├── .gitignore ├── 01_Screenshots ├── BlenderAddon_BSLAMSIM_BlenderUI.png ├── BlenderAddon_BSLAMSIM_Part1.jpg └── BlenderAddon_BSLAMSIM_Part2.jpg ├── 02_Utilities ├── BlenderAddon │ ├── addon_vslam_groundtruth_Blender279.py │ ├── addon_vslam_groundtruth_Blender280.py │ ├── addon_vslam_groundtruth_Blender300.py │ └── addon_vslam_groundtruth_Blender351.py └── FusionLinearKalmanFilter │ ├── 01_LinearKalmanFilter_allEvaluations.blend │ ├── 01_LinearKalmanFilter_allEvaluations.py │ ├── BlenderPlot.py │ ├── Blender_DSO_Destructed Loop 1m Only DSO updates_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_DSO_Linear Constant Velocity 1m Only DSO updates_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_DSO_SceneCity Loop 1m Only DSO updates_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_DSO_Venice Loop 1m Only DSO updates_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Destructed Loop 10m GPS Position Manually scaled_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Destructed Loop 10m GPS Position Manually scaled_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Destructed Loop 10m GPS Position Manually scaled_4.84254_-72.6998_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Destructed Loop 10m GPS Position raw_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Destructed Loop 10m GPS Position raw_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Destructed Loop 10m GPS Position raw_4.84254_-72.6998_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Destructed Loop 10m GPS Velocity raw_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Destructed Loop 10m GPS Velocity raw_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Destructed Loop 10m GPS Velocity raw_4.84254_-72.6998_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Destructed Loop 1m GPS Position Manually scaled_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Destructed Loop 1m GPS Position Manually scaled_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Destructed Loop 1m GPS Position Manually scaled_4.84254_-72.6998_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Destructed Loop 1m GPS Position raw_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Destructed Loop 1m GPS Position raw_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Destructed Loop 1m GPS Position raw_4.84254_-72.6998_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Destructed Loop 1m GPS Velocity raw_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Destructed Loop 1m GPS Velocity raw_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Destructed Loop 1m GPS Velocity raw_4.84254_-72.6998_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Linear Constant Velocity 10m GPS Position Manually scaled_-30.0_-9.3_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Linear Constant Velocity 10m GPS Position Manually scaled_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Linear Constant Velocity 10m GPS Position Manually scaled_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Linear Constant Velocity 10m GPS Position raw_-30.0_-9.3_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Linear Constant Velocity 10m GPS Position raw_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Linear Constant Velocity 10m GPS Position raw_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Linear Constant Velocity 10m GPS Velocity raw_-30.0_-9.3_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Linear Constant Velocity 10m GPS Velocity raw_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Linear Constant Velocity 1m GPS Position Manually scaled_-30.0_-9.3_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Linear Constant Velocity 1m GPS Position Manually scaled_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Linear Constant Velocity 1m GPS Position Manually scaled_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Linear Constant Velocity 1m GPS Position raw_-30.0_-9.3_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Linear Constant Velocity 1m GPS Position raw_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Linear Constant Velocity 1m GPS Position raw_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Linear Constant Velocity 1m GPS Velocity raw_-30.0_-9.3_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Linear Constant Velocity 1m GPS Velocity raw_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Linear Constant Velocity 1m GPS Velocity raw_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_SceneCity Loop 10m GPS Position Manually scaled_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_SceneCity Loop 10m GPS Position Manually scaled_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_SceneCity Loop 10m GPS Position Manually scaled_1.02_-4_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_SceneCity Loop 10m GPS Position raw_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_SceneCity Loop 10m GPS Velocity raw_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_SceneCity Loop 10m GPS Velocity raw_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_SceneCity Loop 10m GPS Velocity raw_1.02_-4_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_SceneCity Loop 1m GPS Position Manually scaled_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_SceneCity Loop 1m GPS Position Manually scaled_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_SceneCity Loop 1m GPS Position Manually scaled_1.02_-4_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_SceneCity Loop 1m GPS Position raw_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_SceneCity Loop 1m GPS Position raw_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_SceneCity Loop 1m GPS Position raw_1.02_-4_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_SceneCity Loop 1m GPS Velocity raw_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_SceneCity Loop 1m GPS Velocity raw_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_SceneCity Loop 1m GPS Velocity raw_1.02_-4_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_SceneCityLoop 10m GPS Position raw_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_SceneCityLoop 10m GPS Position raw_1.02_-4_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Venice Loop 10m GPS Position Manually scaled_-992.412_362.021_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Venice Loop 10m GPS Position Manually scaled_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Venice Loop 10m GPS Position Manually scaled_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Venice Loop 10m GPS Position raw_-992.412_362.021_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Venice Loop 10m GPS Position raw_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Venice Loop 10m GPS Position raw_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Venice Loop 10m GPS Velocity raw_-992.412_362.021_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Venice Loop 10m GPS Velocity raw_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Venice Loop 10m GPS Velocity raw_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Venice Loop 1m GPS Position Manually scaled_-992.412_362.021_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Venice Loop 1m GPS Position Manually scaled_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Venice Loop 1m GPS Position Manually scaled_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Venice Loop 1m GPS Position raw_-992.412_362.021_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Venice Loop 1m GPS Position raw_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Venice Loop 1m GPS Position raw_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Venice Loop 1m GPS Velocity raw_-992.412_362.021_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Venice Loop 1m GPS Velocity raw_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS+DSO_Venice Loop 1m GPS Velocity raw_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS_Destructed Loop 1m Only GPS Updates, every 50th frame, initialized_4.84254_-72.6998_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS_Destructed Loop 1m Only GPS Updates, every 50th frame_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS_Destructed Loop 1m Only GPS Updates, every frame_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS_Linear Constant Velocity 1m Only GPS Updates, every 50th frame, initialized_-30.0_-9.3_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS_Linear Constant Velocity 1m Only GPS Updates, every 50th frame_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS_Linear Constant Velocity 1m Only GPS Updates, every frame_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS_SceneCity Loop 1m Only GPS Updates, every 50th frame, initialized_1.02_-4_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS_SceneCity Loop 1m Only GPS Updates, every 50th frame_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS_SceneCity Loop 1m Only GPS Updates, every frame_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS_Venice Loop 1m Only GPS Updates, every 50th frame, initialized_-992.412_362.021_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ ├── Blender_GPS_Venice Loop 1m Only GPS Updates, every 50th frame_0.0_0.0_0.0_50_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt │ └── Blender_GPS_Venice Loop 1m Only GPS Updates, every frame_0.0_0.0_0.0_1_[1.0, 1.0]_[5.0, 5.0, 5.0]_0.02_0.4_0.2_0.2.txt ├── 03_Application ├── dso │ ├── CMakeLists.txt │ └── src │ │ ├── FullSystem │ │ ├── CoarseInitializer.cpp │ │ ├── CoarseInitializer.h │ │ ├── CoarseTracker.cpp │ │ ├── CoarseTracker.h │ │ ├── FullSystem.cpp │ │ ├── FullSystem.h │ │ ├── FullSystemDebugStuff.cpp │ │ ├── FullSystemMarginalize.cpp │ │ ├── FullSystemOptPoint.cpp │ │ ├── FullSystemOptimize.cpp │ │ ├── HessianBlocks.cpp │ │ ├── HessianBlocks.h │ │ ├── ImmaturePoint.cpp │ │ ├── ImmaturePoint.h │ │ ├── PixelSelector.h │ │ ├── PixelSelector2.cpp │ │ ├── PixelSelector2.h │ │ ├── ResidualProjections.h │ │ ├── Residuals.cpp │ │ └── Residuals.h │ │ ├── IOWrapper │ │ ├── ImageDisplay.h │ │ ├── ImageDisplay_dummy.cpp │ │ ├── ImageRW.h │ │ ├── ImageRW_dummy.cpp │ │ ├── OpenCV │ │ │ ├── ImageDisplay_OpenCV.cpp │ │ │ └── ImageRW_OpenCV.cpp │ │ ├── Output3DWrapper.h │ │ ├── OutputWrapper │ │ │ └── SampleOutputWrapper.h │ │ └── Pangolin │ │ │ ├── KeyFrameDisplay.cpp │ │ │ ├── KeyFrameDisplay.h │ │ │ ├── PangolinDSOViewer.cpp │ │ │ └── PangolinDSOViewer.h │ │ ├── OptimizationBackend │ │ ├── AccumulatedSCHessian.cpp │ │ ├── AccumulatedSCHessian.h │ │ ├── AccumulatedTopHessian.cpp │ │ ├── AccumulatedTopHessian.h │ │ ├── EnergyFunctional.cpp │ │ ├── EnergyFunctional.h │ │ ├── EnergyFunctionalStructs.cpp │ │ ├── EnergyFunctionalStructs.h │ │ ├── MatrixAccumulators.h │ │ └── RawResidualJacobian.h │ │ ├── main_dso_pangolin.cpp │ │ └── util │ │ ├── DatasetReader.h │ │ ├── FrameShell.h │ │ ├── HTTPPOSTRequest.h │ │ ├── ImageAndExposure.h │ │ ├── IndexThreadReduce.h │ │ ├── KalmanFilter.cpp │ │ ├── KalmanFilter.h │ │ ├── MinimalImage.h │ │ ├── NumType.h │ │ ├── UDPServer.cpp │ │ ├── UDPServer.h │ │ ├── Undistort.cpp │ │ ├── Undistort.h │ │ ├── globalCalib.cpp │ │ ├── globalCalib.h │ │ ├── globalFuncs.h │ │ ├── nanoflann.h │ │ ├── settings.cpp │ │ └── settings.h ├── dso_ros │ ├── .gitignore │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── dsoCameraZED_720P.txt │ ├── dsoCameraZED_FullHD.txt │ ├── package.xml │ ├── runDSOOffline.sh │ ├── runDSOOnline.sh │ ├── runDemo.sh │ └── src │ │ └── main.cpp ├── median_filter │ └── median_filter.py └── video2bag │ └── 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