├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── LICENSE ├── README.md ├── UnifiedCvoConfig.cmake.in ├── baselines ├── lidar │ ├── results_gicp │ │ ├── 00.txt │ │ ├── 01.txt │ │ ├── 02.txt │ │ ├── 03.txt │ │ ├── 04.txt │ │ ├── 05.txt │ │ ├── 06.txt │ │ ├── 07.txt │ │ ├── 08.txt │ │ ├── 09.txt │ │ ├── 10.txt │ │ ├── errors │ │ │ ├── 00.txt │ │ │ ├── 01.txt │ │ │ ├── 02.txt │ │ │ ├── 03.txt │ │ │ ├── 04.txt │ │ │ ├── 05.txt │ │ │ ├── 06.txt │ │ │ ├── 07.txt │ │ │ ├── 08.txt │ │ │ ├── 09.txt │ │ │ └── 10.txt │ │ ├── plot_error │ │ │ ├── 00_avg_rl.txt │ │ │ ├── 00_avg_rs.txt │ │ │ ├── 00_avg_tl.txt │ │ │ ├── 00_avg_ts.txt │ │ │ ├── 00_rl.txt │ │ │ ├── 00_rs.txt │ │ │ ├── 00_tl.txt │ │ │ ├── 00_ts.txt │ │ │ ├── 01_avg_rl.txt │ │ │ ├── 01_avg_rs.txt │ │ │ ├── 01_avg_tl.txt │ │ │ ├── 01_avg_ts.txt │ │ │ ├── 01_rl.txt │ │ │ ├── 01_rs.txt │ │ │ ├── 01_tl.txt │ │ │ ├── 01_ts.txt │ │ │ ├── 02_avg_rl.txt │ │ │ ├── 02_avg_rs.txt │ │ │ ├── 02_avg_tl.txt │ │ │ ├── 02_avg_ts.txt │ │ │ ├── 02_rl.txt │ │ │ ├── 02_rs.txt │ │ │ ├── 02_tl.txt │ │ │ ├── 02_ts.txt │ │ │ ├── 03_avg_rl.txt │ │ │ ├── 03_avg_rs.txt │ │ │ ├── 03_avg_tl.txt │ │ │ ├── 03_avg_ts.txt │ │ │ ├── 03_rl.txt │ │ │ ├── 03_rs.txt │ │ │ ├── 03_tl.txt │ │ │ ├── 03_ts.txt │ │ │ ├── 04_avg_rl.txt │ │ │ ├── 04_avg_rs.txt │ │ │ ├── 04_avg_tl.txt │ │ │ ├── 04_avg_ts.txt │ │ │ ├── 04_rl.txt │ │ │ ├── 04_rs.txt │ │ │ ├── 04_tl.txt │ │ │ ├── 04_ts.txt │ │ │ ├── 05_avg_rl.txt │ │ │ ├── 05_avg_rs.txt │ │ │ ├── 05_avg_tl.txt │ │ │ ├── 05_avg_ts.txt │ │ │ ├── 05_rl.txt │ │ │ ├── 05_rs.txt │ │ │ ├── 05_tl.txt │ │ │ ├── 05_ts.txt │ │ │ ├── 06_avg_rl.txt │ │ │ ├── 06_avg_rs.txt │ │ │ ├── 06_avg_tl.txt │ │ │ ├── 06_avg_ts.txt │ │ │ ├── 06_rl.txt │ │ │ ├── 06_rs.txt │ │ │ ├── 06_tl.txt │ │ │ ├── 06_ts.txt │ │ │ ├── 07_avg_rl.txt │ │ │ ├── 07_avg_rs.txt │ │ │ ├── 07_avg_tl.txt │ │ │ ├── 07_avg_ts.txt │ │ │ ├── 07_rl.txt │ │ │ ├── 07_rs.txt │ │ │ ├── 07_tl.txt │ │ │ ├── 07_ts.txt │ │ │ ├── 08_avg_rl.txt │ │ │ ├── 08_avg_rs.txt │ │ │ ├── 08_avg_tl.txt │ │ │ ├── 08_avg_ts.txt │ │ │ ├── 08_rl.txt │ │ │ ├── 08_rs.txt │ │ │ ├── 08_tl.txt │ │ │ ├── 08_ts.txt │ │ │ ├── 09_avg_rl.txt │ │ │ ├── 09_avg_rs.txt │ │ │ ├── 09_avg_tl.txt │ │ │ ├── 09_avg_ts.txt │ │ │ ├── 09_rl.txt │ │ │ ├── 09_rs.txt │ │ │ ├── 09_tl.txt │ │ │ ├── 09_ts.txt │ │ │ ├── 10_avg_rl.txt │ │ │ ├── 10_avg_rs.txt │ │ │ ├── 10_avg_tl.txt │ │ │ ├── 10_avg_ts.txt │ │ │ ├── 10_rl.txt │ │ │ ├── 10_rs.txt │ │ │ ├── 10_tl.txt │ │ │ └── 10_ts.txt │ │ ├── stats.txt │ │ └── stats │ │ │ ├── 00_avg.txt │ │ │ ├── 01_avg.txt │ │ │ ├── 02_avg.txt │ │ │ ├── 03_avg.txt │ │ │ ├── 04_avg.txt │ │ │ ├── 05_avg.txt │ │ │ ├── 06_avg.txt │ │ │ ├── 07_avg.txt │ │ │ ├── 08_avg.txt │ │ │ ├── 09_avg.txt │ │ │ └── 10_avg.txt │ ├── results_mc │ │ ├── 00.txt │ │ ├── 01.txt │ │ ├── 02.txt │ │ ├── 03.txt │ │ ├── 04.txt │ │ ├── 05.txt │ │ ├── 06.txt │ │ ├── 07.txt │ │ ├── 08.txt │ │ ├── 09.txt │ │ ├── 10.txt │ │ ├── 11.txt │ │ ├── TIME.txt │ │ ├── TIME00.txt │ │ ├── TIME01.txt │ │ ├── TIME02.txt │ │ ├── TIME03.txt │ │ ├── TIME04.txt │ │ ├── TIME05.txt │ │ ├── TIME06.txt │ │ ├── TIME07.txt │ │ ├── TIME08.txt │ │ ├── TIME09.txt │ │ ├── TIME10.txt │ │ ├── errors │ │ │ ├── 00.txt │ │ │ ├── 01.txt │ │ │ ├── 02.txt │ │ │ ├── 03.txt │ │ │ ├── 04.txt │ │ │ ├── 05.txt │ │ │ ├── 06.txt │ │ │ ├── 07.txt │ │ │ ├── 08.txt │ │ │ ├── 09.txt │ │ │ └── 10.txt │ │ ├── plot_error │ │ │ ├── 00_avg_rl.txt │ │ │ ├── 00_avg_rs.txt │ │ │ ├── 00_avg_tl.txt │ │ │ ├── 00_avg_ts.txt │ │ │ ├── 00_rl.txt │ │ │ ├── 00_rs.txt │ │ │ ├── 00_tl.txt │ │ │ ├── 00_ts.txt │ │ │ ├── 01_avg_rl.txt │ │ │ ├── 01_avg_rs.txt │ │ │ ├── 01_avg_tl.txt │ │ │ ├── 01_avg_ts.txt │ │ │ ├── 01_rl.txt │ │ │ ├── 01_rs.txt │ │ │ ├── 01_tl.txt │ │ │ ├── 01_ts.txt │ │ │ ├── 02_avg_rl.txt │ │ │ ├── 02_avg_rs.txt │ │ │ ├── 02_avg_tl.txt │ │ │ ├── 02_avg_ts.txt │ │ │ ├── 02_rl.txt │ │ │ ├── 02_rs.txt │ │ │ ├── 02_tl.txt │ │ │ ├── 02_ts.txt │ │ │ ├── 03_avg_rl.txt │ │ │ ├── 03_avg_rs.txt │ │ │ ├── 03_avg_tl.txt │ │ │ ├── 03_avg_ts.txt │ │ │ ├── 03_rl.txt │ │ │ ├── 03_rs.txt │ │ │ ├── 03_tl.txt │ │ │ ├── 03_ts.txt │ │ │ ├── 04_avg_rl.txt │ │ │ ├── 04_avg_rs.txt │ │ │ ├── 04_avg_tl.txt │ │ │ ├── 04_avg_ts.txt │ │ │ ├── 04_rl.txt │ │ │ ├── 04_rs.txt │ │ │ ├── 04_tl.txt │ │ │ ├── 04_ts.txt │ │ │ ├── 05_avg_rl.txt │ │ │ ├── 05_avg_rs.txt │ │ │ ├── 05_avg_tl.txt │ │ │ ├── 05_avg_ts.txt │ │ │ ├── 05_rl.txt │ │ │ ├── 05_rs.txt │ │ │ ├── 05_tl.txt │ │ │ ├── 05_ts.txt │ │ │ ├── 06_avg_rl.txt │ │ │ ├── 06_avg_rs.txt │ │ │ ├── 06_avg_tl.txt │ │ │ ├── 06_avg_ts.txt │ │ │ ├── 06_rl.txt │ │ │ ├── 06_rs.txt │ │ │ ├── 06_tl.txt │ │ │ ├── 06_ts.txt │ │ │ ├── 07_avg_rl.txt │ │ │ ├── 07_avg_rs.txt │ │ │ ├── 07_avg_tl.txt │ │ │ ├── 07_avg_ts.txt │ │ │ ├── 07_rl.txt │ │ │ ├── 07_rs.txt │ │ │ ├── 07_tl.txt │ │ │ ├── 07_ts.txt │ │ │ ├── 08_avg_rl.txt │ │ │ ├── 08_avg_rs.txt │ │ │ ├── 08_avg_tl.txt │ │ │ ├── 08_avg_ts.txt │ │ │ ├── 08_rl.txt │ │ │ ├── 08_rs.txt │ │ │ ├── 08_tl.txt │ │ │ ├── 08_ts.txt │ │ │ ├── 09_avg_rl.txt │ │ │ ├── 09_avg_rs.txt │ │ │ ├── 09_avg_tl.txt │ │ │ ├── 09_avg_ts.txt │ │ │ ├── 09_rl.txt │ │ │ ├── 09_rs.txt │ │ │ ├── 09_tl.txt │ │ │ ├── 09_ts.txt │ │ │ ├── 10_avg_rl.txt │ │ │ ├── 10_avg_rs.txt │ │ │ ├── 10_avg_tl.txt │ │ │ ├── 10_avg_ts.txt │ │ │ ├── 10_rl.txt │ │ │ ├── 10_rs.txt │ │ │ ├── 10_tl.txt │ │ │ └── 10_ts.txt │ │ ├── stats.txt │ │ └── stats │ │ │ ├── 00_avg.txt │ │ │ ├── 01_avg.txt │ │ │ ├── 02_avg.txt │ │ │ ├── 03_avg.txt │ │ │ ├── 04_avg.txt │ │ │ ├── 05_avg.txt │ │ │ ├── 06_avg.txt │ │ │ ├── 07_avg.txt │ │ │ ├── 08_avg.txt │ │ │ ├── 09_avg.txt │ │ │ └── 10_avg.txt │ └── results_ndt │ │ ├── 00.txt │ │ ├── 01.txt │ │ ├── 02.txt │ │ ├── 03.txt │ │ ├── 04.txt │ │ ├── 05.txt │ │ ├── 06.txt │ │ ├── 07.txt │ │ ├── 08.txt │ │ ├── 09.txt │ │ ├── 10.txt │ │ ├── errors │ │ ├── 00.txt │ │ ├── 01.txt │ │ ├── 02.txt │ │ ├── 03.txt │ │ ├── 04.txt │ │ ├── 05.txt │ │ ├── 06.txt │ │ ├── 07.txt │ │ ├── 08.txt │ │ ├── 09.txt │ │ └── 10.txt │ │ ├── plot_error │ │ ├── 00_avg_rl.txt │ │ ├── 00_avg_rs.txt │ │ ├── 00_avg_tl.txt │ │ ├── 00_avg_ts.txt │ │ ├── 00_rl.txt │ │ ├── 00_rs.txt │ │ ├── 00_tl.txt │ │ ├── 00_ts.txt │ │ ├── 01_avg_rl.txt │ │ ├── 01_avg_rs.txt │ │ ├── 01_avg_tl.txt │ │ ├── 01_avg_ts.txt │ │ ├── 01_rl.txt │ │ ├── 01_rs.txt │ │ ├── 01_tl.txt │ │ ├── 01_ts.txt │ │ ├── 02_avg_rl.txt │ │ ├── 02_avg_rs.txt │ │ ├── 02_avg_tl.txt │ │ ├── 02_avg_ts.txt │ │ ├── 02_rl.txt │ │ ├── 02_rs.txt │ │ ├── 02_tl.txt │ │ ├── 02_ts.txt │ │ ├── 03_avg_rl.txt │ │ ├── 03_avg_rs.txt │ │ ├── 03_avg_tl.txt │ │ ├── 03_avg_ts.txt │ │ ├── 03_rl.txt │ │ ├── 03_rs.txt │ │ ├── 03_tl.txt │ │ ├── 03_ts.txt │ │ ├── 04_avg_rl.txt │ │ ├── 04_avg_rs.txt │ │ ├── 04_avg_tl.txt │ │ ├── 04_avg_ts.txt │ │ ├── 04_rl.txt │ │ ├── 04_rs.txt │ │ ├── 04_tl.txt │ │ ├── 04_ts.txt │ │ ├── 05_avg_rl.txt │ │ ├── 05_avg_rs.txt │ │ ├── 05_avg_tl.txt │ │ ├── 05_avg_ts.txt │ │ ├── 05_rl.txt │ │ ├── 05_rs.txt │ │ ├── 05_tl.txt │ │ ├── 05_ts.txt │ │ ├── 06_avg_rl.txt │ │ ├── 06_avg_rs.txt │ │ ├── 06_avg_tl.txt │ │ ├── 06_avg_ts.txt │ │ ├── 06_rl.txt │ │ ├── 06_rs.txt │ │ ├── 06_tl.txt │ │ ├── 06_ts.txt │ │ ├── 07_avg_rl.txt │ │ ├── 07_avg_rs.txt │ │ ├── 07_avg_tl.txt │ │ ├── 07_avg_ts.txt │ │ ├── 07_rl.txt │ │ ├── 07_rs.txt │ │ ├── 07_tl.txt │ │ ├── 07_ts.txt │ │ ├── 08_avg_rl.txt │ │ ├── 08_avg_rs.txt │ │ ├── 08_avg_tl.txt │ │ ├── 08_avg_ts.txt │ │ ├── 08_rl.txt │ │ ├── 08_rs.txt │ │ ├── 08_tl.txt │ │ ├── 08_ts.txt │ │ ├── 09_avg_rl.txt │ │ ├── 09_avg_rs.txt │ │ ├── 09_avg_tl.txt │ │ ├── 09_avg_ts.txt │ │ ├── 09_rl.txt │ │ ├── 09_rs.txt │ │ ├── 09_tl.txt │ │ ├── 09_ts.txt │ │ ├── 10_avg_rl.txt │ │ ├── 10_avg_rs.txt │ │ ├── 10_avg_tl.txt │ │ ├── 10_avg_ts.txt │ │ ├── 10_rl.txt │ │ ├── 10_rs.txt │ │ ├── 10_tl.txt │ │ └── 10_ts.txt │ │ ├── stats.txt │ │ └── stats │ │ ├── 00_avg.txt │ │ ├── 01_avg.txt │ │ ├── 02_avg.txt │ │ ├── 03_avg.txt │ │ ├── 04_avg.txt │ │ ├── 05_avg.txt │ │ ├── 06_avg.txt │ │ ├── 07_avg.txt │ │ ├── 08_avg.txt │ │ ├── 09_avg.txt │ │ └── 10_avg.txt └── stereo │ ├── gicp │ ├── 00.txt │ ├── 01.txt │ ├── 02.txt │ ├── 03.txt │ ├── 04.txt │ ├── 05.txt │ ├── 06.txt │ ├── 07.txt │ ├── 08.txt │ ├── 09.txt │ ├── 10.txt │ ├── errors │ │ ├── 00.txt │ │ ├── 01.txt │ │ ├── 02.txt │ │ ├── 03.txt │ │ ├── 04.txt │ │ ├── 05.txt │ │ ├── 06.txt │ │ ├── 07.txt │ │ ├── 08.txt │ │ ├── 09.txt │ │ └── 10.txt │ ├── plot_error │ │ ├── 00_avg_rl.txt │ │ ├── 00_avg_rs.txt │ │ ├── 00_avg_tl.txt │ │ ├── 00_avg_ts.txt │ │ ├── 00_rl.txt │ │ ├── 00_rs.txt │ │ ├── 00_tl.txt │ │ ├── 00_ts.txt │ │ ├── 01_avg_rl.txt │ │ ├── 01_avg_rs.txt │ │ ├── 01_avg_tl.txt │ │ ├── 01_avg_ts.txt │ │ ├── 01_rl.txt │ │ ├── 01_rs.txt │ │ ├── 01_tl.txt │ │ ├── 01_ts.txt │ │ ├── 02_avg_rl.txt │ │ ├── 02_avg_rs.txt │ │ ├── 02_avg_tl.txt │ │ ├── 02_avg_ts.txt │ │ ├── 02_rl.txt │ │ ├── 02_rs.txt │ │ ├── 02_tl.txt │ │ ├── 02_ts.txt │ │ ├── 03_avg_rl.txt │ │ ├── 03_avg_rs.txt │ │ ├── 03_avg_tl.txt │ │ ├── 03_avg_ts.txt │ │ ├── 03_rl.txt │ │ ├── 03_rs.txt │ │ ├── 03_tl.txt │ │ ├── 03_ts.txt │ │ ├── 04_avg_rl.txt │ │ ├── 04_avg_rs.txt │ │ ├── 04_avg_tl.txt │ │ ├── 04_avg_ts.txt │ │ ├── 04_rl.txt │ │ ├── 04_rs.txt │ │ ├── 04_tl.txt │ │ ├── 04_ts.txt │ │ ├── 05_avg_rl.txt │ │ ├── 05_avg_rs.txt │ │ ├── 05_avg_tl.txt │ │ ├── 05_avg_ts.txt │ │ ├── 05_rl.txt │ │ ├── 05_rs.txt │ │ ├── 05_tl.txt │ │ ├── 05_ts.txt │ │ ├── 06_avg_rl.txt │ │ ├── 06_avg_rs.txt │ │ ├── 06_avg_tl.txt │ │ ├── 06_avg_ts.txt │ │ ├── 06_rl.txt │ │ ├── 06_rs.txt │ │ ├── 06_tl.txt │ │ ├── 06_ts.txt │ │ ├── 07_avg_rl.txt │ │ ├── 07_avg_rs.txt │ │ ├── 07_avg_tl.txt │ │ ├── 07_avg_ts.txt │ │ ├── 07_rl.txt │ │ ├── 07_rs.txt │ │ ├── 07_tl.txt │ │ ├── 07_ts.txt │ │ ├── 08_avg_rl.txt │ │ ├── 08_avg_rs.txt │ │ ├── 08_avg_tl.txt │ │ ├── 08_avg_ts.txt │ │ ├── 08_rl.txt │ │ ├── 08_rs.txt │ │ ├── 08_tl.txt │ │ ├── 08_ts.txt │ │ ├── 09_avg_rl.txt │ │ ├── 09_avg_rs.txt │ │ ├── 09_avg_tl.txt │ │ ├── 09_avg_ts.txt │ │ ├── 09_rl.txt │ │ ├── 09_rs.txt │ │ ├── 09_tl.txt │ │ ├── 09_ts.txt │ │ ├── 10_avg_rl.txt │ │ ├── 10_avg_rs.txt │ │ ├── 10_avg_tl.txt │ │ ├── 10_avg_ts.txt │ │ ├── 10_rl.txt │ │ ├── 10_rs.txt │ │ ├── 10_tl.txt │ │ └── 10_ts.txt │ └── stats │ │ ├── 00_avg.txt │ │ ├── 01_avg.txt │ │ ├── 02_avg.txt │ │ ├── 03_avg.txt │ │ ├── 04_avg.txt │ │ ├── 05_avg.txt │ │ ├── 06_avg.txt │ │ ├── 07_avg.txt │ │ ├── 08_avg.txt │ │ ├── 09_avg.txt │ │ └── 10_avg.txt │ ├── mc_icp │ ├── errors │ │ ├── 00.txt │ │ ├── 01.txt │ │ ├── 02.txt │ │ ├── 03.txt │ │ ├── 04.txt │ │ ├── 05.txt │ │ ├── 06.txt │ │ ├── 07.txt │ │ ├── 08.txt │ │ ├── 09.txt │ │ └── 10.txt │ └── stats │ │ ├── 00_avg.txt │ │ ├── 01_avg.txt │ │ ├── 02_avg.txt │ │ ├── 03_avg.txt │ │ ├── 04_avg.txt │ │ ├── 05_avg.txt │ │ ├── 06_avg.txt │ │ ├── 07_avg.txt │ │ ├── 08_avg.txt │ │ ├── 09_avg.txt │ │ └── 10_avg.txt │ └── ndt │ ├── 00.txt │ ├── 01.txt │ ├── 02.txt │ ├── 03.txt │ ├── 04.txt │ ├── 05.txt │ ├── 06.txt │ ├── 07.txt │ ├── 08.txt │ ├── 09.txt │ ├── 10.txt │ ├── errors │ ├── 00.txt │ ├── 01.txt │ ├── 02.txt │ ├── 03.txt │ ├── 04.txt │ ├── 05.txt │ ├── 06.txt │ ├── 07.txt │ ├── 08.txt │ ├── 09.txt │ └── 10.txt │ ├── plot_error │ ├── 00_avg_rl.txt │ ├── 00_avg_rs.txt │ ├── 00_avg_tl.txt │ ├── 00_avg_ts.txt │ ├── 00_rl.txt │ ├── 00_rs.txt │ ├── 00_tl.txt │ ├── 00_ts.txt │ ├── 01_avg_rl.txt │ ├── 01_avg_rs.txt │ ├── 01_avg_tl.txt │ ├── 01_avg_ts.txt │ ├── 01_rl.txt │ ├── 01_rs.txt │ ├── 01_tl.txt │ ├── 01_ts.txt │ ├── 02_avg_rl.txt │ ├── 02_avg_rs.txt │ ├── 02_avg_tl.txt │ ├── 02_avg_ts.txt │ ├── 02_rl.txt │ ├── 02_rs.txt │ ├── 02_tl.txt │ ├── 02_ts.txt │ ├── 03_avg_rl.txt │ ├── 03_avg_rs.txt │ ├── 03_avg_tl.txt │ ├── 03_avg_ts.txt │ ├── 03_rl.txt │ ├── 03_rs.txt │ ├── 03_tl.txt │ ├── 03_ts.txt │ ├── 04_avg_rl.txt │ ├── 04_avg_rs.txt │ ├── 04_avg_tl.txt │ ├── 04_avg_ts.txt │ ├── 04_rl.txt │ ├── 04_rs.txt │ ├── 04_tl.txt │ ├── 04_ts.txt │ ├── 05_avg_rl.txt │ ├── 05_avg_rs.txt │ ├── 05_avg_tl.txt │ ├── 05_avg_ts.txt │ ├── 05_rl.txt │ ├── 05_rs.txt │ ├── 05_tl.txt │ ├── 05_ts.txt │ ├── 06_avg_rl.txt │ ├── 06_avg_rs.txt │ ├── 06_avg_tl.txt │ ├── 06_avg_ts.txt │ ├── 06_rl.txt │ ├── 06_rs.txt │ ├── 06_tl.txt │ ├── 06_ts.txt │ ├── 07_avg_rl.txt │ ├── 07_avg_rs.txt │ ├── 07_avg_tl.txt │ ├── 07_avg_ts.txt │ ├── 07_rl.txt │ ├── 07_rs.txt │ ├── 07_tl.txt │ ├── 07_ts.txt │ ├── 08_avg_rl.txt │ ├── 08_avg_rs.txt │ ├── 08_avg_tl.txt │ ├── 08_avg_ts.txt │ ├── 08_rl.txt │ ├── 08_rs.txt │ ├── 08_tl.txt │ ├── 08_ts.txt │ ├── 09_avg_rl.txt │ ├── 09_avg_rs.txt │ ├── 09_avg_tl.txt │ ├── 09_avg_ts.txt │ ├── 09_rl.txt │ ├── 09_rs.txt │ ├── 09_tl.txt │ ├── 09_ts.txt │ ├── 10_avg_rl.txt │ ├── 10_avg_rs.txt │ ├── 10_avg_tl.txt │ ├── 10_avg_ts.txt │ ├── 10_rl.txt │ ├── 10_rs.txt │ ├── 10_tl.txt │ └── 10_ts.txt │ └── stats │ ├── 00_avg.txt │ ├── 01_avg.txt │ ├── 02_avg.txt │ ├── 03_avg.txt │ ├── 04_avg.txt │ ├── 05_avg.txt │ ├── 06_avg.txt │ ├── 07_avg.txt │ ├── 08_avg.txt │ ├── 09_avg.txt │ └── 10_avg.txt ├── cmake ├── FindGlog.cmake ├── FindJsonCpp.cmake ├── FindSuiteParse.cmake ├── FindTBB.cmake └── cvoConfig.cmake.in ├── cp_results.bash ├── ctags_gen.bash ├── cvo_params ├── cvo_ethz_lidar_params.yaml ├── cvo_geometric_params_gpu.yaml ├── cvo_geometric_params_img.yaml ├── cvo_geometric_params_img_gpu0.yaml ├── cvo_geometric_params_random.yaml ├── cvo_global_params.yaml ├── cvo_indoor_params.yaml ├── cvo_intensity_params_gpu.yaml ├── cvo_intensity_params_img.yaml ├── cvo_intensity_params_img_gpu0.yaml ├── cvo_intensity_params_irls_bunny.yaml ├── cvo_intensity_params_irls_eth3d.yaml ├── cvo_intensity_params_irls_kitti.yaml ├── cvo_intensity_params_irls_pcd.yaml ├── cvo_intensity_params_irls_tartan.yaml ├── cvo_intensity_params_irls_tum.yaml ├── cvo_irls_ethz_ba_params.yaml ├── cvo_irls_kitti_ba_params.yaml ├── cvo_irls_pcd_params.yaml ├── cvo_kitti_lidar_params.yaml ├── cvo_outdoor_BA_params.yaml ├── cvo_outdoor_intensity_params.yaml ├── cvo_outdoor_params.yaml ├── cvo_rgbd_params.yaml ├── cvo_semantic_outdoor_params.yaml ├── cvo_semantic_params_deep_features.yaml ├── cvo_semantic_params_img_gpu0.yaml ├── cvo_semantic_params_img_oct13.yaml ├── cvo_semantic_params_img_oct14.yaml ├── cvo_semantic_params_irls_bunny.yaml ├── cvo_tartan_color_params.yaml ├── cvo_tartan_demo_params.yaml ├── cvo_tartan_semantic_params.yaml └── cvo_tracking_cassie.yaml ├── demo_data ├── after_align.png ├── before_align.png ├── bunny.pcd ├── kitti_loop_closure │ ├── 00.loop_closure_error.txt │ ├── 02.loop_closure_error.txt │ ├── 05.loop_closure_error.txt │ ├── 06.loop_closure_error.txt │ ├── 07.loop_closure_error.txt │ ├── 08.loop_closure_error.txt │ ├── 09.loop_closure_error.txt │ ├── kitti_00.txt │ ├── kitti_00_loop_closure.g2o │ ├── kitti_00_no_loop.txt │ ├── kitti_02.txt │ ├── kitti_02_loop_closure.g2o │ ├── kitti_05.txt │ ├── kitti_05_loop_closure.g2o │ ├── kitti_06.txt │ ├── kitti_06_loop_closure.g2o │ ├── kitti_07.txt │ ├── kitti_07_loop_closure.g2o │ ├── kitti_08.txt │ ├── kitti_08_loop_closure.g2o │ ├── kitti_09.txt │ └── kitti_09_loop_closure.g2o ├── source.pcd ├── source.png ├── target.pcd ├── target.png └── tartan_demo │ ├── 50.pcd │ ├── 53.pcd │ ├── 56.pcd │ ├── 59.pcd │ ├── abandonedfactory.txt │ ├── after_BA.pcd │ ├── after_ba_hospital.png │ ├── before_BA.pcd │ ├── before_ba_hospital.png │ ├── init_pose.txt │ ├── pose_graph.txt │ ├── pose_graph_50.txt │ └── pose_graph_simple.txt ├── devkit ├── cpp │ ├── evaluate_odometry.cpp │ ├── mail.h │ ├── matrix.cpp │ └── matrix.h ├── evaluation │ ├── __init__.py │ ├── addToConfusionMatrix.c │ ├── addToConfusionMatrix.pyx │ ├── addToConfusionMatrix_impl.c │ ├── evalInstanceLevelSemanticLabeling.py │ ├── evalPixelLevelSemanticLabeling.py │ ├── instance.py │ ├── instances2dict.py │ └── setup.py ├── helpers │ ├── __init__.py │ ├── annotation.py │ ├── csHelpers.py │ ├── kitti_instance_size_average.py │ ├── kitti_to_cityscapes.py │ ├── labels.py │ └── result_kitti_instance_size_averange.txt └── readme.txt ├── ground_truth ├── 10 │ └── 10.txt ├── 00.txt ├── 00 │ └── 00.txt ├── 01.txt ├── 01 │ └── 01.txt ├── 02.txt ├── 02 │ └── 02.txt ├── 03.txt ├── 03 │ └── 03.txt ├── 04.txt ├── 04 │ └── 04.txt ├── 05.txt ├── 05 │ └── 05.txt ├── 06.txt ├── 06 │ └── 06.txt ├── 07.txt ├── 07 │ └── 07.txt ├── 08.txt ├── 08 │ └── 08.txt ├── 09.txt ├── 09 │ └── 09.txt ├── 10.txt └── kitti │ └── lidar │ ├── 00.txt │ ├── 01.txt │ ├── 02.txt │ ├── 03.txt │ ├── 04.txt │ ├── 05.txt │ ├── 06.txt │ ├── 07.txt │ ├── 08.txt │ ├── 09.txt │ └── 10.txt ├── include └── UnifiedCvo │ ├── cvo │ ├── ACvo.hpp │ ├── AdaptiveCvoGPU.hpp │ ├── AdaptiveCvoGPU_impl.cuh │ ├── Association.hpp │ ├── CudaTypes.cuh │ ├── CudaTypes.hpp │ ├── Cvo.hpp │ ├── CvoFrame.hpp │ ├── CvoFrameGPU.cuh │ ├── CvoFrameGPU.hpp │ ├── CvoGPU.hpp │ ├── CvoGPU_impl.cuh │ ├── CvoGPU_impl.hpp │ ├── CvoParams.hpp │ ├── CvoState.cuh │ ├── IRLS.hpp │ ├── IRLS_Cost_CPU.hpp │ ├── IRLS_State.hpp │ ├── IRLS_State_CPU.hpp │ ├── IRLS_State_GPU.hpp │ ├── KDTreeVectorOfVectorsAdaptor.h │ ├── LieGroup.h │ ├── SparseKernelMat.hpp │ ├── gpu_init.hpp │ ├── gpu_utils.cuh │ ├── local_parameterization_se3.hpp │ ├── main.cpp │ └── nanoflann.hpp │ ├── dataset_handler │ ├── DataHandler.hpp │ ├── EthzHandler.hpp │ ├── FinnForestHandler.hpp │ ├── KittiHandler.hpp │ ├── LyftHandler.hpp │ ├── PcdHandler.hpp │ ├── TartanAirHandler.hpp │ └── TumHandler.hpp │ ├── graph_optimizer │ ├── Frame.hpp │ ├── PoseGraph.hpp │ ├── PoseGraphOptimization.hpp │ └── RelativePose.hpp │ ├── mapping │ ├── bki.h │ ├── bkiblock.h │ ├── bkioctomap.h │ ├── bkioctree.h │ ├── bkioctree_node.h │ ├── markerarray_pub.h │ ├── point3f.h │ └── rtree.h │ └── utils │ ├── Angle.h │ ├── Calibration.hpp │ ├── ChangeOfBasis.hpp │ ├── CircularBuffer.h │ ├── CvoPixelSelector.hpp │ ├── CvoPoint.hpp │ ├── CvoPointCloud.hpp │ ├── GaussianMixture.hpp │ ├── IRLS_State.hpp │ ├── ImageDownsampler.hpp │ ├── ImageRGBD.hpp │ ├── ImageStereo.hpp │ ├── LeGoLoamPointSelection.hpp │ ├── LidarPointDownsampler.hpp │ ├── LidarPointSelector.hpp │ ├── LidarPointType.hpp │ ├── LoamScanRegistration.hpp │ ├── PointCloudIO.hpp │ ├── PointSegmentedDistribution.hpp │ ├── PointXYZIL.hpp │ ├── PoseEval.hpp │ ├── PoseLoader.hpp │ ├── RawImage.hpp │ ├── StaticStereo.hpp │ ├── SymbolHash.hpp │ ├── Vector3.h │ ├── VoxelMap.hpp │ ├── VoxelMap_impl.hpp │ ├── blurry_noise.hpp │ ├── conversions.hpp │ ├── data_type.hpp │ ├── debug_visualization.hpp │ ├── def_assert.hpp │ ├── eigen_utils.hpp │ ├── g2o_parser.hpp │ ├── geometric_filter.hpp │ ├── label2color.hpp │ ├── math_utils.h │ ├── pcd_generator.hpp │ ├── pcl_utils.hpp │ ├── time_utils.h │ └── viewer.hpp ├── results ├── TUM_featureless.png ├── aloam │ ├── 00.gt.txt │ ├── 00.lidar.txt │ ├── 00.txt │ ├── 00 │ │ ├── 00.gt.txt │ │ └── 00.txt │ ├── 02.gt.txt │ ├── 02.lidar.txt │ ├── 02.txt │ ├── 02 │ │ ├── 02.gt.txt │ │ └── 02.txt │ ├── 05.gt.txt │ ├── 05.lidar.txt │ ├── 05.txt │ ├── 05.txt.txt │ ├── 05 │ │ ├── 05.gt.txt │ │ └── 05.txt │ ├── 06.gt.txt │ ├── 06.lidar.txt │ ├── 06.txt │ ├── 06 │ │ ├── 06.gt.txt │ │ └── 06.txt │ ├── 07.gt.txt │ ├── 07.lidar.txt │ ├── 07.txt │ ├── 07 │ │ ├── 07.gt.txt │ │ └── 07.txt │ ├── 08.gt.txt │ ├── 08.lidar.txt │ ├── 08.txt │ ├── 08 │ │ ├── 08.gt.txt │ │ └── 08.txt │ ├── 09.gt.txt │ ├── 09.lidar.txt │ ├── 09.txt │ └── 09 │ │ ├── 09.gt.txt │ │ └── 09.txt ├── cvo_geometric_ethz_sep27 │ ├── gazebo_summer.txt │ └── gazebo_winter.txt ├── cvo_geometric_img_gpu0_mar21 │ ├── 00.txt │ ├── 01.txt │ ├── 02.txt │ ├── 03.txt │ ├── 04.txt │ ├── 05.txt │ ├── 06.txt │ ├── 07.txt │ ├── 08.txt │ ├── 09.txt │ ├── 10.txt │ ├── cvo_geometric_img_gpu0 │ │ ├── 00.txt │ │ ├── 01.txt │ │ ├── 02.txt │ │ ├── 03.txt │ │ ├── 04.txt │ │ ├── 05.txt │ │ ├── 06.txt │ │ ├── 07.txt │ │ ├── 08.txt │ │ ├── 09.txt │ │ ├── 10.txt │ │ └── errors │ │ │ ├── 00.txt │ │ │ ├── 01.txt │ │ │ ├── 02.txt │ │ │ ├── 03.txt │ │ │ ├── 04.txt │ │ │ ├── 05.txt │ │ │ ├── 06.txt │ │ │ ├── 07.txt │ │ │ ├── 08.txt │ │ │ ├── 09.txt │ │ │ └── 10.txt │ └── errors │ │ ├── 00.txt │ │ ├── 01.txt │ │ ├── 02.txt │ │ ├── 03.txt │ │ ├── 04.txt │ │ ├── 05.txt │ │ ├── 06.txt │ │ ├── 07.txt │ │ ├── 08.txt │ │ ├── 09.txt │ │ └── 10.txt ├── cvo_geometric_img_gpu0_oct23 │ ├── 00.txt │ ├── 01.txt │ ├── 02.txt │ ├── 03.txt │ ├── 04.txt │ ├── 05.txt │ ├── 06.txt │ ├── 07.txt │ ├── 08.txt │ ├── 09.txt │ ├── 10.txt │ ├── cvo_geometric_params_img_gpu0.yaml │ ├── errors │ │ ├── 00.txt │ │ ├── 01.txt │ │ ├── 02.txt │ │ ├── 03.txt │ │ ├── 04.txt │ │ ├── 05.txt │ │ ├── 06.txt │ │ ├── 07.txt │ │ ├── 08.txt │ │ ├── 09.txt │ │ └── 10.txt │ ├── plot_error │ │ ├── 00_avg_rl.txt │ │ ├── 00_avg_rs.txt │ │ ├── 00_avg_tl.txt │ │ ├── 00_avg_ts.txt │ │ ├── 00_rl.txt │ │ ├── 00_rs.txt │ │ ├── 00_tl.txt │ │ ├── 00_ts.txt │ │ ├── 01_avg_rl.txt │ │ ├── 01_avg_rs.txt │ │ ├── 01_avg_tl.txt │ │ ├── 01_avg_ts.txt │ │ ├── 01_rl.txt │ │ ├── 01_rs.txt │ │ ├── 01_tl.txt │ │ ├── 01_ts.txt │ │ ├── 02_avg_rl.txt │ │ ├── 02_avg_rs.txt │ │ ├── 02_avg_tl.txt │ │ ├── 02_avg_ts.txt │ │ ├── 02_rl.txt │ │ ├── 02_rs.txt │ │ ├── 02_tl.txt │ │ ├── 02_ts.txt │ │ ├── 03_avg_rl.txt │ │ ├── 03_avg_rs.txt │ │ ├── 03_avg_tl.txt │ │ ├── 03_avg_ts.txt │ │ ├── 03_rl.txt │ │ ├── 03_rs.txt │ │ ├── 03_tl.txt │ │ ├── 03_ts.txt │ │ ├── 04_avg_rl.txt │ │ ├── 04_avg_rs.txt │ │ ├── 04_avg_tl.txt │ │ ├── 04_avg_ts.txt │ │ ├── 04_rl.txt │ │ ├── 04_rs.txt │ │ ├── 04_tl.txt │ │ ├── 04_ts.txt │ │ ├── 05_avg_rl.txt │ │ ├── 05_avg_rs.txt │ │ ├── 05_avg_tl.txt │ │ ├── 05_avg_ts.txt │ │ ├── 05_rl.txt │ │ ├── 05_rs.txt │ │ ├── 05_tl.txt │ │ ├── 05_ts.txt │ │ ├── 06_avg_rl.txt │ │ ├── 06_avg_rs.txt │ │ ├── 06_avg_tl.txt │ │ ├── 06_avg_ts.txt │ │ ├── 06_rl.txt │ │ ├── 06_rs.txt │ │ ├── 06_tl.txt │ │ ├── 06_ts.txt │ │ ├── 07_avg_rl.txt │ │ ├── 07_avg_rs.txt │ │ ├── 07_avg_tl.txt │ │ ├── 07_avg_ts.txt │ │ ├── 07_rl.txt │ │ ├── 07_rs.txt │ │ ├── 07_tl.txt │ │ ├── 07_ts.txt │ │ ├── 08_avg_rl.txt │ │ ├── 08_avg_rs.txt │ │ ├── 08_avg_tl.txt │ │ ├── 08_avg_ts.txt │ │ ├── 08_rl.txt │ │ ├── 08_rs.txt │ │ ├── 08_tl.txt │ │ ├── 08_ts.txt │ │ ├── 09_avg_rl.txt │ │ ├── 09_avg_rs.txt │ │ ├── 09_avg_tl.txt │ │ ├── 09_avg_ts.txt │ │ ├── 09_rl.txt │ │ ├── 09_rs.txt │ │ ├── 09_tl.txt │ │ ├── 09_ts.txt │ │ ├── 10_avg_rl.txt │ │ ├── 10_avg_rs.txt │ │ ├── 10_avg_tl.txt │ │ ├── 10_avg_ts.txt │ │ ├── 10_rl.txt │ │ ├── 10_rs.txt │ │ ├── 10_tl.txt │ │ └── 10_ts.txt │ └── stats │ │ ├── 00_avg.txt │ │ ├── 01_avg.txt │ │ ├── 02_avg.txt │ │ ├── 03_avg.txt │ │ ├── 04_avg.txt │ │ ├── 05_avg.txt │ │ ├── 06_avg.txt │ │ ├── 07_avg.txt │ │ ├── 08_avg.txt │ │ ├── 09_avg.txt │ │ └── 10_avg.txt ├── cvo_img_semantic_oct26_best │ ├── 00.txt │ ├── 01.txt │ ├── 02.txt │ ├── 03.txt │ ├── 04.txt │ ├── 05.txt │ ├── 06.txt │ ├── 07.txt │ ├── 08.txt │ ├── 09.txt │ ├── 10.txt │ ├── cvo_semantic_params_img_gpu0.yaml │ ├── errors │ │ ├── 00.txt │ │ ├── 01.txt │ │ ├── 02.txt │ │ ├── 03.txt │ │ ├── 04.txt │ │ ├── 05.txt │ │ ├── 06.txt │ │ ├── 07.txt │ │ ├── 08.txt │ │ ├── 09.txt │ │ └── 10.txt │ ├── plot_error │ │ ├── 00_avg_rl.txt │ │ ├── 00_avg_rs.txt │ │ ├── 00_avg_tl.txt │ │ ├── 00_avg_ts.txt │ │ ├── 00_rl.txt │ │ ├── 00_rs.txt │ │ ├── 00_tl.txt │ │ ├── 00_ts.txt │ │ ├── 01_avg_rl.txt │ │ ├── 01_avg_rs.txt │ │ ├── 01_avg_tl.txt │ │ ├── 01_avg_ts.txt │ │ ├── 01_rl.txt │ │ ├── 01_rs.txt │ │ ├── 01_tl.txt │ │ ├── 01_ts.txt │ │ ├── 02_avg_rl.txt │ │ ├── 02_avg_rs.txt │ │ ├── 02_avg_tl.txt │ │ ├── 02_avg_ts.txt │ │ ├── 02_rl.txt │ │ ├── 02_rs.txt │ │ ├── 02_tl.txt │ │ ├── 02_ts.txt │ │ ├── 03_avg_rl.txt │ │ ├── 03_avg_rs.txt │ │ ├── 03_avg_tl.txt │ │ ├── 03_avg_ts.txt │ │ ├── 03_rl.txt │ │ ├── 03_rs.txt │ │ ├── 03_tl.txt │ │ ├── 03_ts.txt │ │ ├── 04_avg_rl.txt │ │ ├── 04_avg_rs.txt │ │ ├── 04_avg_tl.txt │ │ ├── 04_avg_ts.txt │ │ ├── 04_rl.txt │ │ ├── 04_rs.txt │ │ ├── 04_tl.txt │ │ ├── 04_ts.txt │ │ ├── 05_avg_rl.txt │ │ ├── 05_avg_rs.txt │ │ ├── 05_avg_tl.txt │ │ ├── 05_avg_ts.txt │ │ ├── 05_rl.txt │ │ ├── 05_rs.txt │ │ ├── 05_tl.txt │ │ ├── 05_ts.txt │ │ ├── 06_avg_rl.txt │ │ ├── 06_avg_rs.txt │ │ ├── 06_avg_tl.txt │ │ ├── 06_avg_ts.txt │ │ ├── 06_rl.txt │ │ ├── 06_rs.txt │ │ ├── 06_tl.txt │ │ ├── 06_ts.txt │ │ ├── 07_avg_rl.txt │ │ ├── 07_avg_rs.txt │ │ ├── 07_avg_tl.txt │ │ ├── 07_avg_ts.txt │ │ ├── 07_rl.txt │ │ ├── 07_rs.txt │ │ ├── 07_tl.txt │ │ ├── 07_ts.txt │ │ ├── 08_avg_rl.txt │ │ ├── 08_avg_rs.txt │ │ ├── 08_avg_tl.txt │ │ ├── 08_avg_ts.txt │ │ ├── 08_rl.txt │ │ ├── 08_rs.txt │ │ ├── 08_tl.txt │ │ ├── 08_ts.txt │ │ ├── 09_avg_rl.txt │ │ ├── 09_avg_rs.txt │ │ ├── 09_avg_tl.txt │ │ ├── 09_avg_ts.txt │ │ ├── 09_rl.txt │ │ ├── 09_rs.txt │ │ ├── 09_tl.txt │ │ ├── 09_ts.txt │ │ ├── 10_avg_rl.txt │ │ ├── 10_avg_rs.txt │ │ ├── 10_avg_tl.txt │ │ ├── 10_avg_ts.txt │ │ ├── 10_rl.txt │ │ ├── 10_rs.txt │ │ ├── 10_tl.txt │ │ └── 10_ts.txt │ └── stats │ │ ├── 00_avg.txt │ │ ├── 01_avg.txt │ │ ├── 02_avg.txt │ │ ├── 03_avg.txt │ │ ├── 04_avg.txt │ │ ├── 05_avg.txt │ │ ├── 06_avg.txt │ │ ├── 07_avg.txt │ │ ├── 08_avg.txt │ │ ├── 09_avg.txt │ │ └── 10_avg.txt ├── cvo_intensity_img_gpu0_oct25_best │ ├── 00.txt │ ├── 01.txt │ ├── 02.txt │ ├── 03.txt │ ├── 04.txt │ ├── 05.txt │ ├── 06.txt │ ├── 07.txt │ ├── 08.txt │ ├── 09.txt │ ├── 10.txt │ ├── errors │ │ ├── 00.txt │ │ ├── 01.txt │ │ ├── 02.txt │ │ ├── 03.txt │ │ ├── 04.txt │ │ ├── 05.txt │ │ ├── 06.txt │ │ ├── 07.txt │ │ ├── 08.txt │ │ ├── 09.txt │ │ └── 10.txt │ ├── plot_error │ │ ├── 00_avg_rl.txt │ │ ├── 00_avg_rs.txt │ │ ├── 00_avg_tl.txt │ │ ├── 00_avg_ts.txt │ │ ├── 00_rl.txt │ │ ├── 00_rs.txt │ │ ├── 00_tl.txt │ │ ├── 00_ts.txt │ │ ├── 01_avg_rl.txt │ │ ├── 01_avg_rs.txt │ │ ├── 01_avg_tl.txt │ │ ├── 01_avg_ts.txt │ │ ├── 01_rl.txt │ │ ├── 01_rs.txt │ │ ├── 01_tl.txt │ │ ├── 01_ts.txt │ │ ├── 02_avg_rl.txt │ │ ├── 02_avg_rs.txt │ │ ├── 02_avg_tl.txt │ │ ├── 02_avg_ts.txt │ │ ├── 02_rl.txt │ │ ├── 02_rs.txt │ │ ├── 02_tl.txt │ │ ├── 02_ts.txt │ │ ├── 03_avg_rl.txt │ │ ├── 03_avg_rs.txt │ │ ├── 03_avg_tl.txt │ │ ├── 03_avg_ts.txt │ │ ├── 03_rl.txt │ │ ├── 03_rs.txt │ │ ├── 03_tl.txt │ │ ├── 03_ts.txt │ │ ├── 04_avg_rl.txt │ │ ├── 04_avg_rs.txt │ │ ├── 04_avg_tl.txt │ │ ├── 04_avg_ts.txt │ │ ├── 04_rl.txt │ │ ├── 04_rs.txt │ │ ├── 04_tl.txt │ │ ├── 04_ts.txt │ │ ├── 05_avg_rl.txt │ │ ├── 05_avg_rs.txt │ │ ├── 05_avg_tl.txt │ │ ├── 05_avg_ts.txt │ │ ├── 05_rl.txt │ │ ├── 05_rs.txt │ │ ├── 05_tl.txt │ │ ├── 05_ts.txt │ │ ├── 06_avg_rl.txt │ │ ├── 06_avg_rs.txt │ │ ├── 06_avg_tl.txt │ │ ├── 06_avg_ts.txt │ │ ├── 06_rl.txt │ │ ├── 06_rs.txt │ │ ├── 06_tl.txt │ │ ├── 06_ts.txt │ │ ├── 07_avg_rl.txt │ │ ├── 07_avg_rs.txt │ │ ├── 07_avg_tl.txt │ │ ├── 07_avg_ts.txt │ │ ├── 07_rl.txt │ │ ├── 07_rs.txt │ │ ├── 07_tl.txt │ │ ├── 07_ts.txt │ │ ├── 08_avg_rl.txt │ │ ├── 08_avg_rs.txt │ │ ├── 08_avg_tl.txt │ │ ├── 08_avg_ts.txt │ │ ├── 08_rl.txt │ │ ├── 08_rs.txt │ │ ├── 08_tl.txt │ │ ├── 08_ts.txt │ │ ├── 09_avg_rl.txt │ │ ├── 09_avg_rs.txt │ │ ├── 09_avg_tl.txt │ │ ├── 09_avg_ts.txt │ │ ├── 09_rl.txt │ │ ├── 09_rs.txt │ │ ├── 09_tl.txt │ │ ├── 09_ts.txt │ │ ├── 10_avg_rl.txt │ │ ├── 10_avg_rs.txt │ │ ├── 10_avg_tl.txt │ │ ├── 10_avg_ts.txt │ │ ├── 10_rl.txt │ │ ├── 10_rs.txt │ │ ├── 10_tl.txt │ │ └── 10_ts.txt │ └── stats │ │ ├── 00_avg.txt │ │ ├── 01_avg.txt │ │ ├── 02_avg.txt │ │ ├── 03_avg.txt │ │ ├── 04_avg.txt │ │ ├── 05_avg.txt │ │ ├── 06_avg.txt │ │ ├── 07_avg.txt │ │ ├── 08_avg.txt │ │ ├── 09_avg.txt │ │ └── 10_avg.txt ├── cvo_intensity_lidar_jan23 │ ├── kitti_05_cvo.txt │ └── lidar_05_gt.txt ├── cvo_intensity_lidar_jun09 │ ├── 00.txt │ ├── 02.txt │ ├── 05.txt │ ├── 06.txt │ ├── 07.txt │ └── 09.txt ├── cvo_semantic_img_gpu0_mar28 │ ├── 00.txt │ ├── 01.txt │ ├── 02.txt │ ├── 03.txt │ ├── 04.txt │ ├── 05.txt │ ├── 06.txt │ ├── 07.txt │ ├── 08.txt │ ├── 09.txt │ ├── 10.txt │ ├── cvo_semantic_params_img_gpu0.yaml │ └── errors │ │ ├── 00.txt │ │ ├── 01.txt │ │ ├── 02.txt │ │ ├── 03.txt │ │ ├── 04.txt │ │ ├── 05.txt │ │ ├── 06.txt │ │ ├── 07.txt │ │ ├── 08.txt │ │ ├── 09.txt │ │ └── 10.txt ├── dso │ ├── 00.txt │ └── 05.txt ├── kitti_seq03.png ├── mulls │ └── 07.txt ├── mulls_no_loop │ ├── 00 │ │ ├── 00.txt │ │ └── gt.txt │ ├── 02 │ │ ├── 02.txt │ │ └── gt.txt │ ├── 05 │ │ ├── 05.txt │ │ └── gt.txt │ ├── 06 │ │ ├── 06.txt │ │ └── gt.txt │ ├── 07 │ │ ├── 07.txt │ │ ├── gt.txt │ │ └── odom07original_kitti.txt │ ├── 08 │ │ ├── 08.txt │ │ └── gt.txt │ └── 09 │ │ ├── 09.txt │ │ └── gt.txt ├── mulls_with_loop │ ├── 00 │ │ ├── 00.txt │ │ ├── 00_lidar.txt │ │ ├── gt.txt │ │ ├── gt_tum.txt │ │ ├── odom00_kitti.txt │ │ ├── odom00_tum.txt │ │ └── odom00original_kitti.txt │ ├── 02 │ │ ├── 02.txt │ │ ├── 02_lidar.txt │ │ ├── gt.txt │ │ ├── gt_tum.txt │ │ ├── odom02_kitti.txt │ │ ├── odom02_tum.txt │ │ └── odom02original_kitti.txt │ ├── 05 │ │ ├── 05.txt │ │ ├── 05_lidar.txt │ │ ├── gt.txt │ │ ├── gt_tum.txt │ │ ├── odom05_kitti.txt │ │ ├── odom05_tum.txt │ │ └── odom05original_kitti.txt │ ├── 06 │ │ ├── 06.txt │ │ ├── 06_lidar.txt │ │ ├── gt.txt │ │ ├── gt_tum.txt │ │ ├── odom06_kitti.txt │ │ ├── odom06_tum.txt │ │ └── odom06original_kitti.txt │ ├── 07 │ │ ├── 07.txt │ │ ├── 07_lidar.txt │ │ ├── 07_old.txt │ │ ├── gt.txt │ │ ├── gt_tum.txt │ │ ├── odom07_kitti.txt │ │ ├── odom07_kitti.txt_copy │ │ ├── odom07_tum.txt │ │ └── odom07original_kitti.txt │ ├── 08 │ │ ├── 08.txt │ │ ├── 08_lidar.txt │ │ ├── gt.txt │ │ ├── gt_tum.txt │ │ ├── odom08_kitti.txt │ │ ├── odom08_tum.txt │ │ └── odom08original_kitti.txt │ └── 09 │ │ ├── 09.txt │ │ ├── 09_lidar.txt │ │ ├── gt.txt │ │ ├── gt_tum.txt │ │ ├── odom09_kitti.txt │ │ ├── odom09_tum.txt │ │ └── odom09original_kitti.txt └── stacked_pointcloud.png ├── scripts ├── .cvo_intensity_img_test.bash.swp ├── .single_param_test.bash.swp ├── batch_geometric_test.bash ├── batch_rename.py ├── boxplot_bunny_benchmark.py ├── bunny_boxplot.py ├── colmap2tartan.py ├── compare_depth_err.py ├── cvo_adaptive_irls_tartan.bash ├── cvo_adaptive_irls_tum.bash ├── cvo_align_global_benchmark.bash ├── cvo_align_global_benchmark_no_init.bash ├── cvo_covis_tartan.bash ├── cvo_geoemtric_cov.bash ├── cvo_geoemtric_loam.bash ├── cvo_geoemtric_normal.bash ├── cvo_geoemtric_range_ell.bash ├── cvo_geoemtric_test.bash ├── cvo_geometric_img.bash ├── cvo_geometric_img_gpu0.bash ├── cvo_geometric_img_gpu1.bash ├── cvo_indicator_test.bash ├── cvo_intensity_img_gpu0.bash ├── cvo_intensity_img_test.bash ├── cvo_intensity_img_test2.bash ├── cvo_intensity_loam.bash ├── cvo_intensity_lyft.bash ├── cvo_intensity_rgbd_eth3d.bash ├── cvo_intensity_rgbd_tartan.bash ├── cvo_intensity_test.bash ├── cvo_irls_eth3d.bash ├── cvo_irls_kitti.bash ├── cvo_irls_kitti_ba.bash ├── cvo_irls_kitti_eval.bash ├── cvo_irls_kitti_loop.bash ├── cvo_irls_pcd_intensity_loop.bash ├── cvo_irls_pcd_loop.bash ├── cvo_irls_tartan.bash ├── cvo_irls_tartan_ba_loop.bash ├── cvo_irls_tartan_demo.bash ├── cvo_irls_tartan_odom.bash ├── cvo_irls_tartan_single.bash ├── cvo_irls_tartan_time_ablation.bash ├── cvo_irls_tum.bash ├── cvo_pcd_test.bash ├── cvo_rgbd.bash ├── cvo_semantic_img_gpu0.bash ├── cvo_semantic_img_oct26_gpu0.bash ├── cvo_semantic_img_oct26_gpu1.bash ├── cvo_semantic_img_test.bash ├── cvo_semantic_img_test_gpu0.bash ├── cvo_semantic_img_test_gpu1.bash ├── cvo_semantic_img_test_oct13_gpu0.bash ├── cvo_semantic_img_test_oct14.bash ├── cvo_semantic_img_test_oct14_gpu0.bash ├── cvo_semantic_img_test_oct14_gpu1.bash ├── cvo_semantic_img_txt.bash ├── cvo_semantic_loam.bash ├── cvo_semantic_rgbd_tartan.bash ├── cvo_semantic_test.bash ├── cvo_stereo_tartan.bash ├── cvo_tartan_test.bash ├── cvo_tracking_pcd.bash ├── dataset_to_pcd.bash ├── deep_feature_two_frame.bash ├── depth_gen.bash ├── eth3d_bki_map.sh ├── eval_ablation_results.py ├── eval_ba_results.bash ├── eval_baseline_ba_results.bash ├── eval_baseline_batch.bash ├── eval_batch.bash ├── g2o_to_xyzq.py ├── gen_relative_pose.py ├── geometric_test.bash ├── init_vs_end_scatter_plot.py ├── kitti_depth_filter.bash ├── kitti_geometric_stereo.bash ├── kitti_intensity_stereo.bash ├── kitti_lidar_to_pcd.bash ├── multi_frame_inv_depth.bash ├── multiple_test.bash ├── npy_to_pcd.py ├── npy_to_ply_visual.py ├── plot_1d.py ├── plot_accum_ip.py ├── plot_ell_dist.py ├── plot_ell_ip.py ├── plot_ell_ip.txt ├── plot_nonzero_trend.py ├── plot_pc.py ├── plot_traj.py ├── plot_traj_map_lidar_cassie.py ├── plot_traj_map_lidar_frame.py ├── plot_traj_map_tracking_cassie.py ├── plot_velocity_distance_error.m ├── png2gif.py ├── print_relative_between_two.py ├── sesync_format_to_kitti.py ├── single_param_test.bash ├── stack_pcd_test.bash ├── stereo_semantic_test.bash ├── tartan_align_two.bash ├── tartan_single_irls_test.bash ├── toy_random.sh ├── traj_change_basis_lidar_to_camera.py ├── trajectory_change_basis.py ├── trajectory_playback.bash ├── velocity_length_error_plot.py ├── visualize.ipynb ├── visualize_loop_closures.py ├── xyz2plot.py └── xyzq2kitti.py ├── src ├── cvo │ ├── ACvo.cpp │ ├── AdaptiveCvoGPU.cu │ ├── Cvo.cpp │ ├── CvoFrame.cpp │ ├── CvoFrameGPU.cu │ ├── CvoGPU.cpp │ ├── CvoGPU.cu │ ├── CvoGPU_impl.cu │ ├── CvoGPU_old.cu │ ├── CvoState.cu │ ├── IRLS.cpp │ ├── IRLS_State_CPU.cpp │ ├── IRLS_State_GPU.cpp │ ├── IRLS_State_GPU.cu │ ├── LieGroup.cpp │ ├── SparseKernelMat.cu │ └── gpu_init.cu ├── dataset_handler │ ├── EthzHandler.cpp │ ├── FinnForestHandler.cpp │ ├── KittiHandler.cpp │ ├── LyftHandler.cpp │ ├── TartanAirHandler.cpp │ └── TumHandler.cpp ├── experiments │ ├── cu_kd_tree_test.cu │ ├── cuda_performance_tune.cu │ ├── gicp_align_two.cpp │ ├── kitti_lidar_to_pcd.cpp │ ├── main_acvo_gpu_align.cpp │ ├── main_acvo_gpu_align_raw_image.cpp │ ├── main_acvo_gpu_lidar_align.cpp │ ├── main_acvo_semantic_gpu_align_raw_image.cpp │ ├── main_ba_iteration_viewer.cpp │ ├── main_covisMap_test.cpp │ ├── main_cvo_align.cpp │ ├── main_cvo_align_f2f.cpp │ ├── main_cvo_gpu_align.cpp │ ├── main_cvo_gpu_align_finnforest.cpp │ ├── main_cvo_gpu_align_pcd.cpp │ ├── main_cvo_gpu_align_raw_image.cpp │ ├── main_cvo_gpu_align_rgbd.cpp │ ├── main_cvo_gpu_align_rgbd_image_tartan_format.cpp │ ├── main_cvo_gpu_align_semantic_image.cpp │ ├── main_cvo_gpu_align_stereo_tartan.cpp │ ├── main_cvo_gpu_align_tartan.cpp │ ├── main_cvo_gpu_align_two_color_pcd.cpp │ ├── main_cvo_gpu_align_two_color_pcd_global.cpp │ ├── main_cvo_gpu_align_two_color_pcd_irls_vs_gradient.cpp │ ├── main_cvo_gpu_align_two_nn_feature_pcd.cpp │ ├── main_cvo_gpu_align_two_pc_dataset.cpp │ ├── main_cvo_gpu_align_two_pcd.cpp │ ├── main_cvo_gpu_benchmark_two_pcd_global.cpp │ ├── main_cvo_gpu_depth_filtering.cpp │ ├── main_cvo_gpu_ethz_lidar.cpp │ ├── main_cvo_gpu_lidar_lyft.cpp │ ├── main_cvo_gpu_lidar_raw.cpp │ ├── main_cvo_gpu_lidar_raw_covariance.cpp │ ├── main_cvo_gpu_lidar_raw_geometric.cpp │ ├── main_cvo_gpu_lidar_raw_intensity.cpp │ ├── main_cvo_gpu_lidar_raw_semantic.cpp │ ├── main_cvo_gpu_pcd.cpp │ ├── main_cvo_gpu_single_image_test.cpp │ ├── main_cvo_semantic_gpu_align_raw_image.cpp │ ├── main_cvo_semantic_gpu_align_txt.cpp │ ├── main_cvopoint_to_pcl.cpp │ ├── main_cvopoint_to_rgb.cpp │ ├── main_dataset_to_pcd.cpp │ ├── main_depth_filtering.cpp │ ├── main_depth_gen.cpp │ ├── main_ellipse_viewer.cpp │ ├── main_evaluate_indicator.cpp │ ├── main_gicp_align_two_pcd_global.cpp │ ├── main_indicator_in_sequence.cpp │ ├── main_irls_bunny_frame_to_frame.cpp │ ├── main_irls_kitti_lidar_ba.cpp │ ├── main_irls_kitti_lidar_loop.cpp │ ├── main_irls_kitti_lidar_multi_loop.cpp │ ├── main_irls_pcd_loop.cpp │ ├── main_irls_tartan_ba_loop.cpp │ ├── main_irls_tartan_rgbd_ablation_reg.cpp │ ├── main_irls_tartan_rgbd_odom.cpp │ ├── main_kitti_stereo_color.cpp │ ├── main_kitti_stereo_odom_file.cpp │ ├── main_kitti_stereo_semantic.cpp │ ├── main_local_mapping.cpp │ ├── main_local_mapping_eth3d.cpp │ ├── main_map2map_batch.cpp │ ├── main_multi_frame_irls_bunny_random.cpp │ ├── main_multi_frame_irls_finnforest.cpp │ ├── main_multi_frame_irls_inv_depth.cpp │ ├── main_multi_frame_irls_kitti.cpp │ ├── main_multi_frame_irls_pcd.cpp │ ├── main_multi_frame_irls_tartan.cpp │ ├── main_multi_frame_irls_toy_random.cpp │ ├── main_multi_frame_irls_translation_only_tartan.cpp │ ├── main_multi_frame_irls_tum.cpp │ ├── main_semantic_acvo_gpu_lidar_align_raw.cpp │ ├── main_stack_pcd_viewer.cpp │ └── main_traj_playback.cpp ├── graph_optimizer │ ├── Frame.cpp │ └── PoseGraph.cpp ├── mapping │ ├── bkiblock.cpp │ ├── bkioctomap.cpp │ ├── bkioctree.cpp │ ├── bkioctree_node.cpp │ └── point3f.cpp ├── pcd_generator.cpp ├── tests │ └── main_cvo_gpu_align.cpp └── utils │ ├── CvoPixelSelector.cpp │ ├── CvoPoint.cpp │ ├── CvoPointCloud.cpp │ ├── CvoPointCovariance.cu │ ├── ImageRGBD.hpp │ ├── ImageStereo.cpp │ ├── LeGoLoamPointSelection.cpp │ ├── LidarPointSelector.cpp │ ├── LoamScanRegistration.cpp │ ├── RawImage.cpp │ ├── StaticStereo.cpp │ ├── VoxelMap_CvoPoint.cpp │ ├── VoxelMap_pcl.cpp │ └── viewer.cpp └── thirdparty ├── argparse └── argparse │ └── argparse.hpp ├── cnpy ├── cnpy.cpp └── cnpy.h ├── cugicp ├── .clang-format ├── .gitignore ├── common │ ├── gpuutil.h │ ├── inverse.h │ └── local_parameterization_se3.h ├── cukdtree │ ├── CMakeLists.txt │ ├── cukdtree.cuh │ ├── cukdtree.h │ └── nth_element.h ├── cupointcloud │ ├── CMakeLists.txt │ ├── cupointcloud.h │ └── point_types.h └── viewer │ ├── CMakeLists.txt │ 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