├── .clang-format ├── .gitignore ├── .readme ├── ._align_result.png ├── ._osg_model_visulization.png ├── align_result.png ├── demo.gif ├── osg_model_visulization.png └── time_cost.jpg ├── CMakeLists.txt ├── README.md ├── ThirdParty ├── cv_bridge │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cmake │ │ └── cv_bridge-extras.cmake.in │ ├── doc │ │ ├── conf.py │ │ ├── index.rst │ │ └── mainpage.dox │ ├── include │ │ └── cv_bridge │ │ │ ├── cv_bridge.h │ │ │ └── rgb_colors.h │ ├── package.xml │ ├── rosdoc.yaml │ ├── setup.py │ ├── src │ │ ├── CMakeLists.txt │ │ ├── boost │ │ │ ├── README │ │ │ ├── core │ │ │ │ └── scoped_enum.hpp │ │ │ ├── endian │ │ │ │ ├── conversion.hpp │ │ │ │ └── detail │ │ │ │ │ └── intrinsic.hpp │ │ │ └── predef │ │ │ │ ├── detail │ │ │ │ ├── _cassert.h │ │ │ │ ├── endian_compat.h │ │ │ │ └── test.h │ │ │ │ ├── library │ │ │ │ └── c │ │ │ │ │ ├── _prefix.h │ │ │ │ │ └── gnu.h │ │ │ │ ├── make.h │ │ │ │ ├── os │ │ │ │ ├── android.h │ │ │ │ ├── bsd.h │ │ │ │ ├── bsd │ │ │ │ │ ├── bsdi.h │ │ │ │ │ ├── dragonfly.h │ │ │ │ │ ├── free.h │ │ │ │ │ ├── net.h │ │ │ │ │ └── open.h │ │ │ │ ├── ios.h │ │ │ │ └── macos.h │ │ │ │ ├── other │ │ │ │ └── endian.h │ │ │ │ └── version_number.h │ │ ├── cv_bridge.cpp │ │ ├── module.cpp │ │ ├── module.hpp │ │ ├── module_opencv4.cpp │ │ ├── pycompat.hpp │ │ └── rgb_colors.cpp │ └── test │ │ ├── CMakeLists.txt │ │ ├── conversions.py │ │ ├── enumerants.py │ │ ├── python_bindings.py │ │ ├── test_compression.cpp │ │ ├── test_endian.cpp │ │ ├── test_rgb_colors.cpp │ │ ├── utest.cpp │ │ └── utest2.cpp └── g2o │ ├── .gitignore │ ├── CMakeLists.txt │ ├── EXTERNAL │ ├── CMakeLists.txt │ ├── ceres │ │ ├── LICENSE │ │ ├── algorithm.h │ │ ├── array_selector.h │ │ ├── autodiff.h │ │ ├── disable_warnings.h │ │ ├── eigen.h │ │ ├── fixed_array.h │ │ ├── integer_sequence.h │ │ ├── integer_sequence_algorithm.h │ │ ├── jet.h │ │ ├── memory.h │ │ ├── parameter_dims.h │ │ ├── reenable_warnings.h │ │ ├── types.h │ │ └── variadic_evaluate.h │ └── freeglut │ │ ├── CMakeLists.txt │ │ ├── COPYING │ │ ├── freeglut_font.cpp │ │ ├── freeglut_minimal.h │ │ ├── freeglut_stroke_mono_roman.cpp │ │ └── freeglut_stroke_roman.cpp │ ├── Makefile │ ├── README.md │ ├── appveyor.yml │ ├── cmake_modules │ ├── CheckIfUnderscorePrefixedBesselFunctionsExist.cmake │ ├── Config.cmake.in │ ├── FindBLAS.cmake │ ├── FindCSparse.cmake │ ├── FindCholmod.cmake │ ├── FindEigen3.cmake │ ├── FindG2O.cmake │ ├── FindLAPACK.cmake │ ├── FindQGLViewer.cmake │ └── FindSuiteSparse.cmake │ ├── config.h.in │ └── g2o │ ├── .gitignore │ ├── CMakeLists.txt │ ├── apps │ ├── CMakeLists.txt │ ├── g2o_cli │ │ ├── CMakeLists.txt │ │ ├── dl_wrapper.cpp │ │ ├── dl_wrapper.h │ │ ├── g2o.cpp │ │ ├── g2o_cli_api.h │ │ ├── g2o_common.cpp │ │ ├── g2o_common.h │ │ ├── output_helper.cpp │ │ └── output_helper.h │ ├── g2o_hierarchical │ │ ├── CMakeLists.txt │ │ ├── backbone_tree_action.cpp │ │ ├── backbone_tree_action.h │ │ ├── edge_creator.cpp │ │ ├── edge_creator.h │ │ ├── edge_labeler.cpp │ │ ├── edge_labeler.h │ │ ├── edge_types_cost_function.cpp │ │ ├── edge_types_cost_function.h │ │ ├── g2o_hierarchical.cpp │ │ ├── g2o_hierarchical_api.h │ │ ├── g2o_hierarchical_test_functions.cpp │ │ ├── simple_star_ops.cpp │ │ ├── simple_star_ops.h │ │ ├── star.cpp │ │ └── star.h │ ├── g2o_simulator │ │ ├── CMakeLists.txt │ │ ├── convertSegmentLine.cpp │ │ ├── g2o_anonymize_observations.cpp │ │ ├── g2o_simulator_api.h │ │ ├── pointsensorparameters.cpp │ │ ├── pointsensorparameters.h │ │ ├── sensor_line3d.cpp │ │ ├── sensor_line3d.h │ │ ├── sensor_odometry.h │ │ ├── sensor_odometry2d.cpp │ │ ├── sensor_odometry2d.h │ │ ├── sensor_odometry3d.cpp │ │ ├── sensor_odometry3d.h │ │ ├── sensor_pointxy.cpp │ │ ├── sensor_pointxy.h │ │ ├── sensor_pointxy_bearing.cpp │ │ ├── sensor_pointxy_bearing.h │ │ ├── sensor_pointxy_offset.cpp │ │ ├── sensor_pointxy_offset.h │ │ ├── sensor_pointxyz.cpp │ │ ├── sensor_pointxyz.h │ │ ├── sensor_pointxyz_depth.cpp │ │ ├── sensor_pointxyz_depth.h │ │ ├── sensor_pointxyz_disparity.cpp │ │ ├── sensor_pointxyz_disparity.h │ │ ├── sensor_pose2d.cpp │ │ ├── sensor_pose2d.h │ │ ├── sensor_pose3d.cpp │ │ ├── sensor_pose3d.h │ │ ├── sensor_pose3d_offset.cpp │ │ ├── sensor_pose3d_offset.h │ │ ├── sensor_se3_prior.cpp │ │ ├── sensor_se3_prior.h │ │ ├── sensor_segment2d.cpp │ │ ├── sensor_segment2d.h │ │ ├── sensor_segment2d_line.cpp │ │ ├── sensor_segment2d_line.h │ │ ├── sensor_segment2d_pointline.cpp │ │ ├── sensor_segment2d_pointline.h │ │ ├── simulator.cpp │ │ ├── simulator.h │ │ ├── simulator2d.h │ │ ├── simulator2d_base.h │ │ ├── simulator2d_segment.cpp │ │ ├── simulator3d.h │ │ ├── simulator3d_base.h │ │ ├── simutils.cpp │ │ ├── simutils.h │ │ ├── test_simulator2d.cpp │ │ └── test_simulator3d.cpp │ ├── g2o_viewer │ │ ├── CMakeLists.txt │ │ ├── base_main_window.ui │ │ ├── base_properties_widget.ui │ │ ├── g2o_qglviewer.cpp │ │ ├── g2o_qglviewer.h │ │ ├── g2o_viewer.cpp │ │ ├── g2o_viewer_api.h │ │ ├── gui_hyper_graph_action.cpp │ │ ├── gui_hyper_graph_action.h │ │ ├── main_window.cpp │ │ ├── main_window.h │ │ ├── properties_widget.cpp │ │ ├── properties_widget.h │ │ ├── run_g2o_viewer.cpp │ │ ├── run_g2o_viewer.h │ │ ├── stream_redirect.cpp │ │ ├── stream_redirect.h │ │ ├── viewer_properties_widget.cpp │ │ └── viewer_properties_widget.h │ └── linked_binaries │ │ └── CMakeLists.txt │ ├── benchmarks │ ├── CMakeLists.txt │ └── jacobian_timing_tests.cpp │ ├── core │ ├── CMakeLists.txt │ ├── base_binary_edge.h │ ├── base_binary_edge.hpp │ ├── base_dynamic_vertex.h │ ├── 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 │ ├── dynamic_aligned_buffer.hpp │ ├── eigen_types.h │ ├── estimate_propagator.cpp │ ├── estimate_propagator.h │ ├── factory.cpp │ ├── factory.h │ ├── g2o_core_api.h │ ├── hyper_dijkstra.cpp │ ├── hyper_dijkstra.h │ ├── hyper_graph.cpp │ ├── hyper_graph.h │ ├── hyper_graph_action.cpp │ ├── hyper_graph_action.h │ ├── io_helper.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_levenberg_my.cpp │ ├── optimization_algorithm_levenberg_my.h │ ├── optimization_algorithm_property.h │ ├── optimization_algorithm_with_hessian.cpp │ ├── optimization_algorithm_with_hessian.h │ ├── ownership.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 │ ├── sparse_optimizer_terminate_action.cpp │ └── sparse_optimizer_terminate_action.h │ ├── examples │ ├── CMakeLists.txt │ ├── ba │ │ ├── CMakeLists.txt │ │ └── ba_demo.cpp │ ├── ba_anchored_inverse_depth │ │ ├── CMakeLists.txt │ │ └── ba_anchored_inverse_depth_demo.cpp │ ├── bal │ │ ├── CMakeLists.txt │ │ └── bal_example.cpp │ ├── calibration_odom_laser │ │ ├── CMakeLists.txt │ │ ├── closed_form_calibration.cpp │ │ ├── closed_form_calibration.h │ │ ├── edge_se2_pure_calib.cpp │ │ ├── edge_se2_pure_calib.h │ │ ├── g2o_calibration_odom_laser_api.h │ │ ├── gm2dl_io.cpp │ │ ├── gm2dl_io.h │ │ ├── motion_information.h │ │ ├── sclam_helpers.cpp │ │ ├── sclam_helpers.h │ │ ├── sclam_laser_calib.cpp │ │ ├── sclam_odom_laser.cpp │ │ └── sclam_pure_calibration.cpp │ ├── data_convert │ │ ├── CMakeLists.txt │ │ └── convert_sba_slam3d.cpp │ ├── data_fitting │ │ ├── CMakeLists.txt │ │ ├── circle_fit.cpp │ │ └── curve_fit.cpp │ ├── dynamic_vertex │ │ ├── CMakeLists.txt │ │ ├── polynomial_fit.cpp │ │ └── static_dynamic_function_fit.cpp │ ├── g2o_unfold │ │ ├── g2o-unfold.cpp │ │ ├── tools.cpp │ │ └── tools.h │ ├── icp │ │ ├── CMakeLists.txt │ │ ├── gicp-test1.dat │ │ ├── gicp_demo.cpp │ │ └── gicp_sba_demo.cpp │ ├── interactive_slam │ │ ├── CMakeLists.txt │ │ ├── README.txt │ │ ├── g2o_incremental │ │ │ ├── CMakeLists.txt │ │ │ ├── README.txt │ │ │ ├── g2o_incremental.cpp │ │ │ ├── g2o_incremental_api.h │ │ │ ├── graph_optimizer_sparse_incremental.cpp │ │ │ ├── graph_optimizer_sparse_incremental.h │ │ │ ├── linear_solver_cholmod_online.h │ │ │ └── protocol.txt │ │ ├── g2o_interactive │ │ │ ├── CMakeLists.txt │ │ │ ├── fast_output.h │ │ │ ├── g2o_interactive_api.h │ │ │ ├── g2o_online.cpp │ │ │ ├── g2o_slam_interface.cpp │ │ │ ├── g2o_slam_interface.h │ │ │ ├── generate_commands.cpp │ │ │ ├── graph_optimizer_sparse_online.cpp │ │ │ ├── graph_optimizer_sparse_online.h │ │ │ ├── protocol.txt │ │ │ ├── types_online.cpp │ │ │ ├── types_slam2d_online.h │ │ │ └── types_slam3d_online.h │ │ └── slam_parser │ │ │ ├── CMakeLists.txt │ │ │ ├── example │ │ │ ├── CMakeLists.txt │ │ │ ├── example_slam_interface.cpp │ │ │ ├── example_slam_interface.h │ │ │ └── test_slam_interface.cpp │ │ │ ├── interface │ │ │ ├── CMakeLists.txt │ │ │ ├── abstract_slam_interface.h │ │ │ ├── parser_interface.cpp │ │ │ ├── parser_interface.h │ │ │ ├── slam_context_interface.cpp │ │ │ └── slam_context_interface.h │ │ │ └── parser │ │ │ ├── CMakeLists.txt │ │ │ ├── FlexLexer.h │ │ │ ├── bison_parser.cpp │ │ │ ├── bison_parser.h │ │ │ ├── commands.h │ │ │ ├── driver.cpp │ │ │ ├── driver.h │ │ │ ├── flex_scanner.cpp │ │ │ ├── grammar.sh │ │ │ ├── location.hh │ │ │ ├── parser.yy │ │ │ ├── position.hh │ │ │ ├── scanner.h │ │ │ ├── scanner.l │ │ │ ├── slam_context.cpp │ │ │ ├── slam_context.h │ │ │ ├── stack.hh │ │ │ └── test_slam_parser.cpp │ ├── line_slam │ │ ├── CMakeLists.txt │ │ ├── line_test.cpp │ │ └── simulator_3d_line.cpp │ ├── plane_slam │ │ ├── CMakeLists.txt │ │ ├── plane_test.cpp │ │ └── simulator_3d_plane.cpp │ ├── sba │ │ ├── CMakeLists.txt │ │ └── sba_demo.cpp │ ├── sim3 │ │ ├── CMakeLists.txt │ │ └── optimize_sphere_by_sim3.cpp │ ├── simple_optimize │ │ ├── CMakeLists.txt │ │ └── simple_optimize.cpp │ ├── slam2d │ │ ├── CMakeLists.txt │ │ ├── base_main_window.ui │ │ ├── draw_helpers.cpp │ │ ├── draw_helpers.h │ │ ├── main_window.cpp │ │ ├── main_window.h │ │ ├── slam2d_g2o.cpp │ │ ├── slam2d_viewer.cpp │ │ └── slam2d_viewer.h │ ├── sphere │ │ ├── CMakeLists.txt │ │ └── create_sphere.cpp │ ├── target │ │ ├── CMakeLists.txt │ │ ├── constant_velocity_target.cpp │ │ ├── continuous_to_discrete.h │ │ ├── static_target.cpp │ │ ├── targetTypes3D.hpp │ │ └── targetTypes6D.hpp │ └── tutorial_slam2d │ │ ├── CMakeLists.txt │ │ ├── edge_se2.cpp │ │ ├── edge_se2.h │ │ ├── edge_se2_pointxy.cpp │ │ ├── edge_se2_pointxy.h │ │ ├── g2o_tutorial_slam2d_api.h │ │ ├── parameter_se2_offset.cpp │ │ ├── parameter_se2_offset.h │ │ ├── se2.h │ │ ├── simulator.cpp │ │ ├── simulator.h │ │ ├── tutorial_slam2d.cpp │ │ ├── types_tutorial_slam2d.cpp │ │ ├── types_tutorial_slam2d.h │ │ ├── vertex_point_xy.cpp │ │ ├── vertex_point_xy.h │ │ ├── vertex_se2.cpp │ │ └── vertex_se2.h │ ├── solvers │ ├── CMakeLists.txt │ ├── cholmod │ │ ├── CMakeLists.txt │ │ ├── linear_solver_cholmod.h │ │ └── solver_cholmod.cpp │ ├── csparse │ │ ├── CMakeLists.txt │ │ ├── csparse_extension.cpp │ │ ├── csparse_extension.h │ │ ├── csparse_helper.cpp │ │ ├── csparse_helper.h │ │ ├── g2o_csparse_api.h │ │ ├── g2o_csparse_extension_api.h │ │ ├── linear_solver_csparse.h │ │ └── solver_csparse.cpp │ ├── dense │ │ ├── CMakeLists.txt │ │ ├── linear_solver_dense.h │ │ └── solver_dense.cpp │ ├── eigen │ │ ├── CMakeLists.txt │ │ ├── linear_solver_eigen.h │ │ └── solver_eigen.cpp │ ├── pcg │ │ ├── CMakeLists.txt │ │ ├── linear_solver_pcg.h │ │ ├── linear_solver_pcg.hpp │ │ └── solver_pcg.cpp │ ├── slam2d_linear │ │ ├── CMakeLists.txt │ │ ├── g2o_slam2d_linear_api.h │ │ ├── slam2d_linear.cpp │ │ ├── solver_slam2d_linear.cpp │ │ └── solver_slam2d_linear.h │ └── structure_only │ │ ├── CMakeLists.txt │ │ ├── structure_only.cpp │ │ └── structure_only_solver.h │ ├── stuff │ ├── CMakeLists.txt │ ├── color_macros.h │ ├── command_args.cpp │ ├── command_args.h │ ├── filesys_tools.cpp │ ├── filesys_tools.h │ ├── g2o_stuff_api.h │ ├── macros.h │ ├── misc.h │ ├── opengl_primitives.cpp │ ├── opengl_primitives.h │ ├── opengl_wrapper.h │ ├── os_specific.c │ ├── os_specific.h │ ├── property.cpp │ ├── property.h │ ├── sampler.cpp │ ├── sampler.h │ ├── scoped_pointer.h │ ├── sparse_helper.cpp │ ├── sparse_helper.h │ ├── string_tools.cpp │ ├── string_tools.h │ ├── tictoc.cpp │ ├── tictoc.h │ ├── timeutil.cpp │ ├── timeutil.h │ └── unscented.h │ ├── types │ ├── CMakeLists.txt │ ├── data │ │ ├── CMakeLists.txt │ │ ├── data_queue.cpp │ │ ├── data_queue.h │ │ ├── g2o_types_data_api.h │ │ ├── laser_parameters.cpp │ │ ├── laser_parameters.h │ │ ├── raw_laser.cpp │ │ ├── raw_laser.h │ │ ├── robot_data.cpp │ │ ├── robot_data.h │ │ ├── robot_laser.cpp │ │ ├── robot_laser.h │ │ ├── types_data.cpp │ │ ├── types_data.h │ │ ├── vertex_ellipse.cpp │ │ ├── vertex_ellipse.h │ │ ├── vertex_tag.cpp │ │ └── vertex_tag.h │ ├── icp │ │ ├── CMakeLists.txt │ │ ├── g2o_types_icp_api.h │ │ ├── types_icp.cpp │ │ └── types_icp.h │ ├── sba │ │ ├── CMakeLists.txt │ │ ├── g2o_types_sba_api.h │ │ ├── sbacam.h │ │ ├── types_sba.cpp │ │ ├── types_sba.h │ │ ├── types_six_dof_expmap.cpp │ │ └── types_six_dof_expmap.h │ ├── sclam2d │ │ ├── CMakeLists.txt │ │ ├── edge_se2_odom_differential_calib.cpp │ │ ├── edge_se2_odom_differential_calib.h │ │ ├── edge_se2_sensor_calib.cpp │ │ ├── edge_se2_sensor_calib.h │ │ ├── g2o_types_sclam2d_api.h │ │ ├── odometry_measurement.cpp │ │ ├── odometry_measurement.h │ │ ├── types_sclam2d.cpp │ │ ├── types_sclam2d.h │ │ ├── vertex_odom_differential_params.cpp │ │ └── vertex_odom_differential_params.h │ ├── sim3 │ │ ├── CMakeLists.txt │ │ ├── sim3.h │ │ ├── types_seven_dof_expmap.cpp │ │ └── types_seven_dof_expmap.h │ ├── slam2d │ │ ├── CMakeLists.txt │ │ ├── edge_pointxy.cpp │ │ ├── edge_pointxy.h │ │ ├── edge_se2.cpp │ │ ├── edge_se2.h │ │ ├── edge_se2_lotsofxy.cpp │ │ ├── edge_se2_lotsofxy.h │ │ ├── edge_se2_offset.cpp │ │ ├── edge_se2_offset.h │ │ ├── edge_se2_pointxy.cpp │ │ ├── edge_se2_pointxy.h │ │ ├── edge_se2_pointxy_bearing.cpp │ │ ├── edge_se2_pointxy_bearing.h │ │ ├── edge_se2_pointxy_calib.cpp │ │ ├── edge_se2_pointxy_calib.h │ │ ├── edge_se2_pointxy_offset.cpp │ │ ├── edge_se2_pointxy_offset.h │ │ ├── edge_se2_prior.cpp │ │ ├── edge_se2_prior.h │ │ ├── edge_se2_twopointsxy.cpp │ │ ├── edge_se2_twopointsxy.h │ │ ├── edge_se2_xyprior.cpp │ │ ├── edge_se2_xyprior.h │ │ ├── edge_xy_prior.cpp │ │ ├── edge_xy_prior.h │ │ ├── g2o_types_slam2d_api.h │ │ ├── parameter_se2_offset.cpp │ │ ├── parameter_se2_offset.h │ │ ├── se2.h │ │ ├── types_slam2d.cpp │ │ ├── types_slam2d.h │ │ ├── vertex_point_xy.cpp │ │ ├── vertex_point_xy.h │ │ ├── vertex_se2.cpp │ │ └── vertex_se2.h │ ├── slam2d_addons │ │ ├── CMakeLists.txt │ │ ├── edge_line2d.cpp │ │ ├── edge_line2d.h │ │ ├── edge_line2d_pointxy.cpp │ │ ├── edge_line2d_pointxy.h │ │ ├── edge_se2_line2d.cpp │ │ ├── edge_se2_line2d.h │ │ ├── edge_se2_segment2d.cpp │ │ ├── edge_se2_segment2d.h │ │ ├── edge_se2_segment2d_line.cpp │ │ ├── edge_se2_segment2d_line.h │ │ ├── edge_se2_segment2d_pointLine.cpp │ │ ├── edge_se2_segment2d_pointLine.h │ │ ├── g2o_types_slam2d_addons_api.h │ │ ├── line_2d.h │ │ ├── types_slam2d_addons.cpp │ │ ├── types_slam2d_addons.h │ │ ├── vertex_line2d.cpp │ │ ├── vertex_line2d.h │ │ ├── vertex_segment2d.cpp │ │ └── vertex_segment2d.h │ ├── slam3d │ │ ├── CMakeLists.txt │ │ ├── dquat2mat.cpp │ │ ├── dquat2mat.h │ │ ├── dquat2mat.wxm │ │ ├── dquat2mat_maxima_generated.cpp │ │ ├── edge_pointxyz.cpp │ │ ├── edge_pointxyz.h │ │ ├── edge_se3.cpp │ │ ├── edge_se3.h │ │ ├── edge_se3_lotsofxyz.cpp │ │ ├── edge_se3_lotsofxyz.h │ │ ├── edge_se3_offset.cpp │ │ ├── edge_se3_offset.h │ │ ├── edge_se3_pointxyz.cpp │ │ ├── edge_se3_pointxyz.h │ │ ├── edge_se3_pointxyz_depth.cpp │ │ ├── edge_se3_pointxyz_depth.h │ │ ├── edge_se3_pointxyz_disparity.cpp │ │ ├── edge_se3_pointxyz_disparity.h │ │ ├── edge_se3_prior.cpp │ │ ├── edge_se3_prior.h │ │ ├── edge_se3_xyzprior.cpp │ │ ├── edge_se3_xyzprior.h │ │ ├── edge_xyz_prior.cpp │ │ ├── edge_xyz_prior.h │ │ ├── g2o_types_slam3d_api.h │ │ ├── isometry3d_gradients.cpp │ │ ├── isometry3d_gradients.h │ │ ├── isometry3d_mappings.cpp │ │ ├── isometry3d_mappings.h │ │ ├── parameter_camera.cpp │ │ ├── parameter_camera.h │ │ ├── parameter_se3_offset.cpp │ │ ├── parameter_se3_offset.h │ │ ├── parameter_stereo_camera.cpp │ │ ├── parameter_stereo_camera.h │ │ ├── se3_ops.h │ │ ├── se3_ops.hpp │ │ ├── se3quat.h │ │ ├── types_slam3d.cpp │ │ ├── types_slam3d.h │ │ ├── vertex_pointxyz.cpp │ │ ├── vertex_pointxyz.h │ │ ├── vertex_se3.cpp │ │ └── vertex_se3.h │ └── slam3d_addons │ │ ├── CMakeLists.txt │ │ ├── edge_plane.cpp │ │ ├── edge_plane.h │ │ ├── edge_se3_calib.cpp │ │ ├── edge_se3_calib.h │ │ ├── edge_se3_euler.cpp │ │ ├── edge_se3_euler.h │ │ ├── edge_se3_line.cpp │ │ ├── edge_se3_line.h │ │ ├── edge_se3_plane_calib.cpp │ │ ├── edge_se3_plane_calib.h │ │ ├── g2o_types_slam3d_addons_api.h │ │ ├── line3d.cpp │ │ ├── line3d.h │ │ ├── plane3d.h │ │ ├── types_slam3d_addons.cpp │ │ ├── types_slam3d_addons.h │ │ ├── vertex_line3d.cpp │ │ ├── vertex_line3d.h │ │ ├── vertex_plane.cpp │ │ ├── vertex_plane.h │ │ ├── vertex_se3_euler.cpp │ │ └── vertex_se3_euler.h │ └── what_is_in_these_directories.txt ├── Vocabulary └── orbvoc.dbow3 ├── cmake ├── FindG2O.cmake ├── FindOpenCV.cmake ├── ROSConfig.cmake └── ThirdPartyConfig.cmake ├── config ├── camleft.yaml ├── camwide.yaml ├── capture.yaml ├── extractor.yaml ├── frame.yaml ├── rviz.rviz ├── system.yaml └── viewer.yaml ├── evaluation.sh ├── include ├── BAoptimizer.hpp ├── Converter.h ├── Filter.hpp ├── Frame.hpp ├── Map.hpp ├── MapPoint.hpp ├── Matcher.hpp ├── Object.hpp ├── OptimizeTypes.hpp ├── PoseEstimation.hpp ├── System.hpp ├── Tracker.hpp └── version.h ├── modules ├── CMakeLists.txt ├── DBow3 │ ├── CMakeLists.txt │ ├── LICENSE.txt │ ├── README.md │ └── src │ │ ├── BowVector.cpp │ │ ├── BowVector.h │ │ ├── CMakeLists.txt │ │ ├── DBoW3.h │ │ ├── Database.cpp │ │ ├── Database.h │ │ ├── DescManip.cpp │ │ ├── DescManip.h │ │ ├── FeatureVector.cpp │ │ ├── FeatureVector.h │ │ ├── QueryResults.cpp │ │ ├── QueryResults.h │ │ ├── ScoringObject.cpp │ │ ├── ScoringObject.h │ │ ├── Vocabulary.cpp │ │ ├── Vocabulary.h │ │ ├── exports.h │ │ ├── quicklz.c │ │ ├── quicklz.h │ │ └── timers.h ├── camera │ ├── BaseCamera.hpp │ ├── CMakeLists.txt │ ├── Pinhole.cpp │ └── Pinhole.hpp ├── capture │ ├── CMakeLists.txt │ ├── README.md │ ├── capture.cpp │ ├── capture.hpp │ ├── ros_capture.cpp │ └── screenshot.png ├── local_feature │ ├── BaseExtractor │ │ └── BaseExtractor.hpp │ ├── CMakeLists.txt │ ├── ORB │ │ ├── CMakeLists.txt │ │ ├── ORBExtractor.cpp │ │ ├── ORBExtractor.hpp │ │ └── orb3_extractor │ │ │ ├── ORBextractor.cc │ │ │ └── ORBextractor.h │ ├── README.md │ └── SURF │ │ ├── CMakeLists.txt │ │ ├── SURFExtractor.cpp │ │ └── SURFExtractor.hpp ├── osg_viewer │ ├── CMakeLists.txt │ ├── README.md │ ├── osg_follower.hpp │ ├── osg_viewer.cpp │ ├── osg_viewer.hpp │ └── src │ │ └── test_cam_draw.cpp ├── ros_msgs │ ├── CMakeLists.txt │ ├── include │ │ ├── multi_images.h │ │ ├── multi_msg_wraper.hpp │ │ └── time_cost.h │ ├── ros_msg │ │ ├── CMakeLists.txt │ │ ├── msg │ │ │ ├── multi_images.msg │ │ │ └── time_cost.msg │ │ └── package.xml │ └── src │ │ └── multi_msg_wraper.cpp └── thread_pool │ ├── CMakeLists.txt │ ├── thread_pool.cpp │ └── thread_pool.hpp ├── notebook ├── 1.png ├── Dataset.py ├── FeatureExtract.py ├── LargeScaleMatching.ipynb ├── LargeScaleMatching.py ├── a.png ├── a.svg ├── create-bow-vocabulary.ipynb ├── multi-scale-sift.png ├── multi_scale_image_matching.ipynb ├── orb_opencv.png ├── output.png ├── test_submodlib.ipynb └── utils.py ├── orb_opencv.png ├── output.png ├── py_script ├── evaluation.py ├── listen.py └── open_panel.sh ├── rviz.sh ├── src ├── BAoptimizer.cpp ├── Converter.cc ├── Frame.cpp ├── Map.cpp ├── MapPoint.cpp ├── Matcher.cpp ├── Object.cpp ├── OptimizeTypes.cpp ├── PoseEstimation.cpp ├── System.cpp └── Tracker.cpp └── test ├── 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