├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── configurations ├── configuration_euroc.yaml ├── configuration_kitti.yaml └── configuration_kitti_fast.yaml ├── contributors.txt ├── executables ├── CMakeLists.txt ├── README.md ├── app.cpp ├── node.cpp ├── stereo_calibrator.cpp ├── test_stereo_frontend.cpp ├── trajectory_analyzer.cpp └── trajectory_converter.cpp ├── package.xml ├── pull_srrg_packages.bash └── src ├── CMakeLists.txt ├── aligners ├── CMakeLists.txt ├── base_aligner.h ├── base_frame_aligner.h ├── base_local_map_aligner.h ├── stereouv_aligner.cpp ├── stereouv_aligner.h ├── uvd_aligner.cpp ├── uvd_aligner.h ├── xyz_aligner.cpp └── xyz_aligner.h ├── framepoint_generation ├── CMakeLists.txt ├── base_framepoint_generator.cpp ├── base_framepoint_generator.h ├── depth_framepoint_generator.cpp ├── depth_framepoint_generator.h ├── intensity_feature_extractor.h ├── intensity_feature_matcher.cpp ├── intensity_feature_matcher.h ├── stereo_framepoint_generator.cpp └── stereo_framepoint_generator.h ├── map_optimization ├── CMakeLists.txt ├── graph_optimizer.cpp └── graph_optimizer.h ├── position_tracking ├── CMakeLists.txt ├── base_tracker.cpp ├── base_tracker.h ├── depth_tracker.cpp ├── depth_tracker.h ├── stereo_tracker.cpp └── stereo_tracker.h ├── relocalization ├── CMakeLists.txt ├── closure.h ├── relocalizer.cpp └── relocalizer.h ├── system ├── CMakeLists.txt ├── slam_assembly.cpp └── slam_assembly.h ├── types ├── CMakeLists.txt ├── camera.cpp ├── camera.h ├── definitions.h ├── frame.cpp ├── frame.h ├── frame_point.cpp ├── frame_point.h ├── landmark.cpp ├── landmark.h ├── local_map.cpp ├── local_map.h ├── parameters.cpp ├── parameters.h ├── world_map.cpp └── world_map.h └── visualization ├── CMakeLists.txt ├── image_viewer.cpp ├── image_viewer.h ├── map_viewer.cpp └── map_viewer.h /.gitignore: -------------------------------------------------------------------------------- 1 | *~ 2 | #* 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