├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── app ├── CMakeLists.txt ├── run_imu.cpp ├── run_map_saver.cpp └── run_slam.cpp ├── cmake_modules ├── FindCSparse.cmake └── FindG2O.cmake ├── config └── default_conf.yaml ├── driver ├── CMakeLists.txt ├── Xtion_Driver.cpp └── Xtion_Driver.h ├── images ├── avatar.png ├── coordinate.png ├── niao.png └── reconstruction.png ├── include ├── Config.h ├── Feature.h ├── FeatureMatching.h ├── Frame.h ├── Fusion.h ├── IMU.h ├── Init.h ├── Local.h ├── Loop.h ├── Map.h ├── MapPoint.h ├── Odometry.h ├── Optimizer.h └── Viewer.h ├── removedata.sh ├── src ├── CMakeLists.txt ├── Config.cpp ├── Feature.cpp ├── FeatureMatching.cpp ├── Frame.cpp ├── Fusion.cpp ├── IMU.cpp ├── Local.cpp ├── Loop.cpp ├── Map.cpp ├── MapPoint.cpp ├── Odometry.cpp ├── Optimizer.cpp └── Viewer.cpp └── vocabulary └── orbvoc.dbow3 /.gitignore: -------------------------------------------------------------------------------- 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