├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── apps ├── CMakeLists.txt ├── PhotoconsistencyFrameAlignment │ ├── CMakeLists.txt │ └── PhotoconsistencyFrameAlignment.cpp └── PhotoconsistencyVisualOdometry │ ├── CMakeLists.txt │ └── PhotoconsistencyVisualOdometry.cpp ├── cmake └── FindEigen3.cmake ├── config.h.in ├── config_files ├── config_3_level_optimization_ceres.yml ├── config_4_level_optimization_analytic.yml ├── config_4_level_optimization_ceres.yml ├── config_5_level_optimization_analytic.yml ├── config_5_level_optimization_ceres.yml ├── config_6_level_optimization_analytic.yml ├── config_only_level_0_analytic.yml ├── config_only_level_0_ceres.yml ├── config_only_level_1_ceres.yml ├── config_only_level_2_ceres.yml ├── config_only_level_3_ceres.yml └── config_only_level_4_ceres.yml ├── phovo ├── Maxima │ ├── derivatives_photoconsistency.wxm │ └── derivatives_photoconsistency_separated_jacobians.wxm └── include │ ├── CCameraRecord.h │ ├── CDataBase.h │ ├── 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