├── .gitignore ├── CMakeLists.txt ├── Dependencies.md ├── Examples ├── Monocular │ ├── EuRoC.yaml │ ├── EuRoC_TimeStamps │ │ ├── MH01.txt │ │ ├── MH02.txt │ │ ├── MH03.txt │ │ ├── MH04.txt │ │ ├── MH05.txt │ │ ├── V101.txt │ │ ├── V102.txt │ │ ├── V103.txt │ │ ├── V201.txt │ │ ├── V202.txt │ │ └── V203.txt │ ├── KITTI00-02.yaml │ ├── KITTI03.yaml │ ├── KITTI04-12.yaml │ ├── TUM1.yaml │ ├── TUM2.yaml │ ├── TUM3.yaml │ ├── mono_euroc.cc │ ├── mono_kitti.cc │ └── mono_tum.cc ├── RGB-D │ ├── TUM1.yaml │ ├── TUM2.yaml │ ├── TUM3.yaml │ ├── associations │ │ ├── fr1_desk.txt │ │ ├── fr1_desk2.txt │ │ ├── fr1_room.txt │ │ ├── fr1_xyz.txt │ │ ├── fr2_desk.txt │ │ ├── fr2_xyz.txt │ │ ├── fr3_nstr_tex_near.txt │ │ ├── fr3_office.txt │ │ ├── fr3_office_val.txt │ │ ├── fr3_str_tex_far.txt │ │ └── fr3_str_tex_near.txt │ └── rgbd_tum.cc ├── ROS │ └── ORB_SLAM2 │ │ ├── Asus.yaml │ │ ├── CMakeLists.txt │ │ ├── manifest.xml │ │ └── src │ │ ├── AR │ │ ├── ViewerAR.cc │ │ ├── ViewerAR.h │ │ └── ros_mono_ar.cc │ │ ├── kinect.yaml │ │ ├── ros_mono.cc │ │ ├── ros_rgbd.cc │ │ └── ros_stereo.cc └── Stereo │ ├── EuRoC.yaml │ ├── EuRoC_TimeStamps │ ├── MH01.txt │ ├── MH02.txt │ ├── MH03.txt │ ├── MH04.txt │ ├── MH05.txt │ ├── V101.txt │ ├── V102.txt │ ├── V103.txt │ ├── V201.txt │ ├── V202.txt │ └── V203.txt │ ├── KITTI00-02.yaml │ ├── KITTI03.yaml │ ├── KITTI04-12.yaml │ ├── stereo_euroc.cc │ └── stereo_kitti.cc ├── License-gpl.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 ├── g2o │ ├── CMakeLists.txt │ ├── README.txt │ ├── cmake_modules │ │ ├── FindBLAS.cmake │ │ ├── FindEigen3.cmake │ │ └── FindLAPACK.cmake │ ├── 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 │ └── license-bsd.txt └── libdarknet-yolov4.so ├── Vocabulary └── ORBvoc.txt.tar.gz ├── cmake_modules └── FindEigen3.cmake ├── config ├── Astra.yaml ├── Intel_D435i.yaml ├── Intel_R200.yaml ├── TUM1.yaml ├── TUM2.yaml ├── TUM3.yaml ├── kinect2_qhd.yaml └── parameters.yaml ├── darknet ├── cfg │ ├── 9k.labels │ ├── 9k.names │ ├── 9k.tree │ ├── Gaussian_yolov3_BDD.cfg │ ├── alexnet.cfg │ ├── cd53paspp-gamma.cfg │ ├── cifar.cfg │ ├── cifar.test.cfg │ ├── coco.data │ ├── coco.names │ ├── coco9k.map │ ├── combine9k.data │ ├── crnn.train.cfg │ ├── csdarknet53-omega.cfg │ ├── cspx-p7-mish-omega.cfg │ ├── cspx-p7-mish.cfg │ ├── cspx-p7-mish_hp.cfg │ ├── csresnext50-panet-spp-original-optimal.cfg │ ├── csresnext50-panet-spp.cfg │ ├── darknet.cfg │ ├── darknet19.cfg │ ├── darknet19_448.cfg │ ├── darknet53.cfg │ ├── darknet53_448_xnor.cfg │ ├── densenet201.cfg │ ├── efficientnet-lite3.cfg │ ├── efficientnet_b0.cfg │ ├── enet-coco.cfg │ ├── extraction.cfg │ ├── extraction.conv.cfg │ ├── extraction22k.cfg │ ├── go.test.cfg │ ├── gru.cfg │ ├── imagenet.labels.list │ ├── imagenet.shortnames.list │ ├── imagenet1k.data │ ├── imagenet22k.dataset │ ├── imagenet9k.hierarchy.dataset │ ├── inet9k.map │ ├── jnet-conv.cfg │ ├── lstm.train.cfg │ ├── openimages.data │ ├── resnet101.cfg │ ├── resnet152.cfg │ ├── resnet152_trident.cfg │ ├── resnet50.cfg │ ├── resnext152-32x4d.cfg │ ├── rnn.cfg │ ├── rnn.train.cfg │ ├── strided.cfg │ ├── t1.test.cfg │ ├── tiny-yolo-voc.cfg │ ├── tiny-yolo.cfg │ ├── tiny-yolo_xnor.cfg │ ├── tiny.cfg │ ├── vgg-16.cfg │ ├── vgg-conv.cfg │ ├── voc.data │ ├── writing.cfg │ ├── yolo-voc.2.0.cfg │ ├── yolo-voc.cfg │ ├── yolo.2.0.cfg │ ├── yolo.cfg │ ├── yolo9000.cfg │ ├── yolov1 │ │ ├── tiny-coco.cfg │ │ ├── tiny-yolo.cfg │ │ ├── xyolo.test.cfg │ │ ├── yolo-coco.cfg │ │ ├── yolo-small.cfg │ │ ├── yolo.cfg │ │ ├── yolo.train.cfg │ │ └── yolo2.cfg │ ├── yolov2-tiny-voc.cfg │ ├── yolov2-tiny.cfg │ ├── yolov2-voc.cfg │ ├── yolov2.cfg │ ├── yolov3-openimages.cfg │ ├── yolov3-spp.cfg │ ├── yolov3-tiny-prn.cfg │ ├── yolov3-tiny.cfg │ ├── yolov3-tiny_3l.cfg │ ├── yolov3-tiny_obj.cfg │ ├── yolov3-tiny_occlusion_track.cfg │ ├── yolov3-tiny_xnor.cfg │ ├── yolov3-voc.cfg │ ├── yolov3-voc.yolov3-giou-40.cfg │ ├── yolov3.cfg │ ├── yolov3.coco-giou-12.cfg │ ├── yolov3_5l.cfg │ ├── yolov4-csp.cfg │ ├── yolov4-custom.cfg │ ├── yolov4-tiny-3l.cfg │ ├── yolov4-tiny-custom.cfg │ ├── yolov4-tiny.cfg │ ├── yolov4-tiny_contrastive.cfg │ ├── yolov4.cfg │ └── yolov4x-mish.cfg ├── data │ ├── coco.names │ └── voc.names ├── include │ ├── darknet.h │ └── yolo_v2_class.hpp ├── libdarknet.so ├── libdarknet_CPU.so └── libdarknet_GPU.so ├── evaluate ├── associate.py ├── associate.pyc ├── evaluate_ate.py ├── run.sh └── tool.py ├── include ├── Converter.h ├── DynamicObjectDetecting.h ├── Frame.h ├── FrameDrawer.h ├── Initializer.h ├── KeyFrame.h ├── KeyFrameDatabase.h ├── LocalMapping.h ├── LoopClosing.h ├── Map.h ├── MapDrawer.h ├── MapPoint.h ├── ORBVocabulary.h ├── ORBextractor.h ├── ORBmatcher.h ├── Optimizer.h ├── PnPsolver.h ├── Sim3Solver.h ├── System.h ├── 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