├── .gitignore ├── CMakeLists.txt ├── README.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 │ ├── LICENSE.txt │ ├── README.txt │ └── lib │ │ └── libDBoW2.so ├── g2o │ ├── CMakeLists.txt │ ├── README.txt │ ├── cmake_modules │ │ ├── FindBLAS.cmake │ │ ├── FindEigen3.cmake │ │ └── FindLAPACK.cmake │ ├── 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 │ │ │ ├── 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 │ ├── lib │ │ └── libg2o.so │ └── license-bsd.txt ├── libmsc.so ├── ncnn │ ├── .gitignore │ ├── .travis.yml │ ├── CMakeLists.txt │ ├── CONTRIBUTING.md │ ├── Info.plist │ ├── LICENSE.txt │ ├── README.md │ ├── benchmark │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── alexnet.param │ │ ├── benchncnn.cpp │ │ ├── googlenet.param │ │ ├── googlenet_int8.param │ │ ├── mnasnet.param │ │ ├── mobilenet.param │ │ ├── mobilenet_int8.param │ │ ├── mobilenet_ssd.param │ │ ├── mobilenet_ssd_int8.param │ │ ├── mobilenet_v2.param │ │ ├── mobilenet_v3.param │ │ ├── mobilenet_yolo.param │ │ ├── mobilenetv2_yolov3.param │ │ ├── proxylessnasnet.param │ │ ├── resnet18.param │ │ ├── resnet18_int8.param │ │ ├── resnet50.param │ │ ├── resnet50_int8.param │ │ ├── shufflenet.param │ │ ├── shufflenet_v2.param │ │ ├── squeezenet.param │ │ ├── squeezenet_int8.param │ │ ├── squeezenet_ssd.param │ │ ├── squeezenet_ssd_int8.param │ │ ├── vgg16.param │ │ └── vgg16_int8.param │ ├── build.sh │ ├── cmake │ │ └── ncnnConfig.cmake.in │ ├── docs │ │ ├── Home.md │ │ ├── application-with-ncnn-inside.md │ │ ├── benchmark │ │ │ ├── the-benchmark-of-caffe-android-lib,-mini-caffe,-and-ncnn.md │ │ │ └── vulkan-conformance-test.md │ │ ├── developer-guide │ │ │ ├── aarch64-mix-assembly-and-intrinsic.md │ │ │ ├── add-custom-layer.zh.md │ │ │ ├── armv7-mix-assembly-and-intrinsic.md │ │ │ ├── binaryop-broadcasting.md │ │ │ ├── custom-allocator.md │ │ │ ├── element-packing.md │ │ │ ├── how-to-implement-custom-layer-step-by-step.md │ │ │ ├── how-to-write-a-neon-optimized-op-kernel.md │ │ │ ├── low-level-operation-api.md │ │ │ ├── ncnn-tips-and-tricks.zh.md │ │ │ ├── new-model-load-api.md │ │ │ ├── new-param-load-api.md │ │ │ ├── operation-param-weight-table.md │ │ │ ├── param-and-model-file-structure.md │ │ │ ├── preload-practice.zh.md │ │ │ └── tensorflow-op-combination.md │ │ └── how-to-use-and-FAQ │ │ │ ├── FAQ-ncnn-produce-wrong-result.md │ │ │ ├── FAQ-ncnn-throw-error.md │ │ │ ├── FAQ-ncnn-vulkan.md │ │ │ ├── quantized-int8-inference.md │ │ │ ├── use-ncnn-with-alexnet.md │ │ │ ├── use-ncnn-with-alexnet.zh.md │ │ │ ├── use-ncnn-with-pytorch-or-onnx.md │ │ │ ├── use-ncnnoptimize-to-optimize-model.md │ │ │ ├── use-ncnnoptimize-to-optimize-model.zh.md │ │ │ └── vulkan-notes.md │ ├── examples │ │ ├── CMakeLists.txt │ │ ├── fasterrcnn.cpp │ │ ├── mobilenetssd.cpp │ │ ├── mobilenetv2ssdlite.cpp │ │ ├── mobilenetv3ssdlite.cpp │ │ ├── peleenetssd_seg.cpp │ │ ├── retinaface.cpp │ │ ├── rfcn.cpp │ │ ├── shufflenetv2.cpp │ │ ├── simplepose.cpp │ │ ├── squeezencnn │ │ │ └── README.md │ │ ├── squeezenet.cpp │ │ ├── squeezenet_v1.1.bin │ │ ├── squeezenet_v1.1.caffemodel │ │ ├── squeezenet_v1.1.param │ │ ├── squeezenet_v1.1.prototxt │ │ ├── squeezenetssd.cpp │ │ ├── synset_words.txt │ │ ├── yolov2.cpp │ │ └── yolov3.cpp │ ├── images │ │ ├── 128-ncnn.png │ │ ├── 16-ncnn.png │ │ ├── 256-ncnn.png │ │ ├── 32-ncnn.png │ │ └── 64-ncnn.png │ ├── include │ │ ├── allocator.h │ │ ├── benchmark.h │ │ ├── blob.h │ │ ├── command.h │ │ ├── cpu.h │ │ ├── gpu.h │ │ ├── layer.h │ │ ├── layer_type.h │ │ ├── layer_type_enum.h │ │ ├── mat.h │ │ ├── modelbin.h │ │ ├── net.h │ │ ├── opencv.h │ │ ├── option.h │ │ ├── paramdict.h │ │ ├── pipeline.h │ │ └── platform.h │ ├── model │ │ ├── mobilenetv2_ssdlite_voc.bin │ │ └── mobilenetv2_ssdlite_voc.param │ ├── package.sh │ ├── src │ │ ├── CMakeLists.txt │ │ ├── allocator.cpp │ │ ├── allocator.h │ │ ├── benchmark.cpp │ │ ├── benchmark.h │ │ ├── blob.cpp │ │ ├── blob.h │ │ ├── command.cpp │ │ ├── command.h │ │ ├── cpu.cpp │ │ ├── cpu.h │ │ ├── datareader.cpp │ │ ├── datareader.h │ │ ├── gpu.cpp │ │ ├── gpu.h │ │ ├── layer.cpp │ │ ├── layer.h │ │ ├── layer │ │ │ ├── absval.cpp │ │ │ ├── absval.h │ │ │ ├── argmax.cpp │ │ │ ├── argmax.h │ │ │ ├── arm │ │ │ │ ├── absval_arm.cpp │ │ │ │ ├── absval_arm.h │ │ │ │ ├── batchnorm_arm.cpp │ │ │ │ ├── batchnorm_arm.h │ │ │ │ ├── bias_arm.cpp │ │ │ │ ├── bias_arm.h │ │ │ │ ├── binaryop_arm.cpp │ │ │ │ ├── binaryop_arm.h │ │ │ │ ├── cast_arm.cpp │ │ │ │ ├── cast_arm.h │ │ │ │ ├── clip_arm.cpp │ │ │ │ ├── clip_arm.h │ │ │ │ ├── concat_arm.cpp │ │ │ │ ├── concat_arm.h │ │ │ │ ├── convolution_1x1.h │ │ │ │ ├── convolution_1x1_int8.h │ │ │ │ ├── convolution_1x1_pack4.h │ │ │ │ ├── convolution_1x1_pack4to1.h │ │ │ │ ├── convolution_2x2.h │ │ │ │ ├── convolution_3x3.h │ │ │ │ ├── convolution_3x3_int8.h │ │ │ │ ├── convolution_3x3_pack1to4.h │ │ │ │ ├── convolution_3x3_pack4.h │ │ │ │ ├── convolution_3x3_pack4to1.h │ │ │ │ ├── convolution_4x4.h │ │ │ │ ├── convolution_5x5.h │ │ │ │ ├── convolution_5x5_int8.h │ │ │ │ ├── convolution_5x5_pack4.h │ │ │ │ ├── convolution_7x7.h │ │ │ │ ├── convolution_7x7_int8.h │ │ │ │ ├── convolution_7x7_pack1to4.h │ │ │ │ ├── convolution_arm.cpp │ │ │ │ ├── convolution_arm.h │ │ │ │ ├── convolution_sgemm.h │ │ │ │ ├── convolution_sgemm_int8.h │ │ │ │ ├── convolutiondepthwise_3x3.h │ │ │ │ ├── convolutiondepthwise_3x3_int8.h │ │ │ │ ├── convolutiondepthwise_3x3_pack4.h │ │ │ │ ├── convolutiondepthwise_5x5.h │ │ │ │ ├── convolutiondepthwise_5x5_pack4.h │ │ │ │ ├── convolutiondepthwise_arm.cpp │ │ │ │ ├── convolutiondepthwise_arm.h │ │ │ │ ├── crop_arm.cpp │ │ │ │ ├── crop_arm.h │ │ │ │ ├── deconvolution_3x3.h │ │ │ │ ├── deconvolution_4x4.h │ │ │ │ ├── deconvolution_arm.cpp │ │ │ │ ├── deconvolution_arm.h │ │ │ │ ├── deconvolutiondepthwise_arm.cpp │ │ │ │ ├── deconvolutiondepthwise_arm.h │ │ │ │ ├── dequantize_arm.cpp │ │ │ │ ├── dequantize_arm.h │ │ │ │ ├── dropout_arm.cpp │ │ │ │ ├── dropout_arm.h │ │ │ │ ├── eltwise_arm.cpp │ │ │ │ ├── eltwise_arm.h │ │ │ │ ├── flatten_arm.cpp │ │ │ │ ├── flatten_arm.h │ │ │ │ ├── hardsigmoid_arm.cpp │ │ │ │ ├── hardsigmoid_arm.h │ │ │ │ ├── hardswish_arm.cpp │ │ │ │ ├── hardswish_arm.h │ │ │ │ ├── innerproduct_arm.cpp │ │ │ │ ├── innerproduct_arm.h │ │ │ │ ├── interp_arm.cpp │ │ │ │ ├── interp_arm.h │ │ │ │ ├── lrn_arm.cpp │ │ │ │ ├── lrn_arm.h │ │ │ │ ├── neon_activation.h │ │ │ │ ├── neon_mathfun.h │ │ │ │ ├── neon_mathfun_tanh.h │ │ │ │ ├── packing_arm.cpp │ │ │ │ ├── packing_arm.h │ │ │ │ ├── padding_arm.cpp │ │ │ │ ├── padding_arm.h │ │ │ │ ├── pooling_2x2.h │ │ │ │ ├── pooling_2x2_pack4.h │ │ │ │ ├── pooling_3x3.h │ │ │ │ ├── pooling_3x3_pack4.h │ │ │ │ ├── pooling_arm.cpp │ │ │ │ ├── pooling_arm.h │ │ │ │ ├── prelu_arm.cpp │ │ │ │ ├── prelu_arm.h │ │ │ │ ├── quantize_arm.cpp │ │ │ │ ├── quantize_arm.h │ │ │ │ ├── relu_arm.cpp │ │ │ │ ├── relu_arm.h │ │ │ │ ├── requantize_arm.cpp │ │ │ │ ├── requantize_arm.h │ │ │ │ ├── reshape_arm.cpp │ │ │ │ ├── reshape_arm.h │ │ │ │ ├── scale_arm.cpp │ │ │ │ ├── scale_arm.h │ │ │ │ ├── selu_arm.cpp │ │ │ │ ├── selu_arm.h │ │ │ │ ├── shufflechannel_arm.cpp │ │ │ │ ├── shufflechannel_arm.h │ │ │ │ ├── sigmoid_arm.cpp │ │ │ │ ├── sigmoid_arm.h │ │ │ │ ├── softmax_arm.cpp │ │ │ │ ├── softmax_arm.h │ │ │ │ ├── tanh_arm.cpp │ │ │ │ ├── tanh_arm.h │ │ │ │ ├── unaryop_arm.cpp │ │ │ │ └── unaryop_arm.h │ │ │ ├── batchnorm.cpp │ │ │ ├── batchnorm.h │ │ │ ├── bias.cpp │ │ │ ├── bias.h │ │ │ ├── binaryop.cpp │ │ │ ├── binaryop.h │ │ │ ├── bnll.cpp │ │ │ ├── bnll.h │ │ │ ├── cast.cpp │ │ │ ├── cast.h │ │ │ ├── clip.cpp │ │ │ ├── clip.h │ │ │ ├── concat.cpp │ │ │ ├── concat.h │ │ │ ├── convolution.cpp │ │ │ ├── convolution.h │ │ │ ├── convolutiondepthwise.cpp │ │ │ ├── convolutiondepthwise.h │ │ │ ├── crop.cpp │ │ │ ├── crop.h │ │ │ ├── deconvolution.cpp │ │ │ ├── deconvolution.h │ │ │ ├── deconvolutiondepthwise.cpp │ │ │ ├── deconvolutiondepthwise.h │ │ │ ├── dequantize.cpp │ │ │ ├── dequantize.h │ │ │ ├── detectionoutput.cpp │ │ │ ├── detectionoutput.h │ │ │ ├── dropout.cpp │ │ │ ├── dropout.h │ │ │ ├── eltwise.cpp │ │ │ ├── eltwise.h │ │ │ ├── elu.cpp │ │ │ ├── elu.h │ │ │ ├── embed.cpp │ │ │ ├── embed.h │ │ │ ├── exp.cpp │ │ │ ├── exp.h │ │ │ ├── expanddims.cpp │ │ │ ├── expanddims.h │ │ │ ├── flatten.cpp │ │ │ ├── flatten.h │ │ │ ├── hardsigmoid.cpp │ │ │ ├── hardsigmoid.h │ │ │ ├── hardswish.cpp │ │ │ ├── hardswish.h │ │ │ ├── innerproduct.cpp │ │ │ ├── innerproduct.h │ │ │ ├── input.cpp │ │ │ ├── input.h │ │ │ ├── instancenorm.cpp │ │ │ ├── instancenorm.h │ │ │ ├── interp.cpp │ │ │ ├── interp.h │ │ │ ├── log.cpp │ │ │ ├── log.h │ │ │ ├── lrn.cpp │ │ │ ├── lrn.h │ │ │ ├── lstm.cpp │ │ │ ├── lstm.h │ │ │ ├── memorydata.cpp │ │ │ ├── memorydata.h │ │ │ ├── mvn.cpp │ │ │ ├── mvn.h │ │ │ ├── noop.cpp │ │ │ ├── noop.h │ │ │ ├── normalize.cpp │ │ │ ├── normalize.h │ │ │ ├── packing.cpp │ │ │ ├── packing.h │ │ │ ├── padding.cpp │ │ │ ├── padding.h │ │ │ ├── permute.cpp │ │ │ ├── permute.h │ │ │ ├── pooling.cpp │ │ │ ├── pooling.h │ │ │ ├── power.cpp │ │ │ ├── power.h │ │ │ ├── prelu.cpp │ │ │ ├── prelu.h │ │ │ ├── priorbox.cpp │ │ │ ├── priorbox.h │ │ │ ├── proposal.cpp │ │ │ ├── proposal.h │ │ │ ├── psroipooling.cpp │ │ │ ├── psroipooling.h │ │ │ ├── quantize.cpp │ │ │ ├── quantize.h │ │ │ ├── reduction.cpp │ │ │ ├── reduction.h │ │ │ ├── relu.cpp │ │ │ ├── relu.h │ │ │ ├── reorg.cpp │ │ │ ├── reorg.h │ │ │ ├── requantize.cpp │ │ │ ├── requantize.h │ │ │ ├── reshape.cpp │ │ │ ├── reshape.h │ │ │ ├── rnn.cpp │ │ │ ├── rnn.h │ │ │ ├── roialign.cpp │ │ │ ├── roialign.h │ │ │ ├── roipooling.cpp │ │ │ ├── roipooling.h │ │ │ ├── scale.cpp │ │ │ ├── scale.h │ │ │ ├── selu.cpp │ │ │ ├── selu.h │ │ │ ├── shufflechannel.cpp │ │ │ ├── shufflechannel.h │ │ │ ├── sigmoid.cpp │ │ │ ├── sigmoid.h │ │ │ ├── slice.cpp │ │ │ ├── slice.h │ │ │ ├── softmax.cpp │ │ │ ├── softmax.h │ │ │ ├── split.cpp │ │ │ ├── split.h │ │ │ ├── spp.cpp │ │ │ ├── spp.h │ │ │ ├── squeeze.cpp │ │ │ ├── squeeze.h │ │ │ ├── tanh.cpp │ │ │ ├── tanh.h │ │ │ ├── threshold.cpp │ │ │ ├── threshold.h │ │ │ ├── tile.cpp │ │ │ ├── tile.h │ │ │ ├── unaryop.cpp │ │ │ ├── unaryop.h │ │ │ ├── vulkan │ │ │ │ ├── absval_vulkan.cpp │ │ │ │ ├── absval_vulkan.h │ │ │ │ ├── batchnorm_vulkan.cpp │ │ │ │ ├── batchnorm_vulkan.h │ │ │ │ ├── binaryop_vulkan.cpp │ │ │ │ ├── binaryop_vulkan.h │ │ │ │ ├── cast_vulkan.cpp │ │ │ │ ├── cast_vulkan.h │ │ │ │ ├── clip_vulkan.cpp │ │ │ │ ├── clip_vulkan.h │ │ │ │ ├── concat_vulkan.cpp │ │ │ │ ├── concat_vulkan.h │ │ │ │ ├── convolution_vulkan.cpp │ │ │ │ ├── convolution_vulkan.h │ │ │ │ ├── convolutiondepthwise_vulkan.cpp │ │ │ │ ├── convolutiondepthwise_vulkan.h │ │ │ │ ├── crop_vulkan.cpp │ │ │ │ ├── crop_vulkan.h │ │ │ │ ├── deconvolution_vulkan.cpp │ │ │ │ ├── deconvolution_vulkan.h │ │ │ │ ├── deconvolutiondepthwise_vulkan.cpp │ │ │ │ ├── deconvolutiondepthwise_vulkan.h │ │ │ │ ├── dropout_vulkan.cpp │ │ │ │ ├── dropout_vulkan.h │ │ │ │ ├── eltwise_vulkan.cpp │ │ │ │ ├── eltwise_vulkan.h │ │ │ │ ├── flatten_vulkan.cpp │ │ │ │ ├── flatten_vulkan.h │ │ │ │ ├── hardsigmoid_vulkan.cpp │ │ │ │ ├── hardsigmoid_vulkan.h │ │ │ │ ├── hardswish_vulkan.cpp │ │ │ │ ├── hardswish_vulkan.h │ │ │ │ ├── innerproduct_vulkan.cpp │ │ │ │ ├── innerproduct_vulkan.h │ │ │ │ ├── instancenorm_vulkan.cpp │ │ │ │ ├── instancenorm_vulkan.h │ │ │ │ ├── interp_vulkan.cpp │ │ │ │ ├── interp_vulkan.h │ │ │ │ ├── lrn_vulkan.cpp │ │ │ │ ├── lrn_vulkan.h │ │ │ │ ├── packing_vulkan.cpp │ │ │ │ ├── packing_vulkan.h │ │ │ │ ├── padding_vulkan.cpp │ │ │ │ ├── padding_vulkan.h │ │ │ │ ├── permute_vulkan.cpp │ │ │ │ ├── permute_vulkan.h │ │ │ │ ├── pooling_vulkan.cpp │ │ │ │ ├── pooling_vulkan.h │ │ │ │ ├── prelu_vulkan.cpp │ │ │ │ ├── prelu_vulkan.h │ │ │ │ ├── priorbox_vulkan.cpp │ │ │ │ ├── priorbox_vulkan.h │ │ │ │ ├── relu_vulkan.cpp │ │ │ │ ├── relu_vulkan.h │ │ │ │ ├── reorg_vulkan.cpp │ │ │ │ ├── reorg_vulkan.h │ │ │ │ ├── reshape_vulkan.cpp │ │ │ │ ├── reshape_vulkan.h │ │ │ │ ├── scale_vulkan.cpp │ │ │ │ ├── scale_vulkan.h │ │ │ │ ├── shader │ │ │ │ │ ├── absval.comp │ │ │ │ │ ├── absval_pack4.comp │ │ │ │ │ ├── batchnorm.comp │ │ │ │ │ ├── batchnorm_pack4.comp │ │ │ │ │ ├── binaryop.comp │ │ │ │ │ ├── binaryop_broadcast.comp │ │ │ │ │ ├── binaryop_broadcast_a1_pack4.comp │ │ │ │ │ ├── binaryop_broadcast_b1_pack4.comp │ │ │ │ │ ├── binaryop_broadcast_pack4.comp │ │ │ │ │ ├── binaryop_pack4.comp │ │ │ │ │ ├── cast_fp16_to_fp32.comp │ │ │ │ │ ├── cast_fp16_to_fp32_pack4.comp │ │ │ │ │ ├── cast_fp32_to_fp16.comp │ │ │ │ │ ├── cast_fp32_to_fp16_pack4.comp │ │ │ │ │ ├── clip.comp │ │ │ │ │ ├── clip_pack4.comp │ │ │ │ │ ├── concat.comp │ │ │ │ │ ├── concat_pack4.comp │ │ │ │ │ ├── concat_pack4to1.comp │ │ │ │ │ ├── convolution.comp │ │ │ │ │ ├── convolution_1x1s1d1.comp │ │ │ │ │ ├── convolution_pack1to4.comp │ │ │ │ │ ├── convolution_pack4.comp │ │ │ │ │ ├── convolution_pack4_1x1s1d1.comp │ │ │ │ │ ├── convolution_pack4_3x3s1d1_lds_8_8_2.comp │ │ │ │ │ ├── convolution_pack4_3x3s1d1_winograd23_gemm.comp │ │ │ │ │ ├── convolution_pack4_3x3s1d1_winograd23_transform_input.comp │ │ │ │ │ ├── convolution_pack4_3x3s1d1_winograd23_transform_output.comp │ │ │ │ │ ├── convolution_pack4to1.comp │ │ │ │ │ ├── convolutiondepthwise.comp │ │ │ │ │ ├── convolutiondepthwise_group.comp │ │ │ │ │ ├── convolutiondepthwise_group_pack1to4.comp │ │ │ │ │ ├── convolutiondepthwise_group_pack4.comp │ │ │ │ │ ├── convolutiondepthwise_group_pack4to1.comp │ │ │ │ │ ├── convolutiondepthwise_pack4.comp │ │ │ │ │ ├── crop.comp │ │ │ │ │ ├── crop_pack1to4.comp │ │ │ │ │ ├── crop_pack4.comp │ │ │ │ │ ├── crop_pack4to1.comp │ │ │ │ │ ├── deconvolution.comp │ │ │ │ │ ├── deconvolution_pack1to4.comp │ │ │ │ │ ├── deconvolution_pack4.comp │ │ │ │ │ ├── deconvolution_pack4to1.comp │ │ │ │ │ ├── deconvolutiondepthwise.comp │ │ │ │ │ ├── deconvolutiondepthwise_group.comp │ │ │ │ │ ├── deconvolutiondepthwise_group_pack1to4.comp │ │ │ │ │ ├── deconvolutiondepthwise_group_pack4.comp │ │ │ │ │ ├── deconvolutiondepthwise_group_pack4to1.comp │ │ │ │ │ ├── deconvolutiondepthwise_pack4.comp │ │ │ │ │ ├── dropout.comp │ │ │ │ │ ├── dropout_pack4.comp │ │ │ │ │ ├── eltwise.comp │ │ │ │ │ ├── eltwise_pack4.comp │ │ │ │ │ ├── flatten.comp │ │ │ │ │ ├── flatten_pack1to4.comp │ │ │ │ │ ├── flatten_pack4.comp │ │ │ │ │ ├── hardsigmoid.comp │ │ │ │ │ ├── hardsigmoid_pack4.comp │ │ │ │ │ ├── hardswish.comp │ │ │ │ │ ├── hardswish_pack4.comp │ │ │ │ │ ├── innerproduct.comp │ │ │ │ │ ├── innerproduct_pack1to4.comp │ │ │ │ │ ├── innerproduct_pack4.comp │ │ │ │ │ ├── innerproduct_pack4_lds_64.comp │ │ │ │ │ ├── innerproduct_pack4to1.comp │ │ │ │ │ ├── instancenorm_coeffs.comp │ │ │ │ │ ├── instancenorm_coeffs_pack4.comp │ │ │ │ │ ├── instancenorm_norm.comp │ │ │ │ │ ├── instancenorm_norm_pack4.comp │ │ │ │ │ ├── instancenorm_reduce_mean.comp │ │ │ │ │ ├── instancenorm_reduce_mean_pack4.comp │ │ │ │ │ ├── instancenorm_reduce_sum4_fp16_to_fp32.comp │ │ │ │ │ ├── instancenorm_reduce_sum4_fp16_to_fp32_pack4.comp │ │ │ │ │ ├── instancenorm_reduce_sum4_fp32.comp │ │ │ │ │ ├── instancenorm_reduce_sum4_fp32_pack4.comp │ │ │ │ │ ├── instancenorm_sub_mean_square.comp │ │ │ │ │ ├── instancenorm_sub_mean_square_pack4.comp │ │ │ │ │ ├── interp.comp │ │ │ │ │ ├── interp_bicubic.comp │ │ │ │ │ ├── interp_bicubic_coeffs.comp │ │ │ │ │ ├── interp_bicubic_pack4.comp │ │ │ │ │ ├── interp_pack4.comp │ │ │ │ │ ├── lrn_norm.comp │ │ │ │ │ ├── lrn_norm_across_channel_pack4.comp │ │ │ │ │ ├── lrn_norm_within_channel_pack4.comp │ │ │ │ │ ├── lrn_square_pad.comp │ │ │ │ │ ├── lrn_square_pad_across_channel_pack4.comp │ │ │ │ │ ├── lrn_square_pad_within_channel_pack4.comp │ │ │ │ │ ├── packing_1to4.comp │ │ │ │ │ ├── packing_4to1.comp │ │ │ │ │ ├── padding.comp │ │ │ │ │ ├── padding_pack4.comp │ │ │ │ │ ├── permute.comp │ │ │ │ │ ├── permute_pack4to1.comp │ │ │ │ │ ├── pooling.comp │ │ │ │ │ ├── pooling_global.comp │ │ │ │ │ ├── pooling_global_pack4.comp │ │ │ │ │ ├── pooling_pack4.comp │ │ │ │ │ ├── prelu.comp │ │ │ │ │ ├── prelu_pack4.comp │ │ │ │ │ ├── priorbox.comp │ │ │ │ │ ├── priorbox_mxnet.comp │ │ │ │ │ ├── relu.comp │ │ │ │ │ ├── relu_pack4.comp │ │ │ │ │ ├── reorg.comp │ │ │ │ │ ├── reorg_pack1to4.comp │ │ │ │ │ ├── reorg_pack4.comp │ │ │ │ │ ├── reshape.comp │ │ │ │ │ ├── reshape_pack1to4.comp │ │ │ │ │ ├── reshape_pack4.comp │ │ │ │ │ ├── reshape_pack4to1.comp │ │ │ │ │ ├── scale.comp │ │ │ │ │ ├── scale_pack4.comp │ │ │ │ │ ├── shufflechannel.comp │ │ │ │ │ ├── shufflechannel_pack4.comp │ │ │ │ │ ├── sigmoid.comp │ │ │ │ │ ├── sigmoid_pack4.comp │ │ │ │ │ ├── softmax_div_sum.comp │ │ │ │ │ ├── softmax_div_sum_pack4.comp │ │ │ │ │ ├── softmax_exp_sub_max.comp │ │ │ │ │ ├── softmax_exp_sub_max_pack4.comp │ │ │ │ │ ├── softmax_reduce_max.comp │ │ │ │ │ ├── softmax_reduce_max_pack4.comp │ │ │ │ │ ├── softmax_reduce_sum.comp │ │ │ │ │ ├── softmax_reduce_sum_pack4.comp │ │ │ │ │ ├── tanh.comp │ │ │ │ │ ├── tanh_pack4.comp │ │ │ │ │ ├── unaryop.comp │ │ │ │ │ └── unaryop_pack4.comp │ │ │ │ ├── shufflechannel_vulkan.cpp │ │ │ │ ├── shufflechannel_vulkan.h │ │ │ │ ├── sigmoid_vulkan.cpp │ │ │ │ ├── sigmoid_vulkan.h │ │ │ │ ├── softmax_vulkan.cpp │ │ │ │ ├── softmax_vulkan.h │ │ │ │ ├── tanh_vulkan.cpp │ │ │ │ ├── tanh_vulkan.h │ │ │ │ ├── unaryop_vulkan.cpp │ │ │ │ └── unaryop_vulkan.h │ │ │ ├── x86 │ │ │ │ ├── avx_mathfun.h │ │ │ │ ├── convolution_1x1.h │ │ │ │ ├── convolution_1x1_int8.h │ │ │ │ ├── convolution_3x3.h │ │ │ │ ├── convolution_3x3_int8.h │ │ │ │ ├── convolution_5x5.h │ │ │ │ ├── convolution_5x5_int8.h │ │ │ │ ├── convolution_7x7.h │ │ │ │ ├── convolution_7x7_int8.h │ │ │ │ ├── convolution_sgemm.h │ │ │ │ ├── convolution_sgemm_int8.h │ │ │ │ ├── convolution_x86.cpp │ │ │ │ ├── convolution_x86.h │ │ │ │ ├── convolutiondepthwise_3x3.h │ │ │ │ ├── convolutiondepthwise_3x3_int8.h │ │ │ │ ├── convolutiondepthwise_x86.cpp │ │ │ │ ├── convolutiondepthwise_x86.h │ │ │ │ └── sse_mathfun.h │ │ │ ├── yolodetectionoutput.cpp │ │ │ ├── yolodetectionoutput.h │ │ │ ├── yolov3detectionoutput.cpp │ │ │ └── yolov3detectionoutput.h │ │ ├── layer_declaration.h.in │ │ ├── layer_registry.h.in │ │ ├── layer_shader_registry.h.in │ │ ├── layer_shader_spv_data.h.in │ │ ├── layer_type.h │ │ ├── layer_type_enum.h.in │ │ ├── mat.cpp │ │ ├── mat.h │ │ ├── mat_pixel.cpp │ │ ├── mat_pixel_android.cpp │ │ ├── mat_pixel_resize.cpp │ │ ├── modelbin.cpp │ │ ├── modelbin.h │ │ ├── net.cpp │ │ ├── net.h │ │ ├── opencv.cpp │ │ ├── opencv.h │ │ ├── option.cpp │ │ ├── option.h │ │ ├── paramdict.cpp │ │ ├── paramdict.h │ │ ├── pipeline.cpp │ │ ├── pipeline.h │ │ └── platform.h.in │ ├── toolchains │ │ ├── aarch64-linux-gnu.toolchain.cmake │ │ ├── arm-linux-gnueabi.toolchain.cmake │ │ ├── arm-linux-gnueabihf.toolchain.cmake │ │ ├── himix100.toolchain.cmake │ │ ├── himix200.toolchain.cmake │ │ ├── hisiv300.toolchain.cmake │ │ ├── hisiv500.toolchain.cmake │ │ ├── hisiv600.toolchain.cmake │ │ ├── host.gcc.toolchain.cmake │ │ ├── ios.toolchain.cmake │ │ ├── iossimxc-x64.toolchain.cmake │ │ ├── iossimxc.toolchain.cmake │ │ ├── iosxc-arm64.toolchain.cmake │ │ ├── iosxc.toolchain.cmake │ │ ├── jetson.toolchain.cmake │ │ └── pi3.toolchain.cmake │ └── tools │ │ ├── CMakeLists.txt │ │ ├── caffe │ │ ├── CMakeLists.txt │ │ ├── caffe.proto │ │ └── caffe2ncnn.cpp │ │ ├── darknet │ │ └── readme.txt │ │ ├── mxnet │ │ ├── CMakeLists.txt │ │ └── mxnet2ncnn.cpp │ │ ├── ncnn2mem.cpp │ │ ├── ncnnoptimize.cpp │ │ ├── onnx │ │ ├── CMakeLists.txt │ │ ├── onnx.proto │ │ └── onnx2ncnn.cpp │ │ ├── plugin │ │ ├── ImageWatchNCNN.natvis │ │ ├── ImageWatchNNIE.natvis │ │ ├── README.md │ │ ├── ncnn_snapshot.png │ │ └── nnie_snapshot.png │ │ ├── pytorch │ │ └── readme.txt │ │ ├── quantize │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── ncnn2int8.cpp │ │ └── ncnn2table.cpp │ │ └── tensorflow │ │ └── readme.txt └── readme.md ├── aip-cpp ├── include │ ├── README.md │ ├── base │ │ ├── base.h │ │ ├── base64.h │ │ ├── http.h │ │ └── utils.h │ ├── body_analysis.h │ ├── content_censor.h │ ├── easydl.h │ ├── face.h │ ├── image_classify.h │ ├── image_process.h │ ├── image_search.h │ ├── kg.h │ ├── nlp.h │ ├── ocr.h │ └── speech.h └── src │ ├── face_pub_node.cpp │ └── gesture_pub_node.cpp ├── config ├── README.md ├── TUM1.yaml ├── d400_costmap.yaml ├── dwa_planning.yaml ├── kinectv2.yaml ├── kinectv2_costmap.yaml ├── kitty.yaml ├── openlorias.rviz ├── realsensed400.yaml └── setting_file.yaml ├── costmap ├── include │ └── costmap_lrgbd_ros │ │ ├── dwa_planning.h │ │ └── lrgbd2xz.h └── src │ ├── dwa_planning.cpp │ ├── lrgbd2xz.cpp │ ├── lrgbd_costmap_node.cpp │ └── record_path_node.cpp ├── data ├── caffe1_1 │ └── gt.txt ├── gt.txt ├── msc │ ├── 3cd2e3eb9f31562b8e12d381b7a86a71 │ │ ├── u.data │ │ └── urec.data │ └── msc.cfg ├── readme.md ├── surfel_map ├── surfel_map_mesh.PLY └── waypoints.txt ├── dense_surfel_mapping ├── include │ ├── CameraPoseVisualization.h │ ├── elements.h │ ├── fusion_functions.h │ ├── surfel_map.h │ └── timer.h └── src │ ├── CameraPoseVisualization.cpp │ ├── fusion_functions.cpp │ ├── ros_node.cpp │ └── surfel_map.cpp ├── image ├── 3d_restructure1.png ├── costmap1.png ├── cover1.png ├── cover2.png ├── dynamic_pic1.png ├── dynamic_pic2.png ├── gesture1.png ├── gesture2.png ├── merge_2d3d_map1.png ├── merge_2d3d_map2.png ├── merge_2d3d_map3.png ├── pointfeature1.png ├── ssd_detect1.png └── ssd_map1.png ├── include ├── Node.h └── RGBDNode.h ├── launch ├── ORB_Dense_Surfel_Mapping.launch ├── ORB_Semantic_Nav.launch ├── ORB_Semantic_SLAM.launch └── gesture_speak.launch ├── lib └── libslam_semantic_nav_ros.so ├── msg ├── Arrived.msg └── Gesture.msg ├── orbslam ├── include │ ├── BoostArchiver.h │ ├── Converter.h │ ├── Detector.h │ ├── Flow.h │ ├── Frame.h │ ├── FrameDrawer.h │ ├── Geometry.h │ ├── Initializer.h │ ├── KeyFrame.h │ ├── KeyFrameDatabase.h │ ├── LocalMapping.h │ ├── LoopClosing.h │ ├── Map.h │ ├── MapDrawer.h │ ├── MapPoint.h │ ├── Merge2d3d.h │ ├── MergeSG.h │ ├── ORBVocabulary.h │ ├── ORBextractor.h │ ├── ORBmatcher.h │ ├── ObjectDatabase.h │ ├── Optimizer.h │ ├── PnPsolver.h │ ├── RunDetect.h │ ├── Sim3Solver.h │ ├── System.h │ ├── Tracking.h │ ├── Viewer.h │ ├── pointcloudmapping.h │ └── readme.md └── src │ ├── Converter.cc │ ├── Detector.cc │ ├── Flow.cc │ ├── Frame.cc │ ├── FrameDrawer.cc │ ├── Geometry.cc │ ├── Initializer.cc │ ├── KeyFrame.cc │ ├── KeyFrameDatabase.cc │ ├── LocalMapping.cc │ ├── LoopClosing.cc │ ├── Map.cc │ ├── MapDrawer.cc │ ├── MapPoint.cc │ ├── Merge2d3d.cc │ ├── MergeSG.cc │ ├── ORBextractor.cc │ ├── ORBmatcher.cc │ ├── ObjectDatabase.cc │ ├── Optimizer.cc │ ├── PnPsolver.cc │ ├── RunDetect.cc │ ├── Sim3Solver.cc │ ├── System.cc │ ├── Tracking.cc │ ├── Viewer.cc │ ├── pointcloudmapping.cc │ └── readme.md ├── package.xml ├── script ├── load_music.py ├── path2waypoints.py ├── publisher.py └── 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/aip-cpp/include/content_censor.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MRwangmaomao/semantic_slam_nav_ros/HEAD/aip-cpp/include/content_censor.h -------------------------------------------------------------------------------- /aip-cpp/include/easydl.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MRwangmaomao/semantic_slam_nav_ros/HEAD/aip-cpp/include/easydl.h -------------------------------------------------------------------------------- /aip-cpp/include/face.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MRwangmaomao/semantic_slam_nav_ros/HEAD/aip-cpp/include/face.h -------------------------------------------------------------------------------- /aip-cpp/include/image_classify.h: -------------------------------------------------------------------------------- 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