├── .gitattributes ├── CMakeLists.txt ├── Calibration_Tutorial.pdf ├── Changelog.md ├── Dependencies.md ├── Examples ├── Calibration │ ├── python_scripts │ │ └── process_imu.py │ ├── recorder_empty │ │ └── april_6x6_80x80cm_larues.yaml │ ├── recorder_realsense_D435i │ ├── recorder_realsense_D435i.cc │ ├── recorder_realsense_T265 │ └── recorder_realsense_T265.cc ├── Monocular-Inertial │ ├── EuRoC.yaml │ ├── Gopro.yaml │ ├── L515-VI.yaml │ ├── RealSense_D435i.yaml │ ├── RealSense_T265.yaml │ ├── TUM-VI.yaml │ ├── TUM-VI_far.yaml │ ├── l515_vi_examples.sh │ ├── mono_imu_euroc.sh │ ├── mono_inertial │ ├── mono_inertial_euroc │ ├── mono_inertial_euroc.cc │ ├── mono_inertial_gopro │ ├── mono_inertial_gopro.cc │ ├── mono_inertial_l515.cc │ ├── mono_inertial_realsense_D435i │ ├── mono_inertial_realsense_D435i.cc │ ├── mono_inertial_realsense_t265 │ ├── mono_inertial_realsense_t265.cc │ ├── mono_inertial_tum_vi │ ├── mono_inertial_tum_vi.cc │ ├── openloris.yaml │ └── run_mono_vi.py ├── Monocular │ ├── EuRoC.yaml │ ├── KITTI00-02.yaml │ ├── KITTI03.yaml │ ├── KITTI04-12.yaml │ ├── L515-VI.yaml │ ├── RealSense_D435i.yaml │ ├── RealSense_T265.yaml │ ├── TUM-VI.yaml │ ├── TUM1.yaml │ ├── TUM2.yaml │ ├── TUM3.yaml │ ├── mono_euroc.cc │ ├── mono_kitti │ ├── mono_kitti.cc │ ├── mono_l515 │ ├── mono_l515.cc │ ├── mono_realsense_D435i │ ├── mono_realsense_D435i.cc │ ├── mono_realsense_t265 │ ├── mono_realsense_t265.cc │ ├── mono_tum.cc │ ├── mono_tum_vi │ ├── mono_tum_vi.cc │ ├── openloris.yaml │ ├── run_l515.sh │ └── scannet.yaml ├── RGB-D-Inertial │ ├── rgbd_inertial │ ├── rgbd_inertial.cc │ ├── rgbd_inertial_realsense_D435i │ └── rgbd_inertial_realsense_D435i.cc ├── RGB-D │ ├── rgbd_l515 │ ├── rgbd_l515.cc │ ├── rgbd_realsense_D435i.cc │ ├── rgbd_tum │ ├── rgbd_tum.cc │ └── run_rgbd.sh ├── ROS2 │ └── RGB-D-Inertial │ │ ├── CMakeLists.txt │ │ ├── config │ │ ├── d435i.yaml │ │ ├── g1_op_icp_lidar_indoor1.yaml │ │ ├── go2_op_icp_lidar_outdoor.yaml │ │ └── go2_op_icp_lidar_parking.yaml │ │ ├── package.xml │ │ ├── run_rgbd_inertial.sh │ │ ├── run_rgbd_vi.py │ │ └── src │ │ └── rgbd_inertial_ros2.cc ├── Stereo-Inertial │ ├── EuRoC.yaml │ ├── RealSense_D435i.yaml │ ├── RealSense_T265.yaml │ ├── TUM-VI.yaml │ ├── TUM-VI_far.yaml │ ├── TUM_512.yaml │ ├── stereo_inertial_euroc │ ├── stereo_inertial_euroc.cc │ ├── stereo_inertial_realsense_D435i │ ├── stereo_inertial_realsense_D435i.cc │ ├── stereo_inertial_realsense_t265 │ ├── stereo_inertial_realsense_t265.cc │ ├── stereo_inertial_tum_vi │ ├── stereo_inertial_tum_vi.cc │ └── tum_vi_examples.sh └── Stereo │ ├── EuRoC.yaml │ ├── KITTI00-02.yaml │ ├── KITTI03.yaml │ ├── KITTI04-12.yaml │ ├── RealSense_D435i.yaml │ ├── RealSense_T265.yaml │ ├── TUM-VI.yaml │ ├── stereo_euroc │ ├── stereo_euroc.cc │ ├── stereo_go2.yaml │ ├── stereo_handheld.yaml │ ├── stereo_kitti │ ├── stereo_kitti.cc │ ├── stereo_realsense_D435i │ ├── stereo_realsense_D435i.cc │ ├── stereo_realsense_t265 │ ├── stereo_realsense_t265.cc │ ├── stereo_tum_vi │ └── stereo_tum_vi.cc ├── LICENSE ├── README.md ├── README_ORBSLAM3.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 │ └── README.txt ├── GMS │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── include │ │ ├── Header.h │ │ └── gms_matcher.h │ ├── matlab │ │ ├── Compile.m │ │ ├── MexGMS.cpp │ │ ├── demo.m │ │ └── gms_match.m │ ├── python │ │ ├── gms_matcher.py │ │ └── opencv_demo.py │ └── src │ │ └── demo.cpp ├── Sophus │ ├── .clang-format │ ├── .gitignore │ ├── .travis.yml │ ├── CMakeLists.txt │ ├── LICENSE.txt │ ├── README.rst │ ├── SophusConfig.cmake.in │ ├── appveyor.yml │ ├── doxyrest-config.lua │ ├── examples │ │ ├── CMakeLists.txt │ │ └── HelloSO3.cpp │ ├── make_docs.sh │ ├── package.xml │ ├── py │ │ ├── cpp_gencode │ │ │ ├── Se2_Dx_exp_x.cpp │ │ │ ├── Se2_Dx_this_mul_exp_x_at_0.cpp │ │ │ ├── Se3_Dx_exp_x.cpp │ │ │ ├── Se3_Dx_this_mul_exp_x_at_0.cpp │ │ │ ├── So2_Dx_exp_x.cpp │ │ │ ├── So2_Dx_this_mul_exp_x_at_0.cpp │ │ │ ├── So3_Dx_exp_x.cpp │ │ │ └── So3_Dx_this_mul_exp_x_at_0.cpp │ │ ├── run_tests.sh │ │ └── sophus │ │ │ ├── __init__.py │ │ │ ├── complex.py │ │ │ ├── cse_codegen.py │ │ │ ├── dual_quaternion.py │ │ │ ├── matrix.py │ │ │ ├── quaternion.py │ │ │ ├── se2.py │ │ │ ├── se3.py │ │ │ ├── so2.py │ │ │ ├── so3.py │ │ │ └── so3_codegen.py │ ├── rst-dir │ │ ├── conf.py │ │ ├── page_index.rst │ │ └── pysophus.rst │ ├── run_format.sh │ ├── scripts │ │ ├── install_docs_deps.sh │ │ ├── install_linux_deps.sh │ │ ├── install_osx_deps.sh │ │ └── run_cpp_tests.sh │ ├── sophus │ │ ├── average.hpp │ │ ├── common.hpp │ │ ├── example_ensure_handler.cpp │ │ ├── formatstring.hpp │ │ ├── geometry.hpp │ │ ├── interpolate.hpp │ │ ├── interpolate_details.hpp │ │ ├── num_diff.hpp │ │ ├── rotation_matrix.hpp │ │ ├── rxso2.hpp │ │ ├── rxso3.hpp │ │ ├── se2.hpp │ │ ├── se3.hpp │ │ ├── sim2.hpp │ │ ├── sim3.hpp │ │ ├── sim_details.hpp │ │ ├── so2.hpp │ │ ├── so3.hpp │ │ ├── test_macros.hpp │ │ ├── types.hpp │ │ └── velocities.hpp │ └── test │ │ ├── CMakeLists.txt │ │ ├── ceres │ │ ├── CMakeLists.txt │ │ ├── local_parameterization_se3.hpp │ │ └── test_ceres_se3.cpp │ │ └── core │ │ ├── CMakeLists.txt │ │ ├── test_common.cpp │ │ ├── test_geometry.cpp │ │ ├── test_rxso2.cpp │ │ ├── test_rxso3.cpp │ │ ├── test_se2.cpp │ │ ├── test_se3.cpp │ │ ├── test_sim2.cpp │ │ ├── test_sim3.cpp │ │ ├── test_so2.cpp │ │ ├── test_so3.cpp │ │ ├── test_velocities.cpp │ │ └── tests.hpp ├── g2o │ ├── CMakeLists.txt │ ├── README.txt │ ├── 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 │ │ │ ├── se3mat.cpp │ │ │ ├── se3mat.h │ │ │ ├── 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 └── small_gicp │ ├── .clang-format │ ├── .github │ ├── ISSUE_TEMPLATE │ │ ├── bug_report.md │ │ └── feature_request.md │ └── workflows │ │ ├── build-linux.yml │ │ ├── build-macos.yml │ │ ├── build-windows.yml │ │ ├── coverage.yml │ │ ├── gendoc.yml │ │ ├── license.yml │ │ ├── paper.yml │ │ ├── test.yml │ │ └── wheels.yml │ ├── .gitignore │ ├── BENCHMARK.md │ ├── CMakeLists.txt │ ├── CODE_OF_CONDUCT.md │ ├── CONTRIBUTING.md │ ├── README.md │ ├── cmake │ └── small_gicp-config.cmake.in │ ├── codecov.yml │ ├── docker │ ├── Dockerfile.pytest.gcc │ └── Dockerfile.pytest.llvm │ ├── docs │ ├── assets │ │ ├── downsampling_comp.png │ │ ├── downsampling_threads.png │ │ ├── kdtree_time.png │ │ ├── odometry_native.png │ │ └── odometry_time.png │ ├── conf.py │ ├── index.md │ ├── index.rst │ ├── paper.bib │ ├── paper.md │ └── small_gicp.rst │ ├── include │ └── small_gicp │ │ ├── ann │ │ ├── flat_container.hpp │ │ ├── gaussian_voxelmap.hpp │ │ ├── incremental_voxelmap.hpp │ │ ├── kdtree.hpp │ │ ├── kdtree_omp.hpp │ │ ├── kdtree_tbb.hpp │ │ ├── knn_result.hpp │ │ ├── projection.hpp │ │ └── traits.hpp │ │ ├── benchmark │ │ ├── benchmark.hpp │ │ ├── benchmark_odom.hpp │ │ └── read_points.hpp │ │ ├── factors │ │ ├── general_factor.hpp │ │ ├── gicp_factor.hpp │ │ ├── icp_factor.hpp │ │ ├── plane_icp_factor.hpp │ │ └── robust_kernel.hpp │ │ ├── pcl │ │ ├── pcl_point.hpp │ │ ├── pcl_point_traits.hpp │ │ ├── pcl_proxy.hpp │ │ ├── pcl_registration.hpp │ │ └── pcl_registration_impl.hpp │ │ ├── points │ │ ├── eigen.hpp │ │ ├── point_cloud.hpp │ │ └── traits.hpp │ │ ├── registration │ │ ├── optimizer.hpp │ │ ├── reduction.hpp │ │ ├── reduction_omp.hpp │ │ ├── reduction_tbb.hpp │ │ ├── registration.hpp │ │ ├── registration_helper.hpp │ │ ├── registration_result.hpp │ │ ├── rejector.hpp │ │ └── termination_criteria.hpp │ │ └── util │ │ ├── downsampling.hpp │ │ ├── downsampling_omp.hpp │ │ ├── downsampling_tbb.hpp │ │ ├── fast_floor.hpp │ │ ├── lie.hpp │ │ ├── normal_estimation.hpp │ │ ├── normal_estimation_omp.hpp │ │ ├── normal_estimation_tbb.hpp │ │ ├── sort_omp.hpp │ │ ├── sort_tbb.hpp │ │ └── vector3i_hash.hpp │ ├── mkdocs.yml │ ├── package.xml │ ├── pyproject.toml │ ├── scripts │ ├── plot_downsampling.py │ ├── plot_kdtree.py │ ├── plot_odometry.py │ ├── plot_odometry_accuracy.py │ ├── plot_odometry_native.py │ ├── run_downsampling_benchmark.sh │ ├── run_kdtree_benchmark.sh │ ├── run_odometry_benchmark.sh │ └── run_odometry_benchmark_native.sh │ └── src │ ├── benchmark │ ├── downsampling_benchmark.cpp │ ├── kdtree_benchmark.cpp │ ├── odometry_benchmark.cpp │ ├── odometry_benchmark_fast_gicp.cpp │ ├── odometry_benchmark_fast_vgicp.cpp │ ├── odometry_benchmark_pcl.cpp │ ├── odometry_benchmark_small_gicp.cpp │ ├── odometry_benchmark_small_gicp_model_omp.cpp │ ├── odometry_benchmark_small_gicp_model_tbb.cpp │ ├── odometry_benchmark_small_gicp_omp.cpp │ ├── odometry_benchmark_small_gicp_pcl.cpp │ ├── odometry_benchmark_small_gicp_tbb.cpp │ ├── odometry_benchmark_small_gicp_tbb_flow.cpp │ ├── odometry_benchmark_small_vgicp_model_omp.cpp │ ├── odometry_benchmark_small_vgicp_model_tbb.cpp │ ├── odometry_benchmark_small_vgicp_omp.cpp │ └── odometry_benchmark_small_vgicp_tbb.cpp │ ├── example │ ├── 01_basic_registration.cpp │ ├── 02_basic_registration_pcl.cpp │ ├── 03_registration_template.cpp │ ├── basic_registration.py │ └── kitti_odometry.py │ ├── python │ ├── align.cpp │ ├── factors.cpp │ ├── kdtree.cpp │ ├── misc.cpp │ ├── pointcloud.cpp │ ├── preprocess.cpp │ ├── python.cpp │ ├── result.cpp │ └── voxelmap.cpp │ ├── small_gicp │ ├── benchmark │ │ └── benchmark_odom.cpp │ └── registration │ │ ├── registration.cpp │ │ └── registration_helper.cpp │ └── test │ ├── downsampling_test.cpp │ ├── helper_test.cpp │ ├── kdtree_synthetic_test.cpp │ ├── kdtree_test.cpp │ ├── normal_estimation_test.cpp │ ├── points_test.cpp │ ├── python_test.py │ ├── registration_test.cpp │ ├── sort_omp_test.cpp │ ├── sort_tbb_test.cpp │ └── vector_test.cpp ├── Vocabulary └── ORBvoc.txt.tar.gz ├── include ├── Atlas.h ├── CameraModels │ ├── GeometricCamera.h │ ├── KannalaBrandt8.h │ └── Pinhole.h ├── Config.h ├── Converter.h ├── Frame.h ├── FrameDrawer.h ├── G2oTypes.h ├── GeometricTools.h ├── ImuInitializer.h ├── ImuTypes.h ├── KeyFrame.h ├── KeyFrameDatabase.h ├── Lidar.h ├── LidarMapping.h ├── LidarProcess.h ├── LocalMapping.h ├── LoopClosing.h ├── MLPnPsolver.h ├── Map.h ├── MapDrawer.h ├── MapPoint.h ├── ORBVocabulary.h ├── ORBextractor.h ├── ORBmatcher.h ├── OptimizableTypes.h ├── Optimizer.h ├── RegistrationGICP.h ├── SerializationUtils.h ├── Settings.h ├── Sim3Solver.h ├── System.h ├── ThreadPool.h ├── Tracking.h ├── TwoViewReconstruction.h ├── Viewer.h ├── imu_ceres.h ├── methods.h ├── polynomial.h └── util │ ├── eigen_defs.h │ └── svd.h ├── pics ├── G1.png ├── L515Video.gif ├── Seq1Video.gif ├── Seq3Video.gif ├── Seq4Video.gif ├── Seq5Video.gif ├── Seq6Video.gif ├── dog.png ├── factor.png ├── framework.png └── optical-flow.png ├── script ├── evaluator │ ├── evo │ │ ├── associate.py │ │ └── evo_plot_traj.py │ └── ours │ │ ├── DatasetPackReader.py │ │ ├── DatasetReader.py │ │ ├── PoseEvaluator.py │ │ ├── PoseEvaluatorTUM.py │ │ ├── PoseTransformer.py │ │ ├── RawPackReader.py │ │ ├── VehicleKinematic.py │ │ ├── __init__.py │ │ ├── evalute_pose_go2.sh │ │ ├── evalute_pose_openloris.sh │ │ ├── evalute_pose_tum1.sh │ │ ├── evalute_pose_tum3.sh │ │ └── imu_plot_g1.py ├── run_orbslam │ ├── RGBD-Inertial │ │ ├── config │ │ │ ├── RealSense_D435i.yaml │ │ │ ├── d435i.yaml │ │ │ ├── g1_op_icp_lidar_indoor1.yaml │ │ │ ├── g1_op_icp_lidar_indoor2.yaml │ │ │ ├── g1_op_icp_lidar_outdoor.yaml │ │ │ ├── go2_op_icp_lidar_indoor1.yaml │ │ │ ├── go2_op_icp_lidar_indoor2.yaml │ │ │ ├── go2_op_icp_lidar_outdoor.yaml │ │ │ ├── go2_op_icp_lidar_parking.yaml │ │ │ ├── icp.yaml │ │ │ ├── l515.yaml │ │ │ ├── lidar.yaml │ │ │ ├── lidar_d435i.yaml │ │ │ ├── only_lidar.yaml │ │ │ ├── op.yaml │ │ │ ├── op_icp.yaml │ │ │ ├── op_icp_lidar.yaml │ │ │ └── openloris.yaml │ │ └── script │ │ │ ├── run_rgbd_inertial.sh │ │ │ ├── run_rgbd_vi.py │ │ │ ├── run_rgbd_vi_g1.py │ │ │ ├── run_rgbd_vi_go2.py │ │ │ └── run_rgbd_vi_openloris.py │ └── RGBD │ │ ├── config │ │ ├── D435i │ │ │ ├── RealSense_D435i.yaml │ │ │ ├── d435.yaml │ │ │ ├── d435i.yaml │ │ │ ├── d435i_icp_op_lidar.yaml │ │ │ ├── lidar.yaml │ │ │ ├── lidar_d435i.yaml │ │ │ └── openloris.yaml │ │ ├── L515 │ │ │ ├── L515.yaml │ │ │ └── l515_icp_op_lidar.yaml │ │ ├── ScanNet │ │ │ ├── scannet.yaml │ │ │ ├── scannet_icp_no_op.yaml │ │ │ ├── scannet_icp_op.yaml │ │ │ ├── scannet_icp_op_lidar.yaml │ │ │ ├── scannet_lidar.yaml │ │ │ └── scannet_no_icp_op.yaml │ │ ├── TUM │ │ │ ├── TUM1.yaml │ │ │ ├── TUM2.yaml │ │ │ ├── TUM3.yaml │ │ │ ├── tum1 │ │ │ │ ├── tum_icp_no_op.yaml │ │ │ │ ├── tum_icp_op.yaml │ │ │ │ ├── tum_icp_op_lidar.yaml │ │ │ │ ├── tum_no_icp_op.yaml │ │ │ │ └── tum_only_lidar.yaml │ │ │ └── tum3 │ │ │ │ ├── tum_icp_no_op.yaml │ │ │ │ ├── tum_icp_op.yaml │ │ │ │ ├── tum_icp_op_lidar.yaml │ │ │ │ ├── tum_no_icp_op.yaml │ │ │ │ └── tum_only_lidar.yaml │ │ ├── bundle.yaml │ │ ├── handheld_rgbd.yaml │ │ └── mechine_lab │ │ │ ├── left_d435_dynarm.yaml │ │ │ ├── lidar_d435i.yaml │ │ │ ├── middle_l515_static.yaml │ │ │ └── right_d435_dynarm.yaml │ │ └── scripts │ │ ├── convert │ │ └── convertScannetDataset.py │ │ ├── run_rgbd_go2.py │ │ ├── run_rgbd_l515.py │ │ ├── run_rgbd_scannet.py │ │ └── run_rgbd_tum.py └── tools │ ├── parse_d435i.sh │ └── parse_ros2_bag.py └── src ├── Atlas.cc ├── CameraModels ├── KannalaBrandt8.cpp └── Pinhole.cpp ├── Config.cc ├── Converter.cc ├── Frame.cc ├── FrameDrawer.cc ├── G2oTypes.cc ├── GeometricTools.cc ├── ImuInitializer.cc ├── ImuTypes.cc ├── KeyFrame.cc ├── KeyFrameDatabase.cc ├── Lidar.cc ├── LidarMapping.cc ├── LidarProcess.cc ├── LocalMapping.cc ├── LoopClosing.cc ├── MLPnPsolver.cpp ├── Map.cc ├── MapDrawer.cc ├── MapPoint.cc ├── ORBextractor.cc ├── ORBmatcher.cc ├── OptimizableTypes.cpp ├── Optimizer.cc ├── RegistrationGICP.cc ├── Settings.cc ├── Sim3Solver.cc ├── System.cc ├── ThreadPool.cpp ├── Tracking.cc ├── TwoViewReconstruction.cc ├── Viewer.cc └── polynomial.cc 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