├── README.md ├── dependencies.yaml ├── sevio_core ├── CMakeLists.txt ├── calib │ ├── VECtor │ │ ├── left.yaml │ │ └── right.yaml │ ├── dsec │ │ └── zurich_city_04_a │ │ │ ├── left.yaml │ │ │ └── right.yaml │ ├── hkust │ │ ├── left.yaml │ │ └── right.yaml │ ├── mvsec_flying │ │ ├── left.yaml │ │ └── right.yaml │ ├── rpg │ │ ├── left.yaml │ │ └── right.yaml │ └── upenn │ │ ├── left.yaml │ │ └── right.yaml ├── cfg │ ├── DVS_MappingStereo.cfg │ ├── mapping │ │ ├── mapping_VECtor.yaml │ │ ├── mapping_dsec.yaml │ │ ├── mapping_mvsec.yaml │ │ ├── mapping_rpg.yaml │ │ └── mapping_upenn.yaml │ ├── mvstereo │ │ ├── mvstereo_rpg.yaml │ │ └── mvstereo_upenn.yaml │ ├── time_surface │ │ └── ts_parameters.yaml │ └── tracking │ │ ├── tracking_VECtor.yaml │ │ ├── tracking_dsec.yaml │ │ ├── tracking_mvsec.yaml │ │ ├── tracking_rpg.yaml │ │ └── tracking_upenn.yaml ├── esvo_mvstereo.perspective ├── esvo_mvstereo.rviz ├── esvo_system.perspective ├── esvo_system.rviz ├── esvo_system_DSEC.perspective ├── esvo_system_DSEC.rviz ├── include │ └── esvo_core │ │ ├── container │ │ ├── CameraSystem.h │ │ ├── DepthMap.h │ │ ├── DepthPoint.h │ │ ├── EventMatchPair.h │ │ ├── ResidualItem.h │ │ ├── SmartGrid.h │ │ └── TimeSurfaceObservation.h │ │ ├── core │ │ ├── DepthFusion.h │ │ ├── DepthProblem.h │ │ ├── DepthProblemSolver.h │ │ ├── DepthRegularization.h │ │ ├── EventBM.h │ │ ├── EventMatcher.h │ │ ├── RegProblemLM.h │ │ └── RegProblemSolverLM.h │ │ ├── esvo_MVStereo.h │ │ ├── esvo_Mapping.h │ │ ├── esvo_Tracking.h │ │ ├── optimization │ │ └── OptimizationFunctor.h │ │ └── tools │ │ ├── TicToc.h │ │ ├── Visualization.h │ │ ├── cayley.h │ │ ├── params_helper.h │ │ ├── sobel.h │ │ └── utils.h ├── launch │ ├── mvstereo │ │ ├── mvstereo_rpg.launch │ │ └── mvstereo_upenn.launch │ └── system │ │ ├── system_VECtor.launch │ │ ├── system_mvsec.launch │ │ └── system_upenn.launch ├── package.xml └── src │ ├── container │ ├── CameraSystem.cpp │ ├── DepthPoint.cpp │ ├── EventPoint.cpp │ └── ResidualItem.cpp │ ├── core │ ├── DepthFusion.cpp │ ├── DepthProblem.cpp │ ├── DepthProblemSolver.cpp │ ├── DepthRegularization.cpp │ ├── EventBM.cpp │ ├── EventMatcher.cpp │ ├── RegProblemLM.cpp │ └── RegProblemSolverLM.cpp │ ├── esvo_MVStereo.cpp │ ├── esvo_MVStereoNode.cpp │ ├── esvo_Mapping.cpp │ ├── esvo_MappingNode.cpp │ ├── esvo_Tracking.cpp │ ├── esvo_TrackingNode.cpp │ └── tools │ ├── Visualization.cpp │ ├── cayley.cpp │ └── sobel.cpp └── sevio_time_surface ├── CMakeLists.txt ├── cfg └── parameters.yaml ├── esvo_time_surface.perspective ├── include └── esvo_time_surface │ ├── TicToc.h │ └── TimeSurface.h ├── launch ├── rosbag_launcher │ ├── VECtor │ │ ├── VECtor_calib.launch │ │ ├── board_slow.launch │ │ ├── corner_slow.launch │ │ ├── corner_slow1.launch │ │ ├── corridors_dolly.launch │ │ ├── corridors_walk.launch │ │ ├── desk_normal.launch │ │ ├── desk_normal1.launch │ │ ├── hdr_normal.launch │ │ ├── mountain_normal.launch │ │ ├── school_dolly.launch │ │ ├── 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