├── .gitignore ├── .gitmodules ├── .vscode ├── launch.json └── settings.json ├── CHANGELOG ├── CMakeLists.txt ├── DSO代码解读.pdf ├── LICENSE ├── README.md ├── calib ├── EuRoc │ └── V1_03_diff.txt └── KITTI │ └── 00.txt ├── cmake ├── FindEigen3.cmake ├── FindLibZip.cmake └── FindSuiteParse.cmake ├── src ├── FullSystem │ ├── CoarseInitializer.cpp │ ├── CoarseInitializer.h │ ├── CoarseTracker.cpp │ ├── CoarseTracker.h │ ├── FullSystem.cpp │ ├── FullSystem.h │ ├── FullSystemDebugStuff.cpp │ ├── FullSystemMarginalize.cpp │ ├── FullSystemOptPoint.cpp │ ├── FullSystemOptimize.cpp │ ├── HessianBlocks.cpp │ ├── HessianBlocks.h │ ├── ImmaturePoint.cpp │ ├── ImmaturePoint.h │ ├── PixelSelector.h │ ├── PixelSelector2.cpp │ ├── PixelSelector2.h │ ├── ResidualProjections.h │ ├── Residuals.cpp │ └── Residuals.h ├── IOWrapper │ ├── ImageDisplay.h │ ├── ImageDisplay_dummy.cpp │ ├── ImageRW.h │ ├── ImageRW_dummy.cpp │ ├── OpenCV │ │ ├── ImageDisplay_OpenCV.cpp │ │ └── ImageRW_OpenCV.cpp │ ├── Output3DWrapper.h │ ├── OutputWrapper │ │ └── SampleOutputWrapper.h │ └── Pangolin │ │ ├── KeyFrameDisplay.cpp │ │ ├── KeyFrameDisplay.h │ │ ├── PangolinDSOViewer.cpp │ │ └── PangolinDSOViewer.h ├── OptimizationBackend │ ├── AccumulatedSCHessian.cpp │ ├── AccumulatedSCHessian.h │ ├── AccumulatedTopHessian.cpp │ ├── AccumulatedTopHessian.h │ ├── EnergyFunctional.cpp │ ├── EnergyFunctional.h │ ├── EnergyFunctionalStructs.cpp │ ├── EnergyFunctionalStructs.h │ ├── MatrixAccumulators.h │ └── RawResidualJacobian.h ├── main_dso_pangolin.cpp └── util │ ├── DatasetReader.h │ ├── FrameShell.h │ ├── ImageAndExposure.h │ ├── IndexThreadReduce.h │ ├── MinimalImage.h │ ├── NumType.h │ ├── Undistort.cpp │ ├── Undistort.h │ ├── globalCalib.cpp │ ├── globalCalib.h │ ├── globalFuncs.h │ ├── nanoflann.h │ ├── settings.cpp │ └── settings.h └── thirdparty ├── Sophus ├── CMakeLists.txt ├── FindEigen3.cmake ├── README ├── SophusConfig.cmake.in ├── cmake_modules │ └── FindEigen3.cmake └── sophus │ ├── rxso3.hpp │ ├── se2.hpp │ ├── se3.hpp │ ├── sim3.hpp │ ├── so2.hpp │ ├── so3.hpp │ ├── sophus.hpp │ ├── test_rxso3.cpp │ ├── test_se2.cpp │ ├── test_se3.cpp │ ├── test_sim3.cpp │ ├── test_so2.cpp │ ├── test_so3.cpp │ └── tests.hpp └── libzip-1.1.1.tar.gz /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/.gitignore -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/.gitmodules -------------------------------------------------------------------------------- /.vscode/launch.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/.vscode/launch.json -------------------------------------------------------------------------------- /.vscode/settings.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/.vscode/settings.json -------------------------------------------------------------------------------- /CHANGELOG: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/CHANGELOG -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /DSO代码解读.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/DSO代码解读.pdf -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/README.md -------------------------------------------------------------------------------- /calib/EuRoc/V1_03_diff.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/calib/EuRoc/V1_03_diff.txt -------------------------------------------------------------------------------- /calib/KITTI/00.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/calib/KITTI/00.txt -------------------------------------------------------------------------------- /cmake/FindEigen3.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/cmake/FindEigen3.cmake -------------------------------------------------------------------------------- /cmake/FindLibZip.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/cmake/FindLibZip.cmake -------------------------------------------------------------------------------- /cmake/FindSuiteParse.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/cmake/FindSuiteParse.cmake -------------------------------------------------------------------------------- /src/FullSystem/CoarseInitializer.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/FullSystem/CoarseInitializer.cpp -------------------------------------------------------------------------------- /src/FullSystem/CoarseInitializer.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/FullSystem/CoarseInitializer.h -------------------------------------------------------------------------------- /src/FullSystem/CoarseTracker.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/FullSystem/CoarseTracker.cpp -------------------------------------------------------------------------------- /src/FullSystem/CoarseTracker.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/FullSystem/CoarseTracker.h -------------------------------------------------------------------------------- /src/FullSystem/FullSystem.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/FullSystem/FullSystem.cpp -------------------------------------------------------------------------------- /src/FullSystem/FullSystem.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/FullSystem/FullSystem.h -------------------------------------------------------------------------------- /src/FullSystem/FullSystemDebugStuff.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/FullSystem/FullSystemDebugStuff.cpp -------------------------------------------------------------------------------- /src/FullSystem/FullSystemMarginalize.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/FullSystem/FullSystemMarginalize.cpp -------------------------------------------------------------------------------- /src/FullSystem/FullSystemOptPoint.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/FullSystem/FullSystemOptPoint.cpp -------------------------------------------------------------------------------- /src/FullSystem/FullSystemOptimize.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/FullSystem/FullSystemOptimize.cpp -------------------------------------------------------------------------------- /src/FullSystem/HessianBlocks.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/FullSystem/HessianBlocks.cpp -------------------------------------------------------------------------------- /src/FullSystem/HessianBlocks.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/FullSystem/HessianBlocks.h -------------------------------------------------------------------------------- /src/FullSystem/ImmaturePoint.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/FullSystem/ImmaturePoint.cpp -------------------------------------------------------------------------------- /src/FullSystem/ImmaturePoint.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/FullSystem/ImmaturePoint.h -------------------------------------------------------------------------------- /src/FullSystem/PixelSelector.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/FullSystem/PixelSelector.h -------------------------------------------------------------------------------- /src/FullSystem/PixelSelector2.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/FullSystem/PixelSelector2.cpp -------------------------------------------------------------------------------- /src/FullSystem/PixelSelector2.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/FullSystem/PixelSelector2.h -------------------------------------------------------------------------------- /src/FullSystem/ResidualProjections.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/FullSystem/ResidualProjections.h -------------------------------------------------------------------------------- /src/FullSystem/Residuals.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/FullSystem/Residuals.cpp -------------------------------------------------------------------------------- /src/FullSystem/Residuals.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/FullSystem/Residuals.h -------------------------------------------------------------------------------- /src/IOWrapper/ImageDisplay.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/IOWrapper/ImageDisplay.h -------------------------------------------------------------------------------- /src/IOWrapper/ImageDisplay_dummy.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/IOWrapper/ImageDisplay_dummy.cpp -------------------------------------------------------------------------------- /src/IOWrapper/ImageRW.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/IOWrapper/ImageRW.h -------------------------------------------------------------------------------- /src/IOWrapper/ImageRW_dummy.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/IOWrapper/ImageRW_dummy.cpp -------------------------------------------------------------------------------- /src/IOWrapper/OpenCV/ImageDisplay_OpenCV.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/IOWrapper/OpenCV/ImageDisplay_OpenCV.cpp -------------------------------------------------------------------------------- /src/IOWrapper/OpenCV/ImageRW_OpenCV.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/IOWrapper/OpenCV/ImageRW_OpenCV.cpp -------------------------------------------------------------------------------- /src/IOWrapper/Output3DWrapper.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/IOWrapper/Output3DWrapper.h -------------------------------------------------------------------------------- /src/IOWrapper/OutputWrapper/SampleOutputWrapper.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/IOWrapper/OutputWrapper/SampleOutputWrapper.h -------------------------------------------------------------------------------- /src/IOWrapper/Pangolin/KeyFrameDisplay.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/IOWrapper/Pangolin/KeyFrameDisplay.cpp -------------------------------------------------------------------------------- /src/IOWrapper/Pangolin/KeyFrameDisplay.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/IOWrapper/Pangolin/KeyFrameDisplay.h -------------------------------------------------------------------------------- /src/IOWrapper/Pangolin/PangolinDSOViewer.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/IOWrapper/Pangolin/PangolinDSOViewer.cpp -------------------------------------------------------------------------------- /src/IOWrapper/Pangolin/PangolinDSOViewer.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/IOWrapper/Pangolin/PangolinDSOViewer.h -------------------------------------------------------------------------------- /src/OptimizationBackend/AccumulatedSCHessian.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/OptimizationBackend/AccumulatedSCHessian.cpp -------------------------------------------------------------------------------- /src/OptimizationBackend/AccumulatedSCHessian.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/OptimizationBackend/AccumulatedSCHessian.h -------------------------------------------------------------------------------- /src/OptimizationBackend/AccumulatedTopHessian.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/OptimizationBackend/AccumulatedTopHessian.cpp -------------------------------------------------------------------------------- /src/OptimizationBackend/AccumulatedTopHessian.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/OptimizationBackend/AccumulatedTopHessian.h -------------------------------------------------------------------------------- /src/OptimizationBackend/EnergyFunctional.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/OptimizationBackend/EnergyFunctional.cpp -------------------------------------------------------------------------------- /src/OptimizationBackend/EnergyFunctional.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/OptimizationBackend/EnergyFunctional.h -------------------------------------------------------------------------------- /src/OptimizationBackend/EnergyFunctionalStructs.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/OptimizationBackend/EnergyFunctionalStructs.cpp -------------------------------------------------------------------------------- /src/OptimizationBackend/EnergyFunctionalStructs.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/OptimizationBackend/EnergyFunctionalStructs.h -------------------------------------------------------------------------------- /src/OptimizationBackend/MatrixAccumulators.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/OptimizationBackend/MatrixAccumulators.h -------------------------------------------------------------------------------- /src/OptimizationBackend/RawResidualJacobian.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/OptimizationBackend/RawResidualJacobian.h -------------------------------------------------------------------------------- /src/main_dso_pangolin.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/main_dso_pangolin.cpp -------------------------------------------------------------------------------- /src/util/DatasetReader.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/util/DatasetReader.h -------------------------------------------------------------------------------- /src/util/FrameShell.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/util/FrameShell.h -------------------------------------------------------------------------------- /src/util/ImageAndExposure.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/util/ImageAndExposure.h -------------------------------------------------------------------------------- /src/util/IndexThreadReduce.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/util/IndexThreadReduce.h -------------------------------------------------------------------------------- /src/util/MinimalImage.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/util/MinimalImage.h -------------------------------------------------------------------------------- /src/util/NumType.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/util/NumType.h -------------------------------------------------------------------------------- /src/util/Undistort.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/util/Undistort.cpp -------------------------------------------------------------------------------- /src/util/Undistort.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/util/Undistort.h -------------------------------------------------------------------------------- /src/util/globalCalib.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/util/globalCalib.cpp -------------------------------------------------------------------------------- /src/util/globalCalib.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/util/globalCalib.h -------------------------------------------------------------------------------- /src/util/globalFuncs.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/util/globalFuncs.h -------------------------------------------------------------------------------- /src/util/nanoflann.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/util/nanoflann.h -------------------------------------------------------------------------------- /src/util/settings.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/util/settings.cpp -------------------------------------------------------------------------------- /src/util/settings.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/src/util/settings.h -------------------------------------------------------------------------------- /thirdparty/Sophus/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/thirdparty/Sophus/CMakeLists.txt -------------------------------------------------------------------------------- /thirdparty/Sophus/FindEigen3.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/thirdparty/Sophus/FindEigen3.cmake -------------------------------------------------------------------------------- /thirdparty/Sophus/README: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/thirdparty/Sophus/README -------------------------------------------------------------------------------- /thirdparty/Sophus/SophusConfig.cmake.in: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/thirdparty/Sophus/SophusConfig.cmake.in -------------------------------------------------------------------------------- /thirdparty/Sophus/cmake_modules/FindEigen3.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/thirdparty/Sophus/cmake_modules/FindEigen3.cmake -------------------------------------------------------------------------------- /thirdparty/Sophus/sophus/rxso3.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/thirdparty/Sophus/sophus/rxso3.hpp -------------------------------------------------------------------------------- /thirdparty/Sophus/sophus/se2.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/thirdparty/Sophus/sophus/se2.hpp -------------------------------------------------------------------------------- /thirdparty/Sophus/sophus/se3.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/thirdparty/Sophus/sophus/se3.hpp -------------------------------------------------------------------------------- /thirdparty/Sophus/sophus/sim3.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/thirdparty/Sophus/sophus/sim3.hpp -------------------------------------------------------------------------------- /thirdparty/Sophus/sophus/so2.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/thirdparty/Sophus/sophus/so2.hpp -------------------------------------------------------------------------------- /thirdparty/Sophus/sophus/so3.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/thirdparty/Sophus/sophus/so3.hpp -------------------------------------------------------------------------------- /thirdparty/Sophus/sophus/sophus.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/thirdparty/Sophus/sophus/sophus.hpp -------------------------------------------------------------------------------- /thirdparty/Sophus/sophus/test_rxso3.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/thirdparty/Sophus/sophus/test_rxso3.cpp -------------------------------------------------------------------------------- /thirdparty/Sophus/sophus/test_se2.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/thirdparty/Sophus/sophus/test_se2.cpp -------------------------------------------------------------------------------- /thirdparty/Sophus/sophus/test_se3.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/thirdparty/Sophus/sophus/test_se3.cpp -------------------------------------------------------------------------------- /thirdparty/Sophus/sophus/test_sim3.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/thirdparty/Sophus/sophus/test_sim3.cpp -------------------------------------------------------------------------------- /thirdparty/Sophus/sophus/test_so2.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/thirdparty/Sophus/sophus/test_so2.cpp -------------------------------------------------------------------------------- /thirdparty/Sophus/sophus/test_so3.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/thirdparty/Sophus/sophus/test_so3.cpp -------------------------------------------------------------------------------- /thirdparty/Sophus/sophus/tests.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/thirdparty/Sophus/sophus/tests.hpp -------------------------------------------------------------------------------- /thirdparty/libzip-1.1.1.tar.gz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alalagong/DSO/HEAD/thirdparty/libzip-1.1.1.tar.gz --------------------------------------------------------------------------------