├── .gitignore ├── DOC ├── EAO-SLAM-README.md ├── ORB-SLAM2-Dependencies.md └── figures │ ├── data_association.jpg │ ├── scale_and_orientation.png │ └── tum_fr3.png ├── LICENSE ├── LICENSE ├── LICENSE.txt └── License-gpl.txt ├── README.assets └── image0.png ├── README.md ├── 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 └── 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 │ └── license-bsd.txt ├── Vocabulary └── ORBvoc.bin ├── cmake_modules ├── FindEigen3.cmake └── glog.cmake ├── data ├── groundtruth.txt ├── rgb_full_demo.txt ├── rgb_seq_pose.txt ├── t_test.txt └── yolo_txts.tar.gz ├── eval ├── README ├── downsample.m ├── euclideanDistanceTwoPointClouds.m ├── evaluate.m ├── register.m └── scaling.m ├── include ├── Converter.h ├── Frame.h ├── FrameDrawer.h ├── Global.h ├── Initializer.h ├── KeyFrame.h ├── KeyFrameDatabase.h ├── LocalMapping.h ├── Logging.h ├── LoopClosing.h ├── Map.h ├── MapDrawer.h ├── MapPlane.h ├── MapPoint.h ├── ORBVocabulary.h ├── ORBextractor.h ├── ORBmatcher.h ├── Object.h ├── Optimizer.h ├── PEAC │ ├── AHCParamSet.hpp │ ├── AHCPlaneFitter.hpp │ ├── AHCPlaneSeg.hpp │ ├── AHCTypes.hpp │ ├── AHCUtils.hpp │ ├── DisjointSet.hpp │ └── eig33sym.hpp ├── PnPsolver.h ├── Sim3Solver.h ├── System.h ├── Tracking.h ├── Viewer.h ├── YOLOX.h ├── YOLOv3SE.h └── isolation_forest.h ├── ros_test ├── CMakeLists.txt ├── app │ ├── ros_node.cpp │ ├── ros_rgbd.cpp │ └── ros_rgbd_imu.cpp ├── config │ ├── Anonymous-Pro-Bold.ttf │ ├── Anonymous-Pro.ttf │ ├── D435i.yaml │ ├── Depth_Filter.yaml │ ├── TUM1.yaml │ ├── TUM2.yaml │ └── TUM3.yaml ├── include │ ├── image_subscriber.h │ ├── imu_subscriber.h │ └── message_flow.h ├── launch │ ├── d435i.launch │ ├── ros_test.launch │ └── rosbag.launch ├── package.xml ├── src │ ├── image_subscriber.cc │ ├── imu_subscriber.cc │ ├── message_flow.cc │ └── ros_node.cpp └── srv │ └── saveOdometry.srv ├── src ├── CAPE │ ├── CAPE.cc │ ├── CAPE.h │ ├── CylinderSeg.cc │ ├── CylinderSeg.h │ ├── Histogram.cc │ ├── Histogram.h │ ├── Params.h │ ├── PlaneSeg.cc │ └── PlaneSeg.h ├── Converter.cc ├── DepthFilter │ ├── Config.h │ ├── JBF.cc │ ├── JBF.h │ ├── Kernel.cc │ └── Kernel.h ├── Frame.cc ├── FrameDrawer.cc ├── Initializer.cc ├── KeyFrame.cc ├── KeyFrameDatabase.cc ├── LocalMapping.cc ├── LoopClosing.cc ├── Map.cc ├── MapDrawer.cc ├── MapPlane.cc ├── MapPoint.cc ├── ORBextractor.cc ├── ORBmatcher.cc ├── Object.cc ├── Optimizer.cc ├── PnPsolver.cc ├── Sim3Solver.cc ├── System.cc ├── Tracking.cc ├── Viewer.cc ├── YOLOX.cc └── g2oAddition │ ├── EdgePlane.cc │ ├── EdgePlane.h │ ├── Plane3D.h │ ├── VertexPlane.cc │ └── VertexPlane.h └── tools └── bin_vocabulary.cc /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChenJiahao031008/EAO-Fusion/HEAD/.gitignore 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