├── Chapter10 ├── ceres_custombundle │ ├── CMakeLists.txt │ ├── README.md │ ├── SnavelyReprojectionError.h │ ├── ceresBundle.cpp │ ├── common │ │ ├── BALProblem.cpp │ │ ├── BALProblem.h │ │ ├── BundleParams.h │ │ ├── flags │ │ │ ├── command_args.cpp │ │ │ └── command_args.h │ │ ├── projection.h │ │ └── tools │ │ │ ├── random.h │ │ │ └── rotation.h │ ├── data │ │ └── problem-16-22106-pre.txt │ ├── final.ply │ └── initial.ply └── g2o_custombundle │ ├── CMakeLists.txt │ ├── README.md │ ├── ceres │ ├── LICENSE │ ├── autodiff.h │ ├── eigen.h │ ├── fixed_array.h │ ├── fpclassify.h │ ├── jet.h │ ├── macros.h │ ├── manual_constructor.h │ └── variadic_evaluate.h │ ├── cmake_modules │ ├── FindBLAS.cmake │ ├── FindCSparse.cmake │ ├── FindCholmod.cmake │ ├── FindEigen3.cmake │ ├── FindG2O.cmake │ └── FindLAPACK.cmake │ ├── common │ ├── BALProblem.cpp │ ├── BALProblem.h │ ├── BundleParams.h │ ├── flags │ │ ├── command_args.cpp │ │ └── command_args.h │ ├── projection.h │ └── tools │ │ ├── random.h │ │ └── rotation.h │ ├── data │ └── problem-16-22106-pre.txt │ ├── final.ply │ ├── final.png │ ├── g2o_bal_class.h │ ├── g2o_bundle.cpp │ ├── initial.ply │ └── initial.png ├── Chapter13 ├── dense_RGBD │ ├── CMakeLists.txt │ ├── README.md │ ├── data │ │ ├── color │ │ │ ├── 1.png │ │ │ ├── 2.png │ │ │ ├── 3.png │ │ │ ├── 4.png │ │ │ └── 5.png │ │ ├── depth │ │ │ ├── 1.pgm │ │ │ ├── 2.pgm │ │ │ ├── 3.pgm │ │ │ ├── 4.pgm │ │ │ └── 5.pgm │ │ └── pose.txt │ ├── map.pcd │ ├── map.png │ ├── octomap.bt │ ├── octomap.png │ ├── octomap_mapping.cpp │ ├── pointcloud_mapping │ └── pointcloud_mapping.cpp └── dense_monocular │ ├── 10.png │ ├── 20131216232218953.png │ ├── 4.png │ ├── CMakeLists.txt │ ├── README.md │ ├── dense_monocular.cpp │ ├── depth.png │ └── test_data │ ├── README │ ├── first_200_frames_traj_over_table_input_sequence.txt │ └── images │ ├── scene_000.png │ ├── scene_001.png │ ├── scene_002.png │ ├── scene_003.png │ ├── scene_004.png │ ├── scene_005.png │ ├── scene_006.png │ ├── scene_007.png │ ├── scene_008.png │ ├── scene_009.png │ └── scene_010.png ├── Chapter3 ├── Eigen │ ├── CMakeLists.txt │ └── useEigen.cpp └── useGeometry │ ├── .idea │ ├── codeStyles │ │ └── Project.xml │ ├── vcs.xml │ └── workspace.xml │ ├── CMakeLists.txt │ └── useGeometry.cpp ├── Chapter4 └── useSophus │ ├── .idea │ ├── codeStyles │ │ └── Project.xml │ ├── misc.xml │ ├── modules.xml │ ├── useSophus.iml │ └── workspace.xml │ ├── CMakeLists.txt │ └── useSophus.cpp ├── Chapter5 ├── imageBasics │ ├── .idea │ │ ├── codeStyles │ │ │ └── Project.xml │ │ ├── imageBasics.iml │ │ ├── misc.xml │ │ ├── modules.xml │ │ └── workspace.xml │ ├── CMakeLists.txt │ ├── imageBasics.cpp │ └── ubuntu.png └── joinMap │ ├── .idea │ ├── codeStyles │ │ └── Project.xml │ ├── joinMap.iml │ ├── misc.xml │ ├── modules.xml │ └── workspace.xml │ ├── CMakeLists.txt │ ├── color │ ├── 1.png │ ├── 2.png │ ├── 3.png │ ├── 4.png │ └── 5.png │ ├── depth │ ├── 1.pgm │ ├── 2.pgm │ ├── 3.pgm │ ├── 4.pgm │ └── 5.pgm │ ├── joinMap.cpp │ ├── map.pcd │ └── pose.txt ├── Chapter6 ├── .idea │ ├── Chapter6.iml │ ├── misc.xml │ ├── modules.xml │ └── workspace.xml ├── ceres_curve_fitting │ ├── .idea │ │ ├── ceres_curve_fitting.iml │ │ ├── codeStyles │ │ │ └── Project.xml │ │ ├── misc.xml │ │ ├── modules.xml │ │ ├── vcs.xml │ │ └── workspace.xml │ ├── CMakeLists.txt │ ├── README.md │ ├── ceres_curve_fitting.cpp │ └── cmake_modules │ │ └── CeresConfig.cmake.in └── g2o_curve_fitting │ ├── .idea │ ├── codeStyles │ │ └── Project.xml │ ├── g2o_curve_fitting.iml │ ├── misc.xml │ ├── modules.xml │ └── workspace.xml │ ├── CMakeLists.txt │ ├── README.md │ ├── cmake_modules │ └── FindG2O.cmake │ └── g2o_curve_fitting.cpp ├── Chapter7 ├── 1.png ├── 1_depth.png ├── 2.png ├── 2_depth.png ├── CMakeLists.txt ├── cmake_modules │ ├── FindCSparse.cmake │ └── FindG2O.cmake ├── feature_extraction.cpp ├── pose_estimation_2d2d.cpp ├── pose_estimation_3d2d.cpp ├── pose_estimation_3d3d.cpp └── triangulation.cpp ├── Chapter8 ├── LKFlow │ ├── CMakeLists.txt │ └── useLK.cpp ├── data │ ├── associate.py │ ├── associate.txt │ ├── depth.txt │ ├── depth │ │ ├── 1305031453.374112.png │ │ ├── 1305031453.404816.png │ │ ├── 1305031453.436941.png │ │ ├── 1305031453.473352.png │ │ ├── 1305031453.505218.png │ │ ├── 1305031453.538301.png │ │ ├── 1305031453.574074.png │ │ ├── 1305031453.605314.png │ │ └── 1305031453.636951.png │ ├── groundtruth.txt │ ├── rgb.txt │ └── rgb │ │ ├── 1305031453.359684.png │ │ ├── 1305031453.391690.png │ │ ├── 1305031453.423683.png │ │ ├── 1305031453.459685.png │ │ ├── 1305031453.491698.png │ │ ├── 1305031453.523684.png │ │ ├── 1305031453.559753.png │ │ ├── 1305031453.591640.png │ │ └── 1305031453.627706.png └── directMethod │ ├── CMakeLists.txt │ ├── cmake_modules │ └── FindG2O.cmake │ ├── common.h │ ├── direct_semidense.cpp │ └── direct_sparse.cpp ├── Chapter9 ├── 0.1 │ ├── CMakeLists.txt │ ├── cmake_modules │ │ ├── FindCSparse.cmake │ │ └── FindG2O.cmake │ ├── include │ │ └── myslam │ │ │ ├── camera.h │ │ │ ├── common_include.h │ │ │ ├── config.h │ │ │ ├── frame.h │ │ │ ├── map.h │ │ │ └── mappoint.h │ ├── lib │ │ └── libmyslam.so │ ├── src │ │ ├── CMakeLists.txt │ │ ├── camera.cpp │ │ ├── config.cpp │ │ ├── frame.cpp │ │ ├── map.cpp │ │ └── mappoint.cpp │ └── test │ │ └── CMakeLists.txt ├── 0.2 │ ├── CMakeLists.txt │ ├── README.md │ ├── bin │ │ └── run_vo │ ├── cmake_modules │ │ ├── FindCSparse.cmake │ │ └── FindG2O.cmake │ ├── config │ │ └── default.yaml │ ├── include │ │ └── myslam │ │ │ ├── camera.h │ │ │ ├── common_include.h │ │ │ ├── config.h │ │ │ ├── frame.h │ │ │ ├── map.h │ │ │ ├── mappoint.h │ │ │ └── visual_odometry.h │ ├── lib │ │ └── libmyslam.so │ ├── src │ │ ├── CMakeLists.txt │ │ ├── camera.cpp │ │ ├── config.cpp │ │ ├── frame.cpp │ │ ├── map.cpp │ │ ├── mappoint.cpp │ │ └── visual_odometry.cpp │ └── test │ │ ├── CMakeLists.txt │ │ └── run_vo.cpp ├── 0.3 │ ├── CMakeLists.txt │ ├── README.md │ ├── bin │ │ └── run_vo │ ├── cmake_modules │ │ ├── FindCSparse.cmake │ │ └── FindG2O.cmake │ ├── config │ │ └── default.yaml │ ├── include │ │ └── myslam │ │ │ ├── camera.h │ │ │ ├── common_include.h │ │ │ ├── config.h │ │ │ ├── frame.h │ │ │ ├── g2o_types.h │ │ │ ├── map.h │ │ │ ├── mappoint.h │ │ │ └── visual_odometry.h │ ├── lib │ │ └── libmyslam.so │ ├── src │ │ ├── CMakeLists.txt │ │ ├── camera.cpp │ │ ├── config.cpp │ │ ├── frame.cpp │ │ ├── g2o_types.cpp │ │ ├── map.cpp │ │ ├── mappoint.cpp │ │ └── visual_odometry.cpp │ └── test │ │ ├── CMakeLists.txt │ │ └── run_vo.cpp └── 0.4 │ ├── CMakeLists.txt │ ├── README.md │ ├── bin │ └── run_vo │ ├── cmake_modules │ ├── FindCSparse.cmake │ └── FindG2O.cmake │ ├── config │ └── default.yaml │ ├── include │ └── myslam │ │ ├── camera.h │ │ ├── common_include.h │ │ ├── config.h │ │ ├── frame.h │ │ ├── g2o_types.h │ │ ├── map.h │ │ ├── mappoint.h │ │ └── visual_odometry.h │ ├── lib │ └── libmyslam.so │ ├── mappoints.png │ ├── src │ ├── CMakeLists.txt │ ├── camera.cpp │ ├── config.cpp │ ├── frame.cpp │ ├── 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