├── CMakeLists.txt ├── Dependencies.md ├── LICENSE ├── README.md ├── RGB-D ├── Bonna1.yaml ├── RealSense_D435i.yaml ├── 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_realsense_D435i.cc ├── rgbd_tum └── rgbd_tum.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 ├── RealSense_D435i.yaml ├── RealSense_T265.yaml ├── TUM-VI.yaml ├── TUM_TimeStamps │ ├── dataset-corridor1_512.txt │ ├── dataset-corridor2_1024.txt │ ├── dataset-corridor2_512.txt │ ├── dataset-corridor3_512.txt │ ├── dataset-corridor4_512.txt │ ├── dataset-corridor5_512.txt │ ├── dataset-magistrale1_512.txt │ ├── dataset-magistrale2_512.txt │ ├── dataset-magistrale3_512.txt │ ├── dataset-magistrale4_512.txt │ ├── dataset-magistrale5_512.txt │ ├── dataset-magistrale6_512.txt │ ├── dataset-outdoors1_512.txt │ ├── dataset-outdoors2_512.txt │ ├── dataset-outdoors3_512.txt │ ├── dataset-outdoors4_512.txt │ ├── dataset-outdoors5_512.txt │ ├── dataset-outdoors6_512.txt │ ├── dataset-outdoors7_512.txt │ ├── dataset-outdoors8_512.txt │ ├── dataset-room1_512.txt │ ├── dataset-room2_512.txt │ ├── dataset-room3_512.txt │ ├── dataset-room4_512.txt │ ├── dataset-room5_512.txt │ ├── dataset-room6_512.txt │ ├── dataset-slides1_512.txt │ ├── dataset-slides2_512.txt │ └── dataset-slides3_512.txt ├── stereo_euroc ├── stereo_euroc.cc ├── stereo_kitti ├── stereo_kitti.cc ├── stereo_realsense_D435i.cc ├── stereo_realsense_t265.cc ├── stereo_tum_vi └── stereo_tum_vi.cc ├── engine └── model_trt.engine ├── include ├── Atlas.h ├── CameraModels │ ├── GeometricCamera.h │ ├── KannalaBrandt8.h │ └── Pinhole.h ├── Config.h ├── Converter.h ├── Detector.h ├── Frame.h ├── FrameDrawer.h ├── G2oTypes.h ├── GeometricTools.h ├── ImuTypes.h ├── KeyFrame.h ├── KeyFrameDatabase.h ├── LocalMapping.h ├── LoopClosing.h ├── MLPnPsolver.h ├── Map.h ├── MapDrawer.h ├── MapPoint.h ├── ORBVocabulary.h ├── ORBextractor.h ├── ORBmatcher.h ├── OptimizableTypes.h ├── Optimizer.h ├── SerializationUtils.h ├── Settings.h ├── Sim3Solver.h ├── System.h ├── Tracking.h ├── TwoViewReconstruction.h ├── Viewer.h └── logging.h ├── lib └── libORB_SLAM3.so └── src ├── Atlas.cc ├── CameraModels ├── KannalaBrandt8.cpp └── Pinhole.cpp ├── Config.cc ├── Converter.cc ├── Detector.cc ├── Frame.cc ├── FrameDrawer.cc ├── G2oTypes.cc ├── GeometricTools.cc ├── ImuTypes.cc ├── KeyFrame.cc ├── KeyFrameDatabase.cc ├── LocalMapping.cc ├── LoopClosing.cc ├── MLPnPsolver.cpp ├── Map.cc ├── MapDrawer.cc ├── MapPoint.cc ├── ORBextractor.cc ├── ORBmatcher.cc ├── OptimizableTypes.cpp ├── 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