├── Apps ├── DefSLAM ├── DefSLAMGT ├── DefSLAMGTCT ├── rmoutput.sh ├── rungt.sh ├── runvalgrind.sh ├── scriptCT ├── simple_CT.cc ├── simple_camera.cc └── stereo_groundtruth.cc ├── CMakeLists.txt ├── Dependencies.md ├── LICENSE ├── Modules ├── Common │ ├── DefKeyFrame.cc │ ├── DefKeyFrame.h │ ├── DefMap.cc │ ├── DefMap.h │ ├── DefMapPoint.cc │ ├── DefMapPoint.h │ ├── System.cc │ └── System.h ├── GroundTruth │ ├── GroundTruthCalculator.cc │ ├── GroundTruthCalculator.h │ ├── GroundTruthFrame.cc │ ├── GroundTruthFrame.h │ ├── GroundTruthKeyFrame.cc │ ├── GroundTruthKeyFrame.h │ ├── MinMedianFilter.cc │ └── MinMedianFilter.h ├── Mapping │ ├── DefLocalMapping.cc │ ├── DefLocalMapping.h │ ├── NormalEstimator.cc │ ├── NormalEstimator.h │ ├── PolySolver.cc │ ├── PolySolver.h │ ├── Schwarp.cc │ ├── Schwarp.h │ ├── SchwarpDatabase.cc │ ├── SchwarpDatabase.h │ ├── ShapeFromNormals.cc │ ├── ShapeFromNormals.h │ ├── Surface.cc │ ├── Surface.h │ ├── SurfacePoint.cc │ ├── SurfacePoint.h │ ├── SurfaceRegistration.cc │ ├── SurfaceRegistration.h │ ├── WarpDatabase.h │ └── diffProp.h ├── Matching │ ├── DefORBmatcher.cc │ └── DefORBmatcher.h ├── Settings │ ├── CC_MAC.h │ └── set_MAC.h ├── Template │ ├── Edge.cc │ ├── Edge.h │ ├── Facet.cc │ ├── Facet.h │ ├── LaplacianMesh.cc │ ├── LaplacianMesh.h │ ├── Node.cc │ ├── Node.h │ ├── Template.cc │ ├── Template.h │ ├── TemplateGenerator.cc │ ├── TemplateGenerator.h │ ├── TriangularMesh.cc │ └── TriangularMesh.h ├── ToolsPCL │ ├── CMakeLists.txt │ ├── PCLNormalEstimator.cc │ ├── PCLNormalEstimator.h │ ├── SmootherMLS.cc │ ├── SmootherMLS.h │ └── lib │ │ ├── Debug │ │ ├── ToolsPCL.lib │ │ └── ToolsPCL.pdb │ │ └── Release │ │ └── ToolsPCL.lib ├── Tracking │ ├── DefOptimizer.cc │ ├── DefOptimizer.h │ ├── DefTracking.cc │ └── DefTracking.h └── Viewer │ ├── DefFrameDrawer.cc │ ├── DefFrameDrawer.h │ ├── DefMapDrawer.cc │ ├── DefMapDrawer.h │ ├── DefViewer.cc │ ├── DefViewer.h │ ├── MeshDrawer.cc │ └── MeshDrawer.h ├── README.md ├── Thirdparty ├── BBS │ ├── CMakeLists.txt │ ├── bbs.cc │ ├── bbs.h │ ├── bbs_MAC.h │ ├── bbs_coloc.cc │ ├── bbs_coloc.h │ └── licence.txt ├── 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 ├── ORBSLAM_2 │ ├── CMakeLists.txt │ ├── LICENSE.txt │ ├── include │ │ ├── Converter.h │ │ ├── Frame.h │ │ ├── FrameDrawer.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 │ │ ├── Tracking.h │ │ └── Viewer.h │ └── src │ │ ├── Converter.cc │ │ ├── Frame.cc │ │ ├── FrameDrawer.cc │ │ ├── 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 │ │ ├── Tracking.cc │ │ └── Viewer.cc └── 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 │ │ 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