├── 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 │ ├── build │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 3.0.2 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeOutput.log │ │ │ ├── DBoW2.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DBoW2 │ │ │ │ │ ├── BowVector.cpp.o │ │ │ │ │ ├── FORB.cpp.o │ │ │ │ │ ├── FeatureVector.cpp.o │ │ │ │ │ └── ScoringObject.cpp.o │ │ │ │ ├── DUtils │ │ │ │ │ ├── Random.cpp.o │ │ │ │ │ └── Timestamp.cpp.o │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── TargetDirectories.txt │ │ │ ├── cmake.check_cache │ │ │ └── progress.marks │ │ ├── Makefile │ │ └── cmake_install.cmake │ └── lib │ │ └── libDBoW2.so └── g2o │ ├── CMakeLists.txt │ ├── README.txt │ ├── build │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.0.2 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeOutput.log │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── TargetDirectories.txt │ │ ├── cmake.check_cache │ │ ├── g2o.dir │ │ │ ├── C.includecache │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── g2o │ │ │ │ ├── core │ │ │ │ │ ├── batch_stats.cpp.o │ │ │ │ │ ├── cache.cpp.o │ │ │ │ │ ├── estimate_propagator.cpp.o │ │ │ │ │ ├── factory.cpp.o │ │ │ │ │ ├── hyper_dijkstra.cpp.o │ │ │ │ │ ├── hyper_graph.cpp.o │ │ │ │ │ ├── hyper_graph_action.cpp.o │ │ │ │ │ ├── jacobian_workspace.cpp.o │ │ │ │ │ ├── marginal_covariance_cholesky.cpp.o │ │ │ │ │ ├── matrix_structure.cpp.o │ │ │ │ │ ├── optimizable_graph.cpp.o │ │ │ │ │ ├── optimization_algorithm.cpp.o │ │ │ │ │ ├── optimization_algorithm_factory.cpp.o │ │ │ │ │ ├── optimization_algorithm_levenberg.cpp.o │ │ │ │ │ ├── optimization_algorithm_with_hessian.cpp.o │ │ │ │ │ ├── parameter.cpp.o │ │ │ │ │ ├── parameter_container.cpp.o │ │ │ │ │ ├── robust_kernel.cpp.o │ │ │ │ │ ├── robust_kernel_factory.cpp.o │ │ │ │ │ ├── robust_kernel_impl.cpp.o │ │ │ │ │ ├── solver.cpp.o │ │ │ │ │ └── sparse_optimizer.cpp.o │ │ │ │ ├── stuff │ │ │ │ │ ├── os_specific.c.o │ │ │ │ │ ├── property.cpp.o │ │ │ │ │ ├── string_tools.cpp.o │ │ │ │ │ └── timeutil.cpp.o │ │ │ │ └── types │ │ │ │ │ ├── types_sba.cpp.o │ │ │ │ │ ├── types_seven_dof_expmap.cpp.o │ │ │ │ │ └── types_six_dof_expmap.cpp.o │ │ │ ├── link.txt │ │ │ └── progress.make │ │ └── progress.marks │ ├── Makefile │ └── cmake_install.cmake │ ├── 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 ├── apps ├── CMakeLists.txt └── orbslam2TSDF.cpp ├── cmake ├── CudaComputeTargetFlags.cmake ├── Modules │ └── FindOpenNI.cmake ├── Targets.cmake ├── Utils.cmake └── find_cuda.cmake ├── include └── pcl │ └── gpu │ └── kinfu_large_scale │ ├── color_volume.h │ ├── cyclical_buffer.h │ ├── device.h │ ├── float3_operations.h │ ├── impl │ ├── standalone_marching_cubes.hpp │ └── world_model.hpp │ ├── kinfu.h │ ├── marching_cubes.h │ ├── pixel_rgb.h │ ├── point_intensity.h │ ├── raycaster.h │ ├── screenshot_manager.h │ ├── standalone_marching_cubes.h │ ├── tsdf_buffer.h │ ├── tsdf_volume.h │ └── world_model.h ├── lib ├── libORB_SLAM2.so └── libpcl_gpu_kinfu_large_scale.so ├── orbslam2 ├── Converter.h ├── Frame.h ├── Initializer.h ├── KeyFrame.h ├── KeyFrameDatabase.h ├── LocalMapping.h ├── LoopClosing.h ├── Map.h ├── MapPoint.h ├── ORBVocabulary.h ├── ORBextractor.h ├── ORBmatcher.h ├── Optimizer.h ├── PnPsolver.h ├── Sim3Solver.h ├── System.h └── Tracking.h ├── run.sh ├── src ├── .kdev_include_paths ├── color_volume.cpp ├── cuda │ ├── bilateral_pyrdown.cu │ ├── colors.cu │ ├── coresp.cu │ ├── device.hpp │ ├── estimate_combined.cu │ ├── estimate_tranform.cu │ ├── extract.cu │ ├── image_generator.cu │ ├── maps.cu │ ├── marching_cubes.cu │ ├── normals_eigen.cu │ ├── pointer_shift.cu │ ├── push.cu │ ├── ray_caster.cu │ ├── tsdf_volume.cu │ └── utils.hpp ├── cyclical_buffer.cpp ├── estimate_combined.h ├── internal.h ├── kinfu.cpp ├── marching_cubes.cpp ├── raycaster.cpp ├── screenshot_manager.cpp ├── standalone_marching_cubes.cpp ├── tsdf_volume.cpp └── world_model.cpp └── tools ├── .kdev_include_paths ├── CMakeLists.txt ├── capture.cpp ├── color_handler.h ├── evaluation.cpp ├── evaluation.h ├── inLine_kinfu.cpp ├── kinfuLS_app.cpp ├── kinfu_app_sim.cpp ├── offLine_kinfu.cpp ├── openni_capture.h ├── process_kinfu_large_scale_output.cpp ├── record_maps_rgb.cpp ├── record_tsdfvolume.cpp ├── standalone_texture_mapping.cpp └── test_openni2_grabber.cpp /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/QinZiwen/ModelFusion2/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/QinZiwen/ModelFusion2/HEAD/README.md -------------------------------------------------------------------------------- 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