├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── calibration_file └── camchain.yaml ├── docs ├── Presentation.pdf ├── direct_odometry_proposal.pdf └── stereo_recons_proposal.pdf ├── include ├── camera.h ├── data_types.h ├── depth_estimate.h ├── global_map.h ├── image_processing_global.h ├── image_pyramid.h ├── keyframe.h └── lm_optimizer.h ├── run_odometry_kitti_offline.cpp ├── run_odometry_live.cpp ├── src ├── camera.cpp ├── depth_estimate.cpp ├── global_map.cpp ├── image_processing_global.cpp ├── image_pyramid.cpp ├── keyframe.cpp └── lm_optimizer.cpp ├── test_camera_setup.cpp ├── test_disparity.cpp ├── test_optimizer.cpp └── third_party └── Sophus ├── LICENSE.txt ├── README.rst └── sophus ├── average.hpp ├── common.hpp ├── example_ensure_handler.cpp ├── geometry.hpp ├── interpolate.hpp ├── interpolate_details.hpp ├── num_diff.hpp ├── rotation_matrix.hpp ├── rxso2.hpp ├── rxso3.hpp ├── se2.hpp ├── se3.hpp ├── sim2.hpp ├── sim3.hpp ├── sim_details.hpp ├── so2.hpp ├── so3.hpp ├── test_macros.hpp ├── types.hpp └── velocities.hpp /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/.gitignore -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/README.md -------------------------------------------------------------------------------- /calibration_file/camchain.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/calibration_file/camchain.yaml -------------------------------------------------------------------------------- /docs/Presentation.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/docs/Presentation.pdf -------------------------------------------------------------------------------- /docs/direct_odometry_proposal.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/docs/direct_odometry_proposal.pdf -------------------------------------------------------------------------------- /docs/stereo_recons_proposal.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/docs/stereo_recons_proposal.pdf -------------------------------------------------------------------------------- /include/camera.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/include/camera.h -------------------------------------------------------------------------------- /include/data_types.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/include/data_types.h -------------------------------------------------------------------------------- /include/depth_estimate.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/include/depth_estimate.h -------------------------------------------------------------------------------- /include/global_map.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/include/global_map.h -------------------------------------------------------------------------------- /include/image_processing_global.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/include/image_processing_global.h -------------------------------------------------------------------------------- /include/image_pyramid.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/include/image_pyramid.h -------------------------------------------------------------------------------- /include/keyframe.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/include/keyframe.h -------------------------------------------------------------------------------- /include/lm_optimizer.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/include/lm_optimizer.h -------------------------------------------------------------------------------- /run_odometry_kitti_offline.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/run_odometry_kitti_offline.cpp -------------------------------------------------------------------------------- /run_odometry_live.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/run_odometry_live.cpp -------------------------------------------------------------------------------- /src/camera.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/src/camera.cpp -------------------------------------------------------------------------------- /src/depth_estimate.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/src/depth_estimate.cpp -------------------------------------------------------------------------------- /src/global_map.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/src/global_map.cpp -------------------------------------------------------------------------------- /src/image_processing_global.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/src/image_processing_global.cpp -------------------------------------------------------------------------------- /src/image_pyramid.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/src/image_pyramid.cpp -------------------------------------------------------------------------------- /src/keyframe.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/src/keyframe.cpp -------------------------------------------------------------------------------- /src/lm_optimizer.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/src/lm_optimizer.cpp -------------------------------------------------------------------------------- /test_camera_setup.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/test_camera_setup.cpp -------------------------------------------------------------------------------- /test_disparity.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/test_disparity.cpp -------------------------------------------------------------------------------- /test_optimizer.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/test_optimizer.cpp -------------------------------------------------------------------------------- /third_party/Sophus/LICENSE.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/third_party/Sophus/LICENSE.txt -------------------------------------------------------------------------------- /third_party/Sophus/README.rst: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/third_party/Sophus/README.rst -------------------------------------------------------------------------------- /third_party/Sophus/sophus/average.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/third_party/Sophus/sophus/average.hpp -------------------------------------------------------------------------------- /third_party/Sophus/sophus/common.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/third_party/Sophus/sophus/common.hpp -------------------------------------------------------------------------------- /third_party/Sophus/sophus/example_ensure_handler.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/third_party/Sophus/sophus/example_ensure_handler.cpp -------------------------------------------------------------------------------- /third_party/Sophus/sophus/geometry.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/third_party/Sophus/sophus/geometry.hpp -------------------------------------------------------------------------------- /third_party/Sophus/sophus/interpolate.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/third_party/Sophus/sophus/interpolate.hpp -------------------------------------------------------------------------------- /third_party/Sophus/sophus/interpolate_details.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/third_party/Sophus/sophus/interpolate_details.hpp -------------------------------------------------------------------------------- /third_party/Sophus/sophus/num_diff.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/third_party/Sophus/sophus/num_diff.hpp -------------------------------------------------------------------------------- /third_party/Sophus/sophus/rotation_matrix.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/third_party/Sophus/sophus/rotation_matrix.hpp -------------------------------------------------------------------------------- /third_party/Sophus/sophus/rxso2.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/third_party/Sophus/sophus/rxso2.hpp -------------------------------------------------------------------------------- /third_party/Sophus/sophus/rxso3.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/third_party/Sophus/sophus/rxso3.hpp -------------------------------------------------------------------------------- /third_party/Sophus/sophus/se2.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/third_party/Sophus/sophus/se2.hpp -------------------------------------------------------------------------------- /third_party/Sophus/sophus/se3.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/third_party/Sophus/sophus/se3.hpp -------------------------------------------------------------------------------- /third_party/Sophus/sophus/sim2.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/third_party/Sophus/sophus/sim2.hpp -------------------------------------------------------------------------------- /third_party/Sophus/sophus/sim3.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/third_party/Sophus/sophus/sim3.hpp -------------------------------------------------------------------------------- /third_party/Sophus/sophus/sim_details.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/third_party/Sophus/sophus/sim_details.hpp -------------------------------------------------------------------------------- /third_party/Sophus/sophus/so2.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/third_party/Sophus/sophus/so2.hpp -------------------------------------------------------------------------------- /third_party/Sophus/sophus/so3.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/third_party/Sophus/sophus/so3.hpp -------------------------------------------------------------------------------- /third_party/Sophus/sophus/test_macros.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/third_party/Sophus/sophus/test_macros.hpp -------------------------------------------------------------------------------- /third_party/Sophus/sophus/types.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/third_party/Sophus/sophus/types.hpp -------------------------------------------------------------------------------- /third_party/Sophus/sophus/velocities.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WangYuTum/odometry/HEAD/third_party/Sophus/sophus/velocities.hpp --------------------------------------------------------------------------------