├── .gitignore ├── .gmmloc_https.install ├── .gmmloc_ssh.install ├── .travis.yml ├── LICENSE ├── README.md ├── gmmloc ├── CMakeLists.txt ├── include │ └── gmmloc │ │ ├── common │ │ ├── common.h │ │ ├── eigen_stl_types.h │ │ └── eigen_types.h │ │ ├── config.h │ │ ├── cv │ │ ├── orb_extractor.h │ │ ├── orb_matcher.h │ │ ├── orb_vocabulary.h │ │ └── pinhole_camera.h │ │ ├── global.h │ │ ├── gmm │ │ ├── factors.h │ │ ├── gaussian.h │ │ ├── gaussian_mixture.h │ │ └── gmm_utils.h │ │ ├── gmmloc.h │ │ ├── init_config.hpp │ │ ├── modules │ │ ├── localization.h │ │ └── tracking.h │ │ ├── types │ │ ├── feature.h │ │ ├── frame.h │ │ ├── keyframe.h │ │ ├── map.h │ │ └── mappoint.h │ │ ├── utils │ │ ├── cv_utils.h │ │ ├── dataloader.h │ │ ├── math_utils.h │ │ ├── nanoflann.hpp │ │ ├── protobuf_utils.h │ │ └── timing.h │ │ └── visualization │ │ ├── campose_visualizer.h │ │ ├── gmm_visualizer.h │ │ └── visualizer.h ├── node │ └── gmmloc_node.cpp ├── package.xml ├── proto │ └── gmmloc │ │ └── GMM.proto └── src │ ├── config.cpp │ ├── cv │ ├── orb_extractor.cpp │ ├── orb_matcher.cpp │ ├── orb_vocabulary.cpp │ └── pinhole_camera.cpp │ ├── global.cpp │ ├── gmm │ ├── factors.cpp │ ├── gaussian.cpp │ ├── gaussian_mixture.cpp │ └── gmm_utils.cpp │ ├── gmmloc.cpp │ ├── gmmloc_opt.cpp │ ├── modules │ ├── localization.cpp │ ├── localization_gmm.cpp │ ├── localization_opt.cpp │ ├── tracking.cpp │ └── tracking_opt.cpp │ ├── types │ ├── frame.cpp │ ├── keyframe.cpp │ ├── map.cpp │ └── mappoint.cpp │ ├── utils │ ├── cv_utils.cpp │ ├── dataloader.cpp │ ├── math_utils.cpp │ ├── protobuf_utils.cpp │ └── timing.cpp │ └── visualization │ ├── campose_visualizer.cpp │ ├── gmm_visualizer.cpp │ └── visualizer.cpp ├── gmmloc_ros ├── CMakeLists.txt ├── cfg │ ├── euroc_rect.yaml │ ├── v1.yaml │ ├── v2.yaml │ └── viz.rviz ├── data │ ├── gt │ │ ├── V1_01_easy.csv │ │ ├── V1_02_medium.csv │ │ ├── V1_03_difficult.csv │ │ ├── V2_01_easy.csv │ │ ├── V2_02_medium.csv │ │ └── V2_03_difficult.csv │ ├── gt_sync │ │ ├── V1_01_easy.txt │ │ ├── V1_02_medium.txt │ │ ├── V1_03_difficult.txt │ │ ├── V2_01_easy.txt │ │ ├── V2_02_medium.txt │ │ └── V2_03_difficult.txt │ └── map │ │ ├── v1.gmm │ │ └── v2.gmm ├── launch │ ├── v1.launch │ ├── v2.launch │ └── viz.launch ├── package.xml ├── scripts │ ├── evaluate_euroc.sh │ └── evo_euroc.py └── voc │ └── ORBvoc.bin └── orb_dbow2 ├── CMakeLists.txt ├── LICENSE.txt ├── README.txt ├── include └── orb_dbow2 │ ├── dbow2 │ ├── BowVector.h │ ├── FClass.h │ ├── FORB.h │ ├── FeatureVector.h │ ├── ScoringObject.h │ └── TemplatedVocabulary.h │ └── dutils │ ├── Random.h │ ├── Timestamp.h │ └── config.h ├── package.xml └── src ├── dbow2 ├── BowVector.cpp ├── FORB.cpp ├── FeatureVector.cpp └── ScoringObject.cpp └── dutils ├── Random.cpp └── Timestamp.cpp /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HyHuang1995/gmmloc/HEAD/.gitignore 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