├── .gitignore ├── CMakeLists.txt ├── Examples ├── Calibration │ ├── calibration.cc │ └── pattern.png ├── Example.yaml ├── Fusion │ └── monocular_imu.cc ├── Monocular │ ├── EuRoC.yaml │ ├── TUM1.yaml │ ├── TUM2.yaml │ ├── TUM3.yaml │ ├── TUMVO.yaml │ └── monocular.cc ├── RGB-D │ ├── TUM1.yaml │ ├── TUM2.yaml │ ├── TUM3.yaml │ ├── associate.py │ └── rgbd.cc └── ROS │ └── SD-SLAM │ ├── CMakeLists.txt │ ├── ROS.yaml │ ├── config │ ├── ROS_TUM1.yaml │ └── ROS_TUM3.yaml │ ├── launch │ ├── sdslam_TUM1.launch │ ├── sdslam_TUM1_evaluation_file.launch │ ├── sdslam_TUM3.launch │ └── sdslam_TUM3_evaluation_file.launch │ ├── manifest.xml │ └── src │ ├── ros_fusion.cc │ ├── ros_monocular.cc │ └── ros_rgbd.cc ├── LICENSE.txt ├── License-gpl.txt ├── README.md ├── android └── android.toolchain.cmake ├── clean_build.sh ├── cmake_modules └── FindEigen3.cmake └── src ├── Config.cc ├── Config.h ├── Converter.cc ├── Converter.h ├── Frame.cc ├── Frame.h ├── ImageAlign.cc ├── ImageAlign.h ├── Initializer.cc ├── Initializer.h ├── KeyFrame.cc ├── KeyFrame.h ├── LocalMapping.cc ├── LocalMapping.h ├── LoopClosing.cc ├── LoopClosing.h ├── Map.cc ├── Map.h ├── MapPoint.cc ├── MapPoint.h ├── ORBextractor.cc ├── ORBextractor.h ├── ORBmatcher.cc ├── ORBmatcher.h ├── Optimizer.cc ├── Optimizer.h ├── PatternDetector.cc ├── PatternDetector.h ├── PnPsolver.cc ├── PnPsolver.h ├── Sim3Solver.cc ├── Sim3Solver.h ├── System.cc ├── System.h ├── Tracking.cc ├── Tracking.h ├── extra ├── g2o │ ├── README.txt │ ├── config.h │ ├── 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 │ ├── license-bsd.txt │ ├── solvers │ │ ├── linear_solver_dense.h │ │ └── linear_solver_eigen.h │ ├── stuff │ │ ├── color_macros.h │ │ ├── macros.h │ │ ├── misc.h │ │ ├── property.cpp │ │ ├── property.h │ │ ├── string_tools.cpp │ │ ├── string_tools.h │ │ ├── timeutil.cpp │ │ └── timeutil.h │ └── types │ │ ├── se3_ops.h │ │ ├── se3_ops.hpp │ │ ├── se3quat.h │ │ ├── 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