.h │ │ │ │ ├── timeutil.cpp │ │ │ │ └── timeutil.h │ │ │ └── types │ │ │ │ ├── se3_ops.h │ │ │ │ ├── se3_ops.hpp │ │ │ │ ├── se3quat.h │ │ │ │ ├── sim3.h │ │ │ │ ├── types_sba.cpp │ │ │ │ ├── types_sba.h │ │ │ │ ├── types_seven_dof_expmap.cpp │ │ │ │ ├── types_seven_dof_expmap.h │ │ │ │ ├── types_six_dof_expmap.cpp │ │ │ │ └── types_six_dof_expmap.h │ │ │ ├── lib │ │ │ └── libg2o.so │ │ │ └── license-bsd.txt │ ├── Vocabulary │ │ ├── ORBvoc.txt.bin │ │ └── ORBvoc.txt.tar.gz │ ├── cmake_modules │ │ └── FindEigen3.cmake │ ├── config │ │ └── TUM2.yaml │ ├── include │ │ ├── BoostArchiver.h │ │ ├── Converter.h │ │ ├── Frame.h │ │ ├── FrameDrawer.h │ │ ├── HessianComputation.h │ │ ├── Initializer.h │ │ ├── KeyFrame.h │ │ ├── KeyFrameDatabase.h │ │ ├── LocalMapping.h │ │ ├── LoopClosing.h │ │ ├── Map.h │ │ ├── MapGraphPublisher.h │ │ ├── MapPoint.h │ │ ├── ORBVocabulary.h │ │ ├── ORBextractor.h │ │ ├── ORBmatcher.h │ │ ├── Optimizer.h │ │ ├── PinHole.h │ │ ├── PnPsolver.h │ │ ├── Sim3Solver.h │ │ ├── System.h │ │ └── Tracking.h │ ├── lib │ │ └── liborb_slam2_ros.so │ └── src │ │ ├── Converter.cc │ │ ├── Frame.cc │ │ ├── FrameDrawer.cc │ │ ├── HessianComputation.cc │ │ ├── Initializer.cc │ │ ├── KeyFrame.cc │ │ ├── KeyFrameDatabase.cc │ │ ├── LocalMapping.cc │ │ ├── LoopClosing.cc │ │ ├── Map.cc │ │ ├── MapGraphPublisher.cc │ │ ├── MapPoint.cc │ │ ├── ORBextractor.cc │ │ ├── ORBmatcher.cc │ │ ├── Optimizer.cc │ │ ├── PinHole.cc │ │ ├── PnPsolver.cc │ │ ├── Sim3Solver.cc │ │ ├── System.cc │ │ └── Tracking.cc │ ├── package.xml │ ├── ros │ ├── config │ │ ├── dynamic_reconfigure.cfg │ │ └── rviz_config.rviz │ ├── include │ │ ├── MonoNode.h │ │ ├── Node.h │ │ ├── RGBDNode.h │ │ └── StereoNode.h │ ├── launch │ │ └── orb_slam2_exploration.launch │ └── src │ │ ├── MonoNode.cc │ │ ├── Node.cc │ │ ├── RGBDNode.cc │ │ └── StereoNode.cc │ └── srv │ ├── SaveMap.srv │ └── SavePG.srv ├── LICENSE ├── README.md ├── docs ├── explore.gif ├── mapping.gif ├── mist.jpeg ├── poly.png └── sim.png ├── mapping ├── CMakeLists.txt ├── include │ ├── semantic_octomap_node │ │ ├── octomap_generator.h │ │ ├── octomap_generator_base.h │ │ └── octomap_generator_ros.h │ ├── semantic_octree │ │ ├── SemanticOcTree.h │ │ ├── SemanticOcTree.hxx │ │ ├── SemanticOcTreeNode.h │ │ └── Semantics.h │ └── semantic_point_cloud │ │ └── semantic_point_type.h ├── launch │ └── semantic_mapping.launch ├── msg │ ├── LE.msg │ └── RayRLE.msg ├── package.xml ├── params │ ├── octomap_generator.yaml │ └── semantic_cloud_matterport.yaml ├── scripts │ ├── semantic_sensor.py │ └── semantic_sensor_node.py ├── src │ ├── semantic_octomap_node │ │ ├── octomap_generator.cpp │ │ └── octomap_generator_ros.cpp │ └── semantic_octree │ │ └── Semantics.cpp └── srv │ └── GetRLE.srv ├── planning ├── CMakeLists.txt ├── deps │ └── pybind11 │ │ ├── .appveyor.yml │ │ ├── .clang-format │ │ ├── .clang-tidy │ │ ├── .cmake-format.yaml │ │ ├── .codespell-ignore-lines │ │ ├── .gitattributes │ │ ├── .pre-commit-config.yaml │ │ ├── .readthedocs.yml │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── MANIFEST.in │ │ ├── README.rst │ │ ├── SECURITY.md │ │ ├── docs │ │ ├── Doxyfile │ │ ├── Makefile │ │ ├── _static │ │ │ └── css │ │ │ │ └── custom.css │ │ ├── advanced │ │ │ ├── cast │ │ │ │ ├── chrono.rst │ │ │ │ ├── custom.rst │ │ │ │ ├── eigen.rst │ │ │ │ ├── functional.rst │ │ │ │ ├── index.rst │ │ │ │ ├── overview.rst │ │ │ │ ├── stl.rst │ │ │ │ └── strings.rst │ │ │ ├── classes.rst │ │ │ ├── embedding.rst │ │ │ ├── exceptions.rst │ │ │ ├── functions.rst │ │ │ ├── misc.rst │ │ │ ├── pycpp │ │ │ │ ├── index.rst │ │ │ │ ├── numpy.rst │ │ │ │ ├── object.rst │ │ │ │ └── utilities.rst │ │ │ └── smart_ptrs.rst │ │ ├── basics.rst │ │ ├── benchmark.py │ │ ├── benchmark.rst │ │ ├── changelog.rst │ │ ├── classes.rst │ │ ├── cmake │ │ │ └── index.rst │ │ ├── compiling.rst │ │ ├── conf.py │ │ ├── faq.rst │ │ ├── index.rst │ │ ├── installing.rst │ │ ├── limitations.rst │ │ ├── pybind11-logo.png │ │ ├── pybind11_vs_boost_python1.png │ │ ├── pybind11_vs_boost_python1.svg │ │ ├── pybind11_vs_boost_python2.png │ │ ├── pybind11_vs_boost_python2.svg │ │ ├── reference.rst │ │ ├── release.rst │ │ ├── requirements.txt │ │ └── upgrade.rst │ │ ├── include │ │ └── pybind11 │ │ │ ├── attr.h │ │ │ ├── buffer_info.h │ │ │ ├── cast.h │ │ │ ├── chrono.h │ │ │ ├── common.h │ │ │ ├── complex.h │ │ │ ├── detail │ │ │ ├── class.h │ │ │ ├── common.h │ │ │ ├── descr.h │ │ │ ├── init.h │ │ │ ├── internals.h │ │ │ ├── type_caster_base.h │ │ │ └── typeid.h │ │ │ ├── eigen.h │ │ │ ├── eigen │ │ │ ├── common.h │ │ │ ├── matrix.h │ │ │ └── tensor.h │ │ │ ├── embed.h │ │ │ ├── eval.h │ │ │ ├── functional.h │ │ │ ├── gil.h │ │ │ ├── iostream.h │ │ │ ├── numpy.h │ │ │ ├── operators.h │ │ │ ├── options.h │ │ │ ├── pybind11.h │ │ │ ├── pytypes.h │ │ │ ├── stl.h │ │ │ ├── stl │ │ │ └── filesystem.h │ │ │ ├── stl_bind.h │ │ │ ├── type_caster_pyobject_ptr.h │ │ │ └── typing.h │ │ ├── noxfile.py │ │ ├── pybind11 │ │ ├── __init__.py │ │ ├── __main__.py │ │ ├── _version.py │ │ ├── commands.py │ │ ├── py.typed │ │ └── setup_helpers.py │ │ ├── pyproject.toml │ │ ├── setup.cfg │ │ ├── setup.py │ │ ├── tests │ │ ├── CMakeLists.txt │ │ ├── conftest.py │ │ ├── constructor_stats.h │ │ ├── cross_module_gil_utils.cpp │ │ ├── cross_module_interleaved_error_already_set.cpp │ │ ├── eigen_tensor_avoid_stl_array.cpp │ │ ├── env.py │ │ ├── extra_python_package │ │ │ ├── pytest.ini │ │ │ └── test_files.py │ │ ├── extra_setuptools │ │ │ ├── pytest.ini │ │ │ └── test_setuphelper.py │ │ ├── local_bindings.h │ │ ├── object.h │ │ ├── pybind11_cross_module_tests.cpp │ │ ├── pybind11_tests.cpp │ │ ├── pybind11_tests.h │ │ ├── pytest.ini │ │ ├── requirements.txt │ │ ├── test_async.cpp │ │ ├── test_async.py │ │ ├── test_buffers.cpp │ │ ├── test_buffers.py │ │ ├── test_builtin_casters.cpp │ │ ├── test_builtin_casters.py │ │ ├── test_call_policies.cpp │ │ ├── test_call_policies.py │ │ ├── test_callbacks.cpp │ │ ├── test_callbacks.py │ │ ├── test_chrono.cpp │ │ ├── test_chrono.py │ │ ├── test_class.cpp │ │ ├── test_class.py │ │ ├── test_cmake_build │ │ │ ├── CMakeLists.txt │ │ │ ├── embed.cpp │ │ │ ├── installed_embed │ │ │ │ └── CMakeLists.txt │ │ │ ├── installed_function │ │ │ │ └── CMakeLists.txt │ │ │ ├── installed_target │ │ │ │ └── CMakeLists.txt │ │ │ ├── main.cpp │ │ │ ├── subdirectory_embed │ │ │ │ └── CMakeLists.txt │ │ │ ├── subdirectory_function │ │ │ │ └── CMakeLists.txt │ │ │ ├── subdirectory_target │ │ │ │ └── CMakeLists.txt │ │ │ └── test.py │ │ ├── test_const_name.cpp │ │ ├── test_const_name.py │ │ ├── test_constants_and_functions.cpp │ │ ├── test_constants_and_functions.py │ │ ├── test_copy_move.cpp │ │ ├── test_copy_move.py │ │ ├── test_custom_type_casters.cpp │ │ ├── test_custom_type_casters.py │ │ ├── test_custom_type_setup.cpp │ │ ├── test_custom_type_setup.py │ │ ├── test_docstring_options.cpp │ │ ├── test_docstring_options.py │ │ ├── test_eigen_matrix.cpp │ │ ├── test_eigen_matrix.py │ │ ├── test_eigen_tensor.cpp │ │ ├── test_eigen_tensor.inl │ │ ├── test_eigen_tensor.py │ │ ├── test_embed │ │ │ ├── CMakeLists.txt │ │ │ ├── catch.cpp │ │ │ ├── external_module.cpp │ │ │ ├── test_interpreter.cpp │ │ │ ├── test_interpreter.py │ │ │ └── test_trampoline.py │ │ ├── test_enum.cpp │ │ ├── test_enum.py │ │ ├── test_eval.cpp │ │ ├── test_eval.py │ │ ├── test_eval_call.py │ │ ├── test_exceptions.cpp │ │ ├── test_exceptions.h │ │ ├── test_exceptions.py │ │ ├── test_factory_constructors.cpp │ │ ├── test_factory_constructors.py │ │ ├── test_gil_scoped.cpp │ │ ├── test_gil_scoped.py │ │ ├── test_iostream.cpp │ │ ├── test_iostream.py │ │ ├── test_kwargs_and_defaults.cpp │ │ ├── test_kwargs_and_defaults.py │ │ ├── test_local_bindings.cpp │ │ ├── test_local_bindings.py │ │ ├── test_methods_and_attributes.cpp │ │ ├── test_methods_and_attributes.py │ │ ├── test_modules.cpp │ │ ├── test_modules.py │ │ ├── test_multiple_inheritance.cpp │ │ ├── test_multiple_inheritance.py │ │ ├── test_numpy_array.cpp │ │ ├── test_numpy_array.py │ │ ├── test_numpy_dtypes.cpp │ │ ├── test_numpy_dtypes.py │ │ ├── test_numpy_vectorize.cpp │ │ ├── test_numpy_vectorize.py │ │ ├── test_opaque_types.cpp │ │ ├── test_opaque_types.py │ │ ├── test_operator_overloading.cpp │ │ ├── test_operator_overloading.py │ │ ├── test_pickling.cpp │ │ ├── test_pickling.py │ │ ├── test_pytypes.cpp │ │ ├── test_pytypes.py │ │ ├── test_sequences_and_iterators.cpp │ │ ├── test_sequences_and_iterators.py │ │ ├── test_smart_ptr.cpp │ │ ├── test_smart_ptr.py │ │ ├── test_stl.cpp │ │ ├── test_stl.py │ │ ├── test_stl_binders.cpp │ │ ├── test_stl_binders.py │ │ ├── test_tagbased_polymorphic.cpp │ │ ├── test_tagbased_polymorphic.py │ │ ├── test_thread.cpp │ │ ├── test_thread.py │ │ ├── test_type_caster_pyobject_ptr.cpp │ │ ├── test_type_caster_pyobject_ptr.py │ │ ├── test_union.cpp │ │ ├── test_union.py │ │ ├── test_unnamed_namespace_a.cpp │ │ ├── test_unnamed_namespace_a.py │ │ ├── test_unnamed_namespace_b.cpp │ │ ├── test_unnamed_namespace_b.py │ │ ├── test_vector_unique_ptr_member.cpp │ │ ├── test_vector_unique_ptr_member.py │ │ ├── test_virtual_functions.cpp │ │ ├── test_virtual_functions.py │ │ ├── valgrind-numpy-scipy.supp │ │ └── valgrind-python.supp │ │ └── tools │ │ ├── FindCatch.cmake │ │ ├── FindEigen3.cmake │ │ ├── FindPythonLibsNew.cmake │ │ ├── JoinPaths.cmake │ │ ├── check-style.sh │ │ ├── cmake_uninstall.cmake.in │ │ ├── codespell_ignore_lines_from_errors.py │ │ ├── libsize.py │ │ ├── make_changelog.py │ │ ├── pybind11.pc.in │ │ ├── pybind11Common.cmake │ │ ├── pybind11Config.cmake.in │ │ ├── pybind11NewTools.cmake │ │ ├── pybind11Tools.cmake │ │ ├── pyproject.toml │ │ ├── setup_global.py.in │ │ └── setup_main.py.in ├── launch │ └── run_semantic_exploration.launch ├── package.xml ├── params │ └── exploration_params.yaml ├── rviz │ └── rviz.rviz ├── setup.py └── src │ ├── cpp │ ├── inc │ │ ├── exploration │ │ │ ├── astar.h │ │ │ ├── collision.h │ │ │ └── util.h │ │ └── safe_array.h │ └── src │ │ └── exploration │ │ ├── astar.cpp │ │ ├── collision.cpp │ │ ├── python.cpp │ │ └── util.cpp │ ├── exploration │ └── 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