├── 3rd_party ├── CMakeLists.txt ├── mapmap │ ├── CMakeLists.txt │ ├── full.h │ ├── header │ │ ├── color.h │ │ ├── cost_bundle.h │ │ ├── cost_instances │ │ │ ├── pairwise_antipotts.h │ │ │ ├── pairwise_linear_peak.h │ │ │ ├── pairwise_potts.h │ │ │ ├── pairwise_table.h │ │ │ ├── pairwise_truncated_linear.h │ │ │ ├── pairwise_truncated_quadratic.h │ │ │ └── unary_table.h │ │ ├── costs.h │ │ ├── defines.h │ │ ├── dynamic_programming.h │ │ ├── graph.h │ │ ├── instance_factory.h │ │ ├── mapmap.h │ │ ├── multilevel.h │ │ ├── multilevel_instances │ │ │ └── group_same_label.h │ │ ├── optimizer_instances │ │ │ ├── dp_node.h │ │ │ ├── dp_node_solver.h │ │ │ ├── dp_node_solver_factory.h │ │ │ ├── dynamic_programming.h │ │ │ ├── envelope.h │ │ │ └── envelope_instances │ │ │ │ ├── pairwise_antipotts_envelope.h │ │ │ │ ├── pairwise_linear_peak_envelope.h │ │ │ │ ├── pairwise_potts_envelope.h │ │ │ │ ├── pairwise_truncated_linear_envelope.h │ │ │ │ └── pairwise_truncated_quadratic_envelope.h │ │ ├── parallel_templates.h │ │ ├── termination_criterion.h │ │ ├── termination_instances │ │ │ ├── stop_after_iterations.h │ │ │ ├── stop_after_time.h │ │ │ ├── stop_when_flat.h │ │ │ └── stop_when_returns_diminish.h │ │ ├── timer.h │ │ ├── tree.h │ │ ├── tree_optimizer.h │ │ ├── tree_sampler.h │ │ ├── tree_sampler_instances │ │ │ ├── lock_free_tree_sampler.h │ │ │ └── optimistic_tree_sampler.h │ │ ├── vector_math.h │ │ └── vector_types.h │ └── source │ │ ├── color.impl.h │ │ ├── cost_bundle.impl.h │ │ ├── cost_instances │ │ ├── pairwise_antipotts.impl.h │ │ ├── pairwise_linear_peak.impl.h │ │ ├── pairwise_potts.impl.h │ │ ├── pairwise_table.impl.h │ │ ├── pairwise_truncated_linear.impl.h │ │ ├── pairwise_truncated_quadratic.impl.h │ │ └── unary_table.impl.h │ │ ├── costs.impl.h │ │ ├── dynamic_programming.impl.h │ │ ├── graph.impl.h │ │ ├── instance_factory.impl.h │ │ ├── mapmap.impl.h │ │ ├── multilevel.impl.h │ │ ├── multilevel_instances │ │ └── group_same_label.impl.h │ │ ├── optimizer_instances │ │ ├── dp_node_solver.impl.h │ │ ├── dp_node_solver_factory.impl.h │ │ ├── dynamic_programming.impl.h │ │ └── envelope_instances │ │ │ ├── pairwise_antipotts_envelope.impl.h │ │ │ ├── pairwise_linear_peak_envelope.impl.h │ │ │ ├── pairwise_potts_envelope.impl.h │ │ │ ├── pairwise_truncated_linear_envelope.impl.h │ │ │ └── pairwise_truncated_quadratic_envelope.impl.h │ │ ├── parallel_templates.impl.h │ │ ├── termination_criterion.impl.h │ │ ├── termination_instances │ │ ├── stop_after_iterations.impl.h │ │ ├── stop_after_time.impl.h │ │ ├── stop_when_flat.impl.h │ │ └── stop_when_returns_diminish.impl.h │ │ ├── timer.cpp │ │ ├── timer.impl.h │ │ ├── tree.impl.h │ │ ├── tree_optimizer.impl.h │ │ ├── tree_sampler.impl.h │ │ ├── tree_sampler_instances │ │ ├── lock_free_tree_sampler.impl.h │ │ └── optimistic_tree_sampler.impl.h │ │ └── vector_math.impl.h └── open_chisel │ ├── CMakeLists.txt │ ├── Stopwatch.h │ ├── camera │ ├── ColorImage.h │ ├── DepthImage.h │ ├── Intrinsics.cpp │ ├── Intrinsics.h │ ├── PinholeCamera.cpp │ └── PinholeCamera.h │ ├── geometry │ ├── AABB.cpp │ ├── AABB.h │ ├── Chunk.cpp │ ├── Chunk.h │ ├── ColorVoxel.cpp │ ├── ColorVoxel.h │ ├── DistVoxel.cpp │ ├── DistVoxel.h │ ├── Frustum.cpp │ ├── Frustum.h │ ├── Geometry.h │ ├── Interpolate.h │ ├── Mesh.cpp │ ├── Mesh.h │ ├── Plane.cpp │ ├── Plane.h │ ├── Raycast.cpp │ └── Raycast.h │ ├── io │ ├── PLY.cpp │ └── PLY.h │ ├── marching_cubes │ ├── MarchingCubes.cpp │ └── MarchingCubes.h │ ├── threading │ └── Threading.h │ ├── truncation │ ├── ConstantTruncator.h │ ├── QuadraticTruncator.h │ └── Truncator.h │ ├── utils │ ├── AlignmentAllocator.h │ ├── AllignedAllocator.h │ ├── FixedPointFloat.h │ ├── ProjectionIntegrator.cpp │ ├── ProjectionIntegrator.h │ └── half.hpp │ └── weighting │ ├── ConstantWeighter.h │ └── Weighter.h ├── BasicAPI.cpp ├── BasicAPI.h ├── CMake ├── FindEigen3.cmake ├── FindFreeNect2.cmake ├── FindMapMap.cmake ├── FindOpenNI2.cmake ├── FindRadical.cmake ├── FindRealSense2.cmake ├── FindSophus.cmake ├── FindSuiteSparse.cmake └── FindTBB.cmake ├── CMakeLists.txt ├── GCFusion ├── MapMaintain.hpp ├── MobileFusion.cpp ├── MobileFusion.h └── MobileGUI.hpp ├── GCSLAM ├── GCSLAM.cpp ├── GCSLAM.h ├── MILD │ ├── BayesianFilter.hpp │ ├── lightweight_vector.hpp │ ├── loop_closure_detector.hpp │ ├── mild.hpp │ └── sparse_match.hpp ├── MultiViewGeometry.cpp ├── MultiViewGeometry.h ├── ORBSLAM │ ├── ORBextractor.cpp │ └── ORBextractor.h └── frame.h ├── LICENSE ├── Params ├── ps1080.crf └── ps1080.vgn ├── README.md ├── Shaders ├── Defines.h ├── Parse.cpp ├── Parse.h ├── Shaders.h ├── Uniform.h ├── Vertex.cpp ├── Vertex.h ├── color.glsl ├── draw_mesh.frag ├── draw_mesh.vert ├── draw_triangles.frag ├── draw_triangles.vert ├── geometry.glsl └── surfels.glsl ├── Structure ├── Atlas.cpp ├── Atlas.h ├── Chisel.cpp ├── Chisel.h ├── ChunkManager.cpp ├── ChunkManager.h ├── Patch.cpp ├── Patch.h ├── TexMap.cpp ├── TexMap.h ├── sparse_matrix.cpp ├── sparse_matrix.h 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