├── CMakeLists.txt ├── Examples └── RGB-D │ ├── TUM1.yaml │ ├── TUM2.yaml │ ├── TUM3.yaml │ ├── associations │ ├── fr1_desk.txt │ ├── fr1_desk2.txt │ ├── fr1_room.txt │ ├── fr1_xyz.txt │ ├── fr2_desk.txt │ ├── fr2_xyz.txt │ ├── fr3_nstr_tex_near.txt │ ├── fr3_office.txt │ ├── fr3_office_val.txt │ ├── fr3_str_tex_far.txt │ └── fr3_str_tex_near.txt │ ├── rgbd_tum │ ├── rgbd_tum.cc │ ├── show_sparse_cloud │ └── show_sparse_cloud.cc ├── LICENSE.txt ├── README.md ├── Thirdparty ├── DBoW2.zip └── g2o.zip ├── Vocabulary └── ORBvoc.txt.tar.gz ├── YoloConfig ├── models │ └── yolo │ │ ├── coco.names │ │ └── yolov5 │ │ └── ADD_YOLOv5_PARAMS_HERE.txt ├── yolov5_config.yaml └── yolov5_config_wo.yaml ├── associate.py ├── cmake_modules └── FindEigen3.cmake ├── include ├── Auxiliar.h ├── Converter.h ├── ExtractLineSegment.h ├── Frame.h ├── FrameDrawer.h ├── Initializer.h ├── KeyFrame.h ├── KeyFrameDatabase.h ├── LSDmatcher.h ├── LineEdge.h ├── LocalMapping.h ├── LoopClosing.h ├── Map.h ├── MapDrawer.h ├── MapLine.h ├── MapPoint.h ├── ORBVocabulary.h ├── ORBextractor.h ├── ORBmatcher.h ├── Optimizer.h ├── PnPsolver.h ├── PointCloudMap.h ├── Sim3Solver.h ├── System.h ├── Tracking.h ├── Viewer.h ├── common_include.h ├── yolo_utils │ ├── bbox.h │ └── ransac.h └── yolov5 │ ├── yolov5_config.h │ ├── yolov5_detector.h │ └── yolov5_include.h ├── lauch_tum.sh ├── lib └── libORB_SLAM2.so └── src ├── Converter.cc ├── ExtractLineSegment.cc ├── Frame.cc ├── FrameDrawer.cc ├── Initializer.cc ├── KeyFrame.cc ├── KeyFrameDatabase.cc ├── LSDmatcher.cc ├── LocalMapping.cc ├── LoopClosing.cc ├── Map.cc ├── MapDrawer.cc ├── MapLine.cc ├── MapPoint.cc ├── ORBextractor.cc ├── ORBmatcher.cc ├── Optimizer.cc ├── PnPsolver.cc ├── PointCloudMap.cc ├── Sim3Solver.cc ├── System.cc ├── Tracking.cc ├── Viewer.cc ├── yolo_utils ├── bbox.cc └── ransac.cc └── yolov5 ├── yolov5_config.cc └── yolov5_detector.cc /CMakeLists.txt: -------------------------------------------------------------------------------- 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