├── CMakeLists.txt ├── LICENSE ├── README.md ├── calib └── kitti │ ├── 00.txt │ ├── 01.txt │ ├── 02.txt │ ├── 03.txt │ ├── 04.txt │ ├── 05.txt │ ├── 06.txt │ ├── 07.txt │ ├── 08.txt │ ├── 09.txt │ ├── 10.txt │ ├── 11.txt │ ├── 12.txt │ ├── 13.txt │ ├── 14.txt │ ├── 15.txt │ ├── 16.txt │ ├── 17.txt │ ├── 18.txt │ ├── 19.txt │ ├── 20.txt │ └── 21.txt ├── cmake ├── FindEigen3.cmake ├── FindGlog.cmake ├── FindLibZip.cmake └── FindSuiteParse.cmake ├── groundTruthPose └── kitti │ ├── 00.txt │ ├── 01.txt │ ├── 02.txt │ ├── 03.txt │ ├── 04.txt │ ├── 05.txt │ ├── 06.txt │ ├── 07.txt │ ├── 08.txt │ ├── 09.txt │ └── 10.txt ├── results └── img │ ├── 00.png │ ├── 00_rl.png │ └── 00_tl.png ├── run_kitti.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 │ ├── 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 │ ├── 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