├── CMakeLists.txt ├── README.md ├── calib └── euroc │ ├── IMU_info.txt │ ├── T_C0C1.txt │ ├── cam0.txt │ └── cam1.txt ├── cmake ├── FindEigen3.cmake ├── FindGlog.cmake ├── FindLibZip.cmake └── FindSuiteParse.cmake ├── pic ├── 2019-04-09-V203.png ├── MH01.png ├── MH02_1.png ├── MH03_1.png ├── MH04_1.png ├── MH05_1.png ├── V102_1.png ├── euroc_V2_03.png └── euroc_v1_03.png ├── run.bash ├── run_euroc.bash ├── run_mono.bash ├── src ├── FullSystem │ ├── CoarseInitializer.cpp │ ├── CoarseInitializer.h │ ├── CoarseTracker.cpp │ ├── CoarseTracker.h │ ├── FullSystem.cpp │ ├── FullSystem.h │ ├── FullSystemDebugStuff.cpp │ ├── FullSystemMarginalize.cpp │ ├── FullSystemOptPoint.cpp │ ├── FullSystemOptimize.cpp │ ├── HessianBlocks.cpp │ ├── HessianBlocks.h │ ├── IMUPreintegrator.cpp │ ├── IMUPreintegrator.h │ ├── ImmaturePoint.cpp │ ├── ImmaturePoint.h │ ├── PixelSelector.h │ ├── PixelSelector2.cpp │ ├── PixelSelector2.h │ ├── ResidualProjections.h │ ├── Residuals.cpp │ └── Residuals.h ├── IOWrapper │ ├── ImageDisplay.h │ ├── ImageDisplay_dummy.cpp │ ├── ImageRW.h │ ├── ImageRW_dummy.cpp │ ├── OpenCV │ │ ├── ImageDisplay_OpenCV.cpp │ │ └── ImageRW_OpenCV.cpp │ ├── Output3DWrapper.h │ ├── OutputWrapper │ │ └── SampleOutputWrapper.h │ └── Pangolin │ │ ├── KeyFrameDisplay.cpp │ │ ├── KeyFrameDisplay.h │ │ ├── PangolinDSOViewer.cpp │ │ └── PangolinDSOViewer.h ├── OptimizationBackend │ ├── AccumulatedSCHessian.cpp │ ├── AccumulatedSCHessian.h │ ├── AccumulatedTopHessian.cpp │ ├── AccumulatedTopHessian.h │ ├── EnergyFunctional.cpp │ ├── EnergyFunctional.h │ ├── EnergyFunctionalStructs.cpp │ ├── EnergyFunctionalStructs.h │ ├── MatrixAccumulators.h │ └── RawResidualJacobian.h ├── main_dso_pangolin.cpp └── util │ ├── DatasetReader.h │ ├── FrameShell.h │ ├── ImageAndExposure.h │ ├── IndexThreadReduce.h │ ├── MinimalImage.h │ ├── NumType.h │ ├── Undistort.cpp │ ├── Undistort.h │ ├── globalCalib.cpp │ ├── globalCalib.h │ ├── globalFuncs.h │ ├── nanoflann.h │ ├── settings.cpp │ └── 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