├── .catkin_workspace ├── .gitignore ├── README.md └── src ├── CMakeLists.txt ├── ORB_SLAM2 ├── 3d-2dpairs │ ├── 32.txt │ ├── 33.txt │ ├── 34.txt │ ├── 35.txt │ ├── 36.txt │ ├── 37.txt │ ├── 38.txt │ ├── 39.txt │ ├── 40.txt │ ├── 41.txt │ ├── 42.txt │ ├── 43.txt │ ├── 44.txt │ ├── 45.txt │ ├── 46.txt │ ├── 47.txt │ ├── 48.txt │ ├── 49.txt │ ├── 50.txt │ ├── 51.txt │ ├── 53.txt │ ├── 54.txt │ ├── 55.txt │ ├── 56.txt │ ├── 57.txt │ ├── 58.txt │ ├── 59.txt │ ├── 60.txt │ ├── 61.txt │ ├── 62.txt │ ├── 63.txt │ ├── 64.txt │ ├── 65.txt │ ├── 66.txt │ ├── 67.txt │ ├── 68.txt │ ├── 69.txt │ ├── 70.txt │ ├── 71.txt │ ├── 72.txt │ ├── 73.txt │ ├── 74.txt │ ├── 75.txt │ ├── 76.txt │ ├── 77.txt │ ├── 78.txt │ ├── 79.txt │ ├── 80.txt │ ├── 81.txt │ ├── 82.txt │ ├── 83.txt │ ├── 84.txt │ ├── 85.txt │ └── 86.txt ├── CMakeLists.txt ├── CameraTrajectory.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 │ │ ├── mono_euroc.cc │ │ ├── mono_kitti │ │ ├── mono_kitti.cc │ │ ├── mono_tum │ │ └── 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 │ │ └── rgbd_tum.cc │ ├── ROS │ │ └── ORB_SLAM2 │ │ │ ├── Asus.yaml │ │ │ ├── CMakeLists.txt │ │ │ ├── Mono │ │ │ ├── MonoAR │ │ │ ├── RGBD │ │ │ ├── Stereo │ │ │ ├── manifest.xml │ │ │ └── src │ │ │ ├── AR │ │ │ ├── ViewerAR.cc │ │ │ ├── ViewerAR.h │ │ │ └── ros_mono_ar.cc │ │ │ ├── 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 │ │ ├── real_world_test.yaml │ │ ├── stereo_euroc │ │ ├── stereo_euroc.cc │ │ ├── stereo_kitti │ │ └── stereo_kitti.cc ├── LICENSE.txt ├── License-gpl.txt ├── README.md ├── Results │ └── stero │ │ ├── 00.txt │ │ ├── 01.txt │ │ ├── 02.txt │ │ ├── 03.txt │ │ ├── 04.txt │ │ ├── 05.txt │ │ ├── 06.txt │ │ ├── 07.txt │ │ ├── 08.txt │ │ ├── 09.txt │ │ └── 10.txt ├── 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 │ │ └── lib │ │ │ └── libDBoW2.so │ └── g2o │ │ ├── CMakeLists.txt │ │ ├── README.txt │ │ ├── cmake_modules │ │ ├── FindBLAS.cmake │ │ ├── FindEigen3.cmake │ │ └── FindLAPACK.cmake │ │ ├── config.h │ │ ├── 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 │ │ ├── lib │ │ └── libg2o.so │ │ └── license-bsd.txt ├── build.sh ├── build_only.sh ├── build_ros.sh ├── cmake_modules │ └── FindEigen3.cmake ├── include │ ├── Converter.h │ ├── Frame.h │ ├── FrameDrawer.h │ ├── GroundTruth.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 │ ├── Tracking.h │ └── Viewer.h ├── lib │ └── libORB_SLAM2.so ├── run_00.sh ├── run_01.sh ├── run_02.sh ├── run_66.sh └── src │ ├── Converter.cc │ ├── Frame.cc │ ├── FrameDrawer.cc │ ├── GroundTruth.cpp │ ├── Initializer.cc │ ├── KeyFrame.cc │ ├── KeyFrameDatabase.cc │ ├── LocalMapping.cc │ ├── LoopClosing.cc │ ├── Map.cc │ ├── MapDrawer.cc │ ├── MapPoint.cc │ ├── ORBextractor.cc │ ├── ORBmatcher.cc │ ├── Optimizer.cc │ ├── PnPsolver.cc │ ├── Sim3Solver.cc │ ├── System.cc │ ├── Tracking.cc │ └── Viewer.cc ├── POSE_GRAPH ├── CMakeLists.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 │ │ └── lib │ │ │ └── libDBoW2.so │ └── g2o │ │ ├── CMakeLists.txt │ │ ├── README.txt │ │ ├── cmake_modules │ │ ├── FindBLAS.cmake │ │ ├── FindEigen3.cmake │ │ └── FindLAPACK.cmake │ │ ├── config.h │ │ ├── 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 │ │ ├── lib │ │ └── libg2o.so │ │ └── license-bsd.txt ├── bin │ ├── feature_match │ ├── feature_match2 │ ├── frame_test │ ├── match_test │ ├── match_test2 │ ├── param_reader │ ├── pose_graph_try1 │ ├── pose_graph_try2 │ └── pose_graph_try3 ├── build_Thirdparty.sh ├── camera_poses.txt ├── cmake_modules │ ├── FindBLAS.cmake │ ├── FindCSparse.cmake │ ├── FindCholmod.cmake │ ├── FindEigen3.cmake │ ├── FindG2O.cmake │ ├── FindLAPACK.cmake │ ├── FindQGLViewer.cmake │ └── FindSuiteSparse.cmake ├── config │ ├── KITTI04-12.yaml │ ├── config.yaml │ ├── config02.yaml │ ├── config05.yaml │ └── config08.yaml ├── include │ ├── Frame.h │ ├── GroundTruth.h │ ├── MapPoint.h │ ├── ORBextractor.h │ ├── ORBmatcher.h │ ├── SequenceRun.h │ ├── Tracking.h │ ├── camera.h │ ├── common_include.h │ ├── config.h │ └── converter.h ├── lib │ └── libPOSE_GRAPH.so ├── loop_frame_id.txt ├── loop_frame_id00.txt ├── result │ ├── debug.txt │ ├── g2o │ │ ├── 111 │ │ ├── 333 │ │ ├── 2222 │ │ ├── 00.g2o │ │ ├── 02.g2o │ │ ├── 08.g2o │ │ ├── result_after.g2o │ │ ├── result_after0920_00.g2o │ │ ├── result_after_suscessfully.g2o │ │ ├── result_before.g2o │ │ ├── result_before_suscessfully.g2o │ │ └── suscess.g2o │ ├── result_after.g2o │ └── result_before.g2o ├── src │ ├── Frame.cc │ ├── GroundTruth.cc │ ├── MapPoint.cc │ ├── ORBextractor.cc │ ├── ORBmatcher.cc │ ├── SequenceRun.cc │ ├── Tracking.cc │ ├── camera.cc │ ├── config.cc │ └── converter.cc └── test │ ├── feature_match.cpp │ ├── feature_match2.cpp │ ├── frame_test.cpp │ ├── match_test.cpp │ ├── match_test2.cpp │ ├── param_reader.cpp │ ├── pose_graph_try1.cpp │ ├── pose_graph_try1_backup.cpp │ ├── pose_graph_try2.cpp │ └── pose_graph_try3.cpp ├── POSE_GRAPH_CERES ├── CMakeLists.txt ├── README.md ├── bin │ ├── feature_match │ ├── feature_match2 │ ├── frame_test │ ├── match_test │ ├── match_test2 │ ├── param_reader │ ├── pose_graph_ceres │ ├── pose_graph_try1 │ ├── pose_graph_try2 │ └── pose_graph_try3 ├── camera_poses.txt ├── cmake_modules │ ├── FindBLAS.cmake │ ├── FindCSparse.cmake │ ├── FindCholmod.cmake │ ├── FindEigen3.cmake │ ├── FindG2O.cmake │ ├── FindLAPACK.cmake │ ├── FindQGLViewer.cmake │ └── FindSuiteSparse.cmake ├── config │ ├── KITTI04-12.yaml │ ├── config.yaml │ ├── config02.yaml │ ├── config05.yaml │ └── config08.yaml ├── image │ └── ceres_KITTI08.png ├── include │ ├── Frame.h │ ├── GroundTruth.h │ ├── MapPoint.h │ ├── ORBextractor.h │ ├── ORBmatcher.h │ ├── PoseGraph3dError.h │ ├── SequenceRun.h │ ├── Tracking.h │ ├── camera.h │ ├── common_include.h │ ├── config.h │ ├── converter.h │ └── types.h ├── lib │ ├── libPOSE_GRAPH.so │ └── libPOSE_GRAPH_CERES.so ├── loop_frame_id.txt ├── path_plot │ ├── plot00.sh │ ├── plot00_new.sh │ ├── plot02.sh │ ├── plot08.sh │ ├── plot_results.py │ ├── pose_graph.txt │ ├── pose_graph00.txt │ ├── pose_graph00_before.txt │ ├── pose_graph02.txt │ ├── pose_graph02_before.txt │ ├── pose_graph08.txt │ ├── pose_graph08_before.txt │ └── pose_graph_before.txt ├── pose_graph.txt ├── pose_graph_before.txt ├── result │ ├── debug.txt │ └── g2o │ │ ├── 111 │ │ ├── 333 │ │ ├── 2222 │ │ ├── 00.g2o │ │ ├── 02.g2o │ │ ├── 08.g2o │ │ ├── result_after.g2o │ │ ├── result_before.g2o │ │ └── suscess ├── src │ ├── Frame.cc │ ├── GroundTruth.cc │ ├── MapPoint.cc │ ├── ORBextractor.cc │ ├── ORBmatcher.cc │ ├── SequenceRun.cc │ ├── Tracking.cc │ ├── camera.cc │ ├── config.cc │ └── converter.cc └── test │ ├── feature_match.cpp │ ├── feature_match2.cpp │ ├── frame_test.cpp │ ├── match_test.cpp │ ├── match_test2.cpp │ ├── param_reader.cpp │ ├── pose_graph_ceres.cpp │ ├── pose_graph_ceres_back_up.cpp │ ├── pose_graph_try1.cpp │ ├── pose_graph_try2.cpp │ └── pose_graph_try3.cpp ├── POSE_GRAPH_CERES_PLUS ├── CMakeLists.txt ├── README.md ├── bin │ ├── fake_loop_generate │ ├── frame_test │ ├── generate_edges_from_trajectory_origion │ ├── match_test │ ├── match_test2 │ ├── motionestimate │ ├── motionestimate_wholesequence │ ├── pose_graph_ceres │ ├── pose_graph_ceres_plus │ ├── pose_graph_ceres_plus_finial │ └── read_loop_edges_test ├── camera_poses.txt ├── config │ ├── Edge_Candidates_index.txt │ ├── KITTI04-12.yaml │ ├── config.yaml │ ├── config00.yaml │ ├── config02.yaml │ ├── config05.yaml │ └── config08.yaml ├── demo_video │ ├── pose_graph.gif │ ├── pose_graph.mkv │ └── pose_graph_ceres_final.mkv ├── image │ ├── ceres_KITTI08.png │ ├── matches.png │ ├── reprojection-pnp.png │ └── reprojection_ceres.png ├── include │ ├── Frame.h │ ├── GroundTruth.h │ ├── ImageRead.h │ ├── MapPoint.h │ ├── MotionEstimate.h │ ├── ORBextractor.h │ ├── ORBmatcher.h │ ├── PoseGraph3dError.h │ ├── ReadEdges.h │ ├── SequenceRun.h │ ├── camera.h │ ├── common_include.h │ ├── config.h │ ├── converter.h │ └── types.h ├── lib │ └── libPOSE_GRAPH_CERES_PLUS.so ├── path_plot │ ├── plot00.sh │ ├── plot00_new.sh │ ├── plot02.sh │ ├── plot08.sh │ ├── plot_results.py │ ├── plot_results_backup.py │ ├── pose_graph.txt │ ├── pose_graph00.txt │ ├── pose_graph00_before.txt │ ├── pose_graph02.txt │ ├── pose_graph02_before.txt │ ├── pose_graph08.txt │ ├── pose_graph08_before.txt │ └── pose_graph_before.txt ├── result │ ├── Edges │ │ └── edges_for_loop.txt │ ├── PlotShow │ │ ├── KITTI00_x_z.png │ │ ├── KITTI00_z_y.png │ │ ├── README.md │ │ ├── path_plot_x_z.py │ │ ├── path_plot_z_y.py │ │ ├── plot.sh │ │ ├── plot_pose_graph.py │ │ ├── pose_graph.png │ │ └── setup.png │ ├── README.md │ ├── motionestimate.txt │ └── trajectory │ │ ├── trajectory_origin.txt │ │ ├── trajectory_update.txt │ │ └── trajectory_update_y_not_constant.txt ├── src │ ├── Frame.cc │ ├── GroundTruth.cc │ ├── ImageRead.cc │ ├── MapPoint.cc │ ├── MotionEstimate.cc │ ├── ORBextractor.cc │ ├── ORBmatcher.cc │ ├── SequenceRun.cc │ ├── camera.cc │ ├── config.cc │ └── converter.cc └── test │ ├── README.md │ ├── fake_loop_generate.cpp │ ├── feature_match.cpp │ ├── feature_match2.cpp │ ├── frame_test.cpp │ ├── generate_edges_from_trajectory_origion.cpp │ ├── match_test.cpp │ ├── match_test2.cpp │ ├── motionestimate.cpp │ ├── motionestimate_wholesequence.cpp │ ├── param_reader.cpp │ ├── pose_graph_ceres.cpp │ ├── pose_graph_ceres_0923backup.cpp │ ├── pose_graph_ceres_back_up.cpp │ ├── pose_graph_ceres_plus.cpp │ ├── pose_graph_ceres_plus_finial.cpp │ ├── pose_graph_try1.cpp │ ├── pose_graph_try2.cpp │ ├── pose_graph_try3.cpp │ └── read_loop_edges_test.cpp ├── VISO++ ├── CMakeLists.txt ├── 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 │ │ └── lib │ │ │ └── libDBoW2.so │ └── g2o │ │ ├── CMakeLists.txt │ │ ├── README.txt │ │ ├── cmake_modules │ │ ├── FindBLAS.cmake │ │ ├── FindEigen3.cmake │ │ └── FindLAPACK.cmake │ │ ├── config.h │ │ ├── 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 │ │ ├── lib │ │ └── libg2o.so │ │ └── license-bsd.txt ├── build_Thirdparty.sh ├── camera_poses.txt ├── cmake_modules │ └── FindEigen3.cmake ├── config │ ├── KITTI00-02.yaml │ └── default.yaml ├── include │ ├── GroundTruth.h │ ├── camera.h │ ├── common_include.h │ ├── config.h │ ├── converter.h │ ├── filter.h │ ├── frame.h │ ├── g2o_types.h │ ├── map.h │ ├── mappoint.h │ ├── matcher.h │ ├── matrix.h │ ├── reconstruction.h │ ├── timer.h │ ├── triangle.h │ ├── viso.h │ ├── viso_mono.h │ ├── viso_stereo.h │ └── visual_odometry.h ├── lib │ ├── libVISO2_PLUS.so │ ├── liblibtest.a │ └── liblibviso2.a ├── src │ ├── CMakeLists.txt │ ├── GroundTruth.cpp │ ├── camera.cpp │ ├── config.cpp │ ├── converter.cpp │ ├── demo.cpp │ ├── filter.cpp │ ├── frame.cpp │ ├── g2o_types.cpp │ ├── map.cpp │ ├── mappoint.cpp │ ├── matcher.cpp │ ├── matrix.cpp │ ├── reconstruction.cpp │ ├── triangle.cpp │ ├── viso.cpp │ ├── viso_mono.cpp │ ├── viso_stereo.cpp │ └── visual_odometry.cpp ├── test │ ├── CMakeLists.txt │ ├── param_readtest.cpp │ └── visotest1.cpp └── testvo │ ├── CMakeLists.txt │ ├── vo0_1.cpp │ ├── vo0_2.cpp │ └── vo0_3.cpp ├── VISO2+ ├── CMakeLists.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 │ │ └── lib │ │ │ └── libDBoW2.so │ └── g2o │ │ ├── CMakeLists.txt │ │ ├── README.txt │ │ ├── cmake_modules │ │ ├── FindBLAS.cmake │ │ ├── FindEigen3.cmake │ │ └── FindLAPACK.cmake │ │ ├── config.h │ │ ├── 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 │ │ ├── lib │ │ └── libg2o.so │ │ └── license-bsd.txt ├── bin │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.5.1 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeOutput.log │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── Progress │ │ │ ├── 7 │ │ │ ├── 13 │ │ │ └── count.txt │ │ ├── TargetDirectories.txt │ │ ├── VISO2_PLUS.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ ├── progress.make │ │ │ └── src │ │ │ │ ├── GroundTruth.cpp.o │ │ │ │ ├── camera.cpp.o │ │ │ │ ├── config.cpp.o │ │ │ │ ├── converter.cpp.o │ │ │ │ ├── filter.cpp.o │ │ │ │ ├── map.cpp.o │ │ │ │ ├── mappoint.cpp.o │ │ │ │ ├── matcher.cpp.o │ │ │ │ ├── matrix.cpp.o │ │ │ │ ├── reconstruction.cpp.o │ │ │ │ ├── triangle.cpp.o │ │ │ │ ├── viso.cpp.o │ │ │ │ ├── viso_mono.cpp.o │ │ │ │ └── viso_stereo.cpp.o │ │ ├── cmake.check_cache │ │ ├── feature_tests.bin │ │ ├── feature_tests.c │ │ ├── feature_tests.cxx │ │ ├── progress.marks │ │ └── viso2_plus.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ ├── progress.make │ │ │ └── src │ │ │ └── demo.cpp.o │ ├── Makefile │ ├── cmake_install.cmake │ ├── param_readtest │ ├── test │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── param_readtest.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── param_readtest.cpp.o │ │ │ │ └── progress.make │ │ │ ├── progress.marks │ │ │ ├── testvo2.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── testvo2.cpp.o │ │ │ ├── testvo3.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── testvo3.cpp.o │ │ │ └── visotest1.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── visotest1.cpp.o │ │ ├── Makefile │ │ └── cmake_install.cmake │ ├── testvo2 │ ├── testvo3 │ ├── viso2_plus │ └── visotest1 ├── build_Thirdparty.sh ├── camera_pose.txt ├── cmake_modules │ └── FindEigen3.cmake ├── config │ ├── KITTI00-02.yaml │ └── default.yaml ├── image │ └── figure_1.png ├── include │ ├── GroundTruth.h │ ├── camera.h │ ├── common_include.h │ ├── config.h │ ├── converter.h │ ├── filter.h │ ├── frame.h │ ├── g2o_types.h │ ├── map.h │ ├── mappoint.h │ ├── matcher.h │ ├── matrix.h │ ├── new_matcher.h │ ├── optimizer.h │ ├── reconstruction.h │ ├── timer.h │ ├── tracking.h │ ├── triangle.h │ ├── viso.h │ ├── viso_mono.h │ ├── viso_stereo.h │ └── visual_odometry.h ├── lib │ ├── libVISO2_PLUS.so │ ├── liblibtest.a │ └── liblibviso2.a ├── src │ ├── CMakeLists.txt │ ├── GroundTruth.cpp │ ├── camera.cpp │ ├── config.cpp │ ├── converter.cpp │ ├── demo.cpp │ ├── filter.cpp │ ├── frame.cpp │ ├── g2o_types.cpp │ ├── map.cpp │ ├── mappoint.cpp │ ├── matcher.cpp │ ├── matrix.cpp │ ├── new_matcher.cpp │ ├── optimizer.cpp │ ├── reconstruction.cpp │ ├── tracking.cpp │ ├── triangle.cpp │ ├── viso.cpp │ ├── viso_mono.cpp │ ├── viso_stereo.cpp │ └── visual_odometry.cpp ├── test │ ├── CMakeLists.txt │ ├── param_readtest.cpp │ ├── rotation_test.cpp │ ├── testvo2.cpp │ ├── testvo3.cpp │ └── visotest1.cpp └── testvo │ ├── CMakeLists.txt │ ├── vo0_1.cpp │ ├── vo0_2.cpp │ └── vo0_3.cpp ├── VISO2 ├── CMakeLists.txt ├── camera_poses.txt ├── libviso2.zip ├── readme.txt ├── reprojection.txt ├── src │ ├── GroundTruth.cpp │ ├── GroundTruth.h │ ├── demo.cpp │ ├── filter.cpp │ ├── filter.h │ ├── matcher.cpp │ ├── matcher.h │ ├── matrix.cpp │ ├── matrix.h │ ├── reconstruction.cpp │ ├── reconstruction.h │ ├── timer.h │ ├── triangle.cpp │ ├── triangle.h │ ├── viso.cpp │ ├── viso.h │ ├── viso_mono.cpp │ ├── viso_mono.h │ ├── viso_stereo.cpp │ └── viso_stereo.h └── stereomapper.zip ├── other_projects └── bundle_adjustment │ ├── CMakeLists.txt │ ├── ReprojectionError.h │ ├── bundle_adjustment.cpp │ ├── ceres_extensions.h │ └── projection.h └── world_pose.txt /.catkin_workspace: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TurtleZhong/PoseGraph-Ceres/HEAD/.catkin_workspace -------------------------------------------------------------------------------- /.gitignore: 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