├── .pics └── demo.png ├── CMakeLists.txt ├── Example ├── dataset │ └── cabinet │ │ ├── associate.py │ │ ├── associate.txt │ │ ├── associateGroundtruth.txt │ │ ├── bbox │ │ ├── 1341841278.8427.txt │ │ ├── 1341841279.5107.txt │ │ ├── 1341841280.1825.txt │ │ ├── 1341841280.8507.txt │ │ ├── 1341841281.5546.txt │ │ ├── 1341841282.2265.txt │ │ ├── 1341841282.8987.txt │ │ ├── 1341841283.5665.txt │ │ ├── 1341841284.2388.txt │ │ ├── 1341841284.9067.txt │ │ ├── 1341841285.6124.txt │ │ ├── 1341841286.2827.txt │ │ ├── 1341841286.9506.txt │ │ ├── 1341841287.6227.txt │ │ ├── 1341841288.2946.txt │ │ ├── 1341841288.9627.txt │ │ ├── 1341841289.6346.txt │ │ ├── 1341841290.303.txt │ │ ├── 1341841290.9745.txt │ │ ├── 1341841291.6426.txt │ │ ├── 1341841292.3147.txt │ │ ├── 1341841292.9866.txt │ │ ├── 1341841293.6548.txt │ │ ├── 1341841294.3266.txt │ │ ├── 1341841294.9952.txt │ │ ├── 1341841295.6666.txt │ │ ├── 1341841296.3348.txt │ │ ├── 1341841297.0065.txt │ │ ├── 1341841297.6786.txt │ │ ├── 1341841298.3466.txt │ │ ├── 1341841299.0185.txt │ │ ├── 1341841299.6866.txt │ │ ├── 1341841300.3656.txt │ │ ├── 1341841301.0336.txt │ │ ├── 1341841301.7057.txt │ │ ├── 1341841302.3776.txt │ │ ├── 1341841303.0456.txt │ │ ├── 1341841303.7106.txt │ │ ├── 1341841304.3787.txt │ │ ├── 1341841305.0506.txt │ │ ├── 1341841305.7227.txt │ │ ├── 1341841306.3907.txt │ │ ├── 1341841307.0627.txt │ │ ├── 1341841307.7306.txt │ │ ├── 1341841308.4099.txt │ │ ├── 1341841309.1095.txt │ │ ├── 1341841309.7816.txt │ │ ├── 1341841310.4468.txt │ │ ├── 1341841311.1507.txt │ │ ├── 1341841311.8186.txt │ │ ├── 1341841312.4905.txt │ │ ├── 1341841313.1696.txt │ │ ├── 1341841313.8695.txt │ │ ├── 1341841314.5706.txt │ │ ├── 1341841315.2456.txt │ │ ├── 1341841315.9108.txt │ │ ├── 1341841316.5786.txt │ │ └── 1341841317.2506.txt │ │ ├── depth.txt │ │ ├── depth │ │ ├── 1341841278.8427.png │ │ ├── 1341841279.5107.png │ │ ├── 1341841280.1825.png │ │ ├── 1341841280.8507.png │ │ ├── 1341841281.5546.png │ │ ├── 1341841282.2265.png │ │ ├── 1341841282.8987.png │ │ ├── 1341841283.5665.png │ │ ├── 1341841284.2388.png │ │ ├── 1341841284.9067.png │ │ ├── 1341841285.6124.png │ │ ├── 1341841286.2827.png │ │ ├── 1341841286.9506.png │ │ ├── 1341841287.6227.png │ │ ├── 1341841288.2946.png │ │ ├── 1341841288.9627.png │ │ ├── 1341841289.6346.png │ │ ├── 1341841290.303.png │ │ ├── 1341841290.9745.png │ │ ├── 1341841291.6426.png │ │ ├── 1341841292.3147.png │ │ ├── 1341841292.9866.png │ │ ├── 1341841293.6548.png │ │ ├── 1341841294.3266.png │ │ ├── 1341841294.9952.png │ │ ├── 1341841295.6666.png │ │ ├── 1341841296.3348.png │ │ ├── 1341841297.0065.png │ │ ├── 1341841297.6786.png │ │ ├── 1341841298.3466.png │ │ ├── 1341841299.0185.png │ │ ├── 1341841299.6866.png │ │ ├── 1341841300.3656.png │ │ ├── 1341841301.0336.png │ │ ├── 1341841301.7057.png │ │ ├── 1341841302.3776.png │ │ ├── 1341841303.0456.png │ │ ├── 1341841303.7106.png │ │ ├── 1341841304.3787.png │ │ ├── 1341841305.0506.png │ │ ├── 1341841305.7227.png │ │ ├── 1341841306.3907.png │ │ ├── 1341841307.0627.png │ │ ├── 1341841307.7306.png │ │ ├── 1341841308.4099.png │ │ ├── 1341841309.1095.png │ │ ├── 1341841309.7816.png │ │ ├── 1341841310.4468.png │ │ ├── 1341841311.1507.png │ │ ├── 1341841311.8186.png │ │ ├── 1341841312.4905.png │ │ ├── 1341841313.1696.png │ │ ├── 1341841313.8695.png │ │ ├── 1341841314.5706.png │ │ ├── 1341841315.2456.png │ │ ├── 1341841315.9108.png │ │ ├── 1341841316.5786.png │ │ └── 1341841317.2506.png │ │ ├── groundtruth.txt │ │ ├── rgb.txt │ │ └── rgb │ │ ├── 1341841278.8427.jpg │ │ ├── 1341841279.5107.jpg │ │ ├── 1341841280.1825.jpg │ │ ├── 1341841280.8507.jpg │ │ ├── 1341841281.5546.jpg │ │ ├── 1341841282.2265.jpg │ │ ├── 1341841282.8987.jpg │ │ ├── 1341841283.5665.jpg │ │ ├── 1341841284.2388.jpg │ │ ├── 1341841284.9067.jpg │ │ ├── 1341841285.6124.jpg │ │ ├── 1341841286.2827.jpg │ │ ├── 1341841286.9506.jpg │ │ ├── 1341841287.6227.jpg │ │ ├── 1341841288.2946.jpg │ │ ├── 1341841288.9627.jpg │ │ ├── 1341841289.6346.jpg │ │ ├── 1341841290.303.jpg │ │ ├── 1341841290.9745.jpg │ │ ├── 1341841291.6426.jpg │ │ ├── 1341841292.3147.jpg │ │ ├── 1341841292.9866.jpg │ │ ├── 1341841293.6548.jpg │ │ ├── 1341841294.3266.jpg │ │ ├── 1341841294.9952.jpg │ │ ├── 1341841295.6666.jpg │ │ ├── 1341841296.3348.jpg │ │ ├── 1341841297.0065.jpg │ │ ├── 1341841297.6786.jpg │ │ ├── 1341841298.3466.jpg │ │ ├── 1341841299.0185.jpg │ │ ├── 1341841299.6866.jpg │ │ ├── 1341841300.3656.jpg │ │ ├── 1341841301.0336.jpg │ │ ├── 1341841301.7057.jpg │ │ ├── 1341841302.3776.jpg │ │ ├── 1341841303.0456.jpg │ │ ├── 1341841303.7106.jpg │ │ ├── 1341841304.3787.jpg │ │ ├── 1341841305.0506.jpg │ │ ├── 1341841305.7227.jpg │ │ ├── 1341841306.3907.jpg │ │ ├── 1341841307.0627.jpg │ │ ├── 1341841307.7306.jpg │ │ ├── 1341841308.4099.jpg │ │ ├── 1341841309.1095.jpg │ │ ├── 1341841309.7816.jpg │ │ ├── 1341841310.4468.jpg │ │ ├── 1341841311.1507.jpg │ │ ├── 1341841311.8186.jpg │ │ ├── 1341841312.4905.jpg │ │ ├── 1341841313.1696.jpg │ │ ├── 1341841313.8695.jpg │ │ ├── 1341841314.5706.jpg │ │ ├── 1341841315.2456.jpg │ │ ├── 1341841315.9108.jpg │ │ ├── 1341841316.5786.jpg │ │ └── 1341841317.2506.jpg ├── interface │ └── rgbd.cpp └── param │ └── TUM3.yaml ├── LICENSE ├── README.md ├── Thirdparty └── 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 │ │ ├── CMakeLists.txt │ │ ├── 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 │ └── license-bsd.txt ├── cmake_modules └── FindEigen3.cmake ├── include ├── core │ ├── BasicEllipsoidEdges.h │ ├── DataAssociation.h │ ├── Ellipsoid.h │ ├── Frame.h │ ├── FrameDrawer.h │ ├── Geometry.h │ ├── Initializer.h │ ├── Map.h │ ├── MapDrawer.h │ ├── Optimizer.h │ ├── Plane.h │ ├── System.h │ ├── Tracking.h │ └── Viewer.h └── utils │ ├── dataprocess_utils.h │ └── matrix_utils.h ├── install_g2o.sh └── src ├── Polygon ├── CMakeLists.txt ├── Polygon.cpp └── Polygon.hpp ├── config ├── CMakeLists.txt ├── Config.cpp └── Config.h ├── core ├── BasicEllipsoidEdges.cpp ├── DataAssociation.cpp ├── Ellipsoid.cpp ├── Frame.cpp ├── FrameDrawer.cpp ├── Geometry.cpp ├── Initializer.cpp ├── Map.cpp ├── MapDrawer.cpp ├── Optimizer.cpp ├── Plane.cpp ├── System.cpp ├── Tracking.cpp └── Viewer.cpp ├── dense_builder ├── CMakeLists.txt ├── builder.cpp └── builder.h ├── pca ├── CMakeLists.txt ├── EllipsoidExtractor.cpp └── EllipsoidExtractor.h ├── plane ├── CMakeLists.txt ├── PlaneExtractor.cpp └── PlaneExtractor.h ├── symmetry ├── BorderExtractor.cpp ├── BorderExtractor.h ├── CMakeLists.txt ├── PointCloudFilter.cpp ├── PointCloudFilter.h ├── Symmetry.cpp ├── Symmetry.h ├── SymmetrySolver.cpp └── SymmetrySolver.h ├── tum_rgbd ├── CMakeLists.txt ├── io.cpp └── io.h └── utils ├── dataprocess_utils.cpp └── matrix_utils.cpp /.pics/demo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/XunshanMan/Object-oriented-SLAM/HEAD/.pics/demo.png -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/XunshanMan/Object-oriented-SLAM/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- 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/Example/dataset/cabinet/bbox/1341841278.8427.txt: -------------------------------------------------------------------------------- 1 | 0 175 24 560 397 28 0.42 0 2 | -------------------------------------------------------------------------------- /Example/dataset/cabinet/bbox/1341841279.5107.txt: -------------------------------------------------------------------------------- 1 | 0 201 40 542 426 28 0.32 0 2 | -------------------------------------------------------------------------------- /Example/dataset/cabinet/bbox/1341841280.1825.txt: -------------------------------------------------------------------------------- 1 | 0 208 54 559 425 28 0.54 0 2 | -------------------------------------------------------------------------------- /Example/dataset/cabinet/bbox/1341841280.8507.txt: -------------------------------------------------------------------------------- 1 | 0 182 56 587 420 28 0.54 0 2 | -------------------------------------------------------------------------------- /Example/dataset/cabinet/bbox/1341841281.5546.txt: -------------------------------------------------------------------------------- 1 | 0 180 41 585 388 28 0.57 0 2 | -------------------------------------------------------------------------------- /Example/dataset/cabinet/bbox/1341841282.2265.txt: -------------------------------------------------------------------------------- 1 | 0 173 57 569 418 28 0.6 0 2 | -------------------------------------------------------------------------------- /Example/dataset/cabinet/bbox/1341841282.8987.txt: -------------------------------------------------------------------------------- 1 | 0 170 55 603 425 28 0.44 0 2 | -------------------------------------------------------------------------------- /Example/dataset/cabinet/bbox/1341841283.5665.txt: -------------------------------------------------------------------------------- 1 | 0 127 52 585 379 28 0.16 0 2 | -------------------------------------------------------------------------------- /Example/dataset/cabinet/bbox/1341841284.2388.txt: -------------------------------------------------------------------------------- 1 | 0 156 49 551 348 28 0.23 0 2 | -------------------------------------------------------------------------------- /Example/dataset/cabinet/bbox/1341841284.9067.txt: -------------------------------------------------------------------------------- 1 | 0 218 56 557 326 28 0.18 0 2 | -------------------------------------------------------------------------------- /Example/dataset/cabinet/bbox/1341841285.6124.txt: -------------------------------------------------------------------------------- 1 | 0 204 62 576 341 28 0.29 0 2 | -------------------------------------------------------------------------------- /Example/dataset/cabinet/bbox/1341841286.2827.txt: -------------------------------------------------------------------------------- 1 | 0 231 51 594 341 28 0.52 0 2 | -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- /Example/dataset/cabinet/bbox/1341841301.7057.txt: -------------------------------------------------------------------------------- 1 | 0 151 55 524 295 28 0.2 0 2 | -------------------------------------------------------------------------------- /Example/dataset/cabinet/bbox/1341841302.3776.txt: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /Example/dataset/cabinet/bbox/1341841303.0456.txt: -------------------------------------------------------------------------------- 1 | 0 155 67 522 347 28 0.24 0 2 | -------------------------------------------------------------------------------- /Example/dataset/cabinet/bbox/1341841303.7106.txt: -------------------------------------------------------------------------------- 1 | 0 163 61 547 364 28 0.39 0 2 | 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