├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cmake └── FindSuiteParse.cmake ├── package.xml ├── 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 │ ├── ScaleOptimizer.cpp │ └── ScaleOptimizer.h ├── IOWrapper │ ├── ImageDisplay.h │ ├── ImageDisplay_dummy.cpp │ ├── ImageRW.h │ ├── ImageRW_dummy.cpp │ ├── OpenCV │ │ ├── ImageDisplay_OpenCV.cpp │ │ └── ImageRW_OpenCV.cpp │ ├── Output3DWrapper.h │ └── Pangolin │ │ ├── KeyFrameDisplay.cpp │ │ ├── KeyFrameDisplay.h │ │ ├── PangolinSOSVIOViewer.cpp │ │ └── PangolinSOSVIOViewer.h ├── LoopClosure │ ├── LoopHandler.cpp │ ├── LoopHandler.h │ ├── PoseEstimator.cpp │ ├── PoseEstimator.h │ ├── ScanContext.cpp │ └── ScanContext.h ├── OptimizationBackend │ ├── AccumulatedSCHessian.cpp │ ├── AccumulatedSCHessian.h │ ├── AccumulatedTopHessian.cpp │ ├── AccumulatedTopHessian.h │ ├── EnergyFunctional.cpp │ ├── EnergyFunctional.h │ ├── EnergyFunctionalStructs.cpp │ ├── EnergyFunctionalStructs.h │ ├── MatrixAccumulators.h │ ├── RawResidualJacobian.h │ └── ScaleAccumulator.h ├── SlamNode.cpp ├── SlamNode.h ├── main.cpp └── util │ ├── FrameShell.h │ ├── ImageAndExposure.h │ ├── IndexThreadReduce.h │ ├── MinimalImage.h │ ├── NumType.h │ ├── Undistort.cpp │ ├── Undistort.h │ ├── globalCalib.cpp │ ├── globalCalib.h │ ├── globalFuncs.h │ ├── nanoflann.h │ ├── settings.cpp │ └── settings.h ├── tests ├── EuRoC │ ├── calib.yaml │ ├── camera0.txt │ ├── camera1.txt │ └── euroc.launch ├── KITTI │ ├── 0_2 │ │ ├── calib.yaml │ │ ├── camera0.txt │ │ └── camera1.txt │ ├── 4_12 │ │ ├── calib.yaml │ │ ├── camera0.txt │ │ └── camera1.txt │ └── kitti.launch ├── Malaga │ ├── calib.yaml │ ├── camera0.txt │ ├── camera1.txt │ └── malaga.launch ├── RobotCar │ ├── calib.yaml │ ├── camera0.txt │ ├── camera1.txt │ └── robotcar.launch └── TUMVI │ ├── calib.yaml │ ├── camera0.txt │ ├── camera1.txt │ ├── pcalib0.txt │ ├── pcalib1.txt │ ├── tumvi.launch │ ├── vignette0.png │ └── vignette1.png └── thirdparty ├── Sophus ├── CMakeLists.txt ├── FindEigen3.cmake ├── README ├── SophusConfig.cmake.in ├── cmake_modules │ └── FindEigen3.cmake └── sophus │ ├── rxso3.hpp │ ├── se2.hpp │ ├── se3.hpp │ ├── sim3.hpp │ ├── so2.hpp │ ├── so3.hpp │ ├── sophus.hpp │ ├── test_rxso3.cpp │ ├── test_se2.cpp │ ├── test_se3.cpp │ ├── test_sim3.cpp │ ├── test_so2.cpp │ ├── test_so3.cpp │ └── tests.hpp └── g2o ├── CMakeLists.txt ├── README.md ├── build.sh ├── cmake_modules ├── FindBLAS.cmake ├── FindEigen3.cmake └── FindLAPACK.cmake ├── config.h.in └── g2o ├── config.h ├── core ├── CMakeLists.txt ├── base_binary_edge.h ├── base_binary_edge.hpp ├── base_dynamic_vertex.h ├── 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 ├── dynamic_aligned_buffer.hpp ├── eigen_types.h ├── estimate_propagator.cpp ├── estimate_propagator.h ├── factory.cpp ├── factory.h ├── g2o_core_api.h ├── hyper_dijkstra.cpp ├── hyper_dijkstra.h ├── hyper_graph.cpp ├── hyper_graph.h ├── hyper_graph_action.cpp ├── hyper_graph_action.h ├── io_helper.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 ├── ownership.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 ├── sparse_optimizer_terminate_action.cpp └── sparse_optimizer_terminate_action.h ├── solvers └── eigen │ ├── CMakeLists.txt │ ├── linear_solver_eigen.h │ └── solver_eigen.cpp ├── stuff ├── CMakeLists.txt ├── color_macros.h ├── command_args.cpp ├── command_args.h ├── filesys_tools.cpp ├── filesys_tools.h ├── g2o_stuff_api.h ├── macros.h ├── misc.h ├── opengl_primitives.cpp ├── opengl_primitives.h ├── opengl_wrapper.h ├── os_specific.c ├── os_specific.h ├── property.cpp ├── property.h ├── sampler.cpp ├── sampler.h ├── scoped_pointer.h ├── sparse_helper.cpp ├── sparse_helper.h ├── string_tools.cpp ├── string_tools.h ├── tictoc.cpp ├── tictoc.h ├── timeutil.cpp ├── timeutil.h └── unscented.h └── types └── slam3d ├── CMakeLists.txt ├── dquat2mat.cpp ├── dquat2mat.h ├── dquat2mat_maxima_generated.cpp ├── edge_se3.cpp ├── edge_se3.h ├── g2o_types_slam3d_api.h ├── isometry3d_gradients.cpp ├── isometry3d_gradients.h ├── isometry3d_mappings.cpp ├── isometry3d_mappings.h ├── se3_ops.h ├── se3_ops.hpp ├── se3quat.h ├── types_slam3d.cpp ├── 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