├── CMakeLists.txt ├── EXTERNAL ├── Sophus │ ├── CMakeLists.txt │ ├── README │ ├── SophusConfig.cmake.in │ ├── cmake_modules │ │ └── FindEigen3.cmake │ └── sophus │ │ ├── rxso3.hpp │ │ ├── se2.hpp │ │ ├── se3.hpp │ │ ├── sim3.hpp │ │ ├── so2.hpp │ │ ├── so3.hpp │ │ ├── sophus.hpp │ │ ├── test_rxso3.cpp │ │ ├── test_se2.cpp │ │ ├── test_se3.cpp │ │ ├── test_sim3.cpp │ │ ├── test_so2.cpp │ │ ├── test_so3.cpp │ │ └── tests.hpp ├── TooN-2.0.tar.gz ├── gvars-3.0.tar.gz └── libcvd.tar.gz ├── README.md ├── data ├── book12.jpg ├── book12.png ├── box112.jpg ├── box212.jpg ├── cam1cam2.txt ├── cam1cam2.txt~ ├── cam1cam2_0209.txt ├── cam1cam2_0905.txt ├── cam1cam2_0915.txt ├── cam1cam2_old.txt ├── cam1cam2_old1.txt ├── cam1cam2_old2.txt ├── cam1cam2before0905.txt ├── cam1cam2before0915.txt ├── cameras_wrt (copy).txt ├── cameras_wrt.txt ├── cameras_wrt.txt.save ├── cameras_wrt.txt~ ├── cameras_wrt_0905.txt ├── cameras_wrt_old.txt ├── cameras_wrtbefore0915.txt ├── firefly-90deg.xml ├── firefly-90deg.xml~ ├── firefly-90deg_old.xml ├── firefly-90deg_sec.xml ├── firefly-90deg_sec.xml~ ├── firefly_sec.yaml ├── firefly_sec.yaml~ ├── indoor_voc.yml.gz ├── kinect-atan.cfg ├── kinect-poly.xml ├── kinect-poly.xml~ ├── kinect-poly0.xml ├── kinect.yaml ├── kinect.yaml~ ├── kinect1.xml ├── kinect1.xml~ ├── kinectcam1cam2.txt ├── parameter-kinect.txt ├── parameter_wrt.txt ├── parameter_wrt.txt~ ├── parameter_wrt_landing.txt ├── parameter_wrt_landing_old.txt ├── parameter_wrt_old.txt ├── parameter_wrt_second.txt ├── parameter_wrt_second.txt~ ├── parameter_wrtf.txt ├── readme.txt ├── refpattern12.jpg ├── settings-kinect-old.cfg ├── settings-kinect.cfg ├── settings-mono.cfg ├── settings-mono.cfg.save ├── settings-stereo.cfg └── stereo-poly.xml ├── launch ├── calib.launch ├── dcslambag.launch ├── dmslam_nodelet.launch ├── dmslam_nodeletbag.launch ├── dmslam_nodelettestbag.launch ├── dmslambag.launch ├── kinect-nodelet.launch ├── openni_dual.launch ├── openni_dual0.launch ├── openni_node.launch ├── ptam_monolanding_quad.launch ├── ptam_rgbd_quad.launch └── ptam_stereo_quad.launch ├── manifest.xml ├── matlab └── plane_est.m ├── msg ├── Corner.msg ├── DepthImage.msg ├── Edge.msg ├── Edges.msg ├── Keyframe.msg ├── Level.msg ├── Mappoint.msg ├── MultiCameraImage.msg ├── RGBImage.msg └── SharedImageSet.msg ├── nodelet_idslam.xml ├── readme.txt ├── src ├── BaseSLAMNode.cpp ├── BaseSLAMNode.h ├── CMakeLists.txt ├── Cameras_calib.cpp ├── DualMonoSLAMnode.cpp ├── DualMonoSLAMnodelet.cpp ├── MapVisualization.cpp ├── MapVisualization.h ├── MonoLandingNode.cpp ├── MonoPTAMNode.cpp ├── ODT │ ├── MyOrb.cpp │ ├── MyOrb.h │ ├── conversions_img.cpp │ ├── conversions_img.h │ ├── convex.cpp │ ├── convex_opt.cpp │ ├── cvdopencv_helper.cpp │ ├── cvdopencv_helper.h │ ├── homographysolver.cpp │ ├── homographysolver.h │ ├── landing_object.cpp │ ├── landing_object.h │ ├── mymatcher.cpp │ ├── mymatcher.h │ ├── padtracker.cpp │ ├── padtracker.h │ ├── polygon.cpp │ ├── polygon.h │ ├── ptinpoly.cpp │ └── ptinpoly.h ├── RGBDPTAMNode.cpp ├── RGBDPTAMOffline.cpp ├── SimplePTAMNode.cpp ├── StereoPTAMNode.cpp ├── conversions │ ├── conversions.cpp │ └── conversions.h ├── cs_ptam_msgs │ ├── CMakeLists.txt │ ├── Makefile │ ├── catkin_generated │ │ ├── cs_ptam_msgs-msg-extras.cmake.develspace.in │ │ ├── cs_ptam_msgs-msg-extras.cmake.installspace.in │ │ ├── cs_ptam_msgs-msg-paths-context.py │ │ ├── installspace │ │ │ ├── cs_ptam_msgs-msg-extras.cmake │ │ │ ├── cs_ptam_msgs-msg-paths-context.py │ │ │ ├── cs_ptam_msgs-msg-paths.cmake │ │ │ ├── cs_ptam_msgs.pc │ │ │ ├── cs_ptam_msgsConfig-version.cmake │ │ │ └── cs_ptam_msgsConfig.cmake │ │ ├── ordered_paths.cmake │ │ ├── package.cmake │ │ ├── pkg.develspace.context.pc.py │ │ ├── pkg.installspace.context.pc.py │ │ └── stamps │ │ │ └── cs_ptam_msgs │ │ │ ├── package.xml.stamp │ │ │ ├── pkg-genmsg.cmake.em.stamp │ │ │ ├── pkg-msg-paths.cmake.em.stamp │ │ │ └── pkg.pc.em.stamp │ ├── cmake │ │ ├── cs_ptam_msgs-genmsg-context.py │ │ └── cs_ptam_msgs-genmsg.cmake │ ├── cmake_install.cmake │ ├── cs_ptam_msgs.cbp │ ├── msg │ │ ├── Corner.msg │ │ ├── DepthImage.msg │ │ ├── Edge.msg │ │ ├── Edges.msg │ │ ├── Keyframe.msg │ │ ├── Level.msg │ │ ├── Mappoint.msg │ │ ├── RGBImage.msg │ │ └── SharedImageSet.msg │ ├── package.xml │ └── srv │ │ └── InitStep.srv ├── dcslamnode.cpp ├── geometry │ ├── CMakeFiles │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── geometry.dir │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── link.txt │ │ └── progress.marks │ ├── CMakeLists.txt │ ├── PointClouds.cpp │ ├── PointClouds.h │ └── cmake_install.cmake ├── idSLAM │ ├── __init__.py │ ├── msg │ │ ├── _Corner.py │ │ ├── _DepthImage.py │ │ ├── _Edge.py │ │ ├── _Edges.py │ │ ├── _Keyframe.py │ │ ├── _Level.py │ │ ├── _Mappoint.py │ │ ├── _MultiCameraImage.py │ │ ├── _RGBImage.py │ │ ├── _SharedImageSet.py │ │ └── __init__.py │ └── srv │ │ ├── _LoadMap.py │ │ ├── _SaveMap.py │ │ ├── _SetMappingEnabled.py │ │ └── __init__.py ├── idslamnodelet.cpp ├── idslamnodelet.cpp.UK2321 ├── kinect_calib.cpp ├── old │ ├── CalibrationNode.cpp │ └── CalibrationNode.h ├── ptam │ ├── ATANCamera.cc │ ├── ATANCamera.h │ ├── Bundle.cc │ ├── Bundle.h │ ├── CHANGELOG.txt │ ├── CMakeLists.txt │ ├── CameraModel.cc │ ├── CameraModel.h │ ├── HomographyInit.cc │ ├── HomographyInit.h │ ├── KeyFrame.cc │ ├── KeyFrame.h │ ├── LICENSE.txt │ ├── LevelHelpers.h │ ├── MEstimator.h │ ├── Map.cc │ ├── Map.h │ ├── MapMaker.cc │ ├── MapMaker.h │ ├── MapPoint.cc │ ├── MapPoint.h │ ├── MiniPatch.cc │ ├── MiniPatch.h │ ├── OSX_resource_file.r │ ├── PatchFinder.cc │ ├── PatchFinder.h │ ├── PolynomialCamera.cc │ ├── PolynomialCamera.h │ ├── README.txt │ ├── Relocaliser.cc │ ├── Relocaliser.h │ ├── ShiTomasi.cc │ ├── ShiTomasi.h │ ├── SmallBlurryImage.cc │ ├── SmallBlurryImage.h │ ├── SmallMatrixOpts.h │ ├── Tracker.cc │ ├── Tracker.h │ ├── TrackerData.h │ ├── VideoSource.h │ ├── VideoSource_Linux_V4L.cc │ ├── __init__.py │ ├── calibrator_settings.cfg │ ├── cmake_install.cmake │ ├── msg │ │ ├── _MultiCameraImage.py │ │ └── __init__.py │ ├── old │ │ ├── ARDriver.cc │ │ ├── ARDriver.h │ │ ├── CalibCornerPatch.cc │ │ ├── CalibCornerPatch.h │ │ ├── CalibImage.cc │ │ ├── CalibImage.h │ │ ├── CameraCalibrator.cc │ │ ├── CameraCalibrator.h │ │ ├── CameraCalibratorMain.cc │ │ ├── EyeGame.cc │ │ ├── EyeGame.h │ │ ├── GLWindow2.cc │ │ ├── GLWindow2.h │ │ ├── GLWindowMenu.cc │ │ ├── GLWindowMenu.h │ │ ├── MapViewer.cc │ │ ├── MapViewer.h │ │ ├── OpenGL.h │ │ ├── System.cc │ │ ├── System.h │ │ └── main.cc │ ├── settings.cfg │ └── srv │ │ ├── _LoadMap.py │ │ ├── _SaveMap.py │ │ ├── _SetMappingEnabled.py │ │ └── __init__.py ├── testcloud.cpp └── tools │ ├── CMakeLists.txt │ ├── RGBDLogger.cpp │ ├── RGBDtoPLY.cpp │ └── cmake_install.cmake ├── srv ├── LoadMap.srv ├── SaveMap.srv └── SetMappingEnabled.srv ├── test ├── CMakeFiles │ ├── CMakeDirectoryInformation.cmake │ ├── CameraTest.dir │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make 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