├── Line_SLAM_Demos ├── Selection_002.png ├── Selection_003.png └── Selection_004.png ├── MapDrawer (copy).cc ├── MapDrawer.h ├── ORB_SLAM2_Line_SLAM ├── 1.png ├── 2.png ├── 3.png ├── 4.png ├── CMakeLists.txt ├── Dependencies.md ├── Examples │ ├── Monocular │ │ ├── EuRoC.yaml │ │ ├── EuRoC_TimeStamps │ │ │ ├── MH01.txt │ │ │ ├── MH02.txt │ │ │ ├── MH03.txt │ │ │ ├── MH04.txt │ │ │ ├── MH05.txt │ │ │ ├── V101.txt │ │ │ ├── V102.txt │ │ │ ├── V103.txt │ │ │ ├── V201.txt │ │ │ ├── V202.txt │ │ │ └── V203.txt │ │ ├── KITTI00-02.yaml │ │ ├── KITTI03.yaml │ │ ├── KITTI04-12.yaml │ │ ├── TUM1.yaml │ │ ├── TUM2.yaml │ │ ├── TUM3.yaml │ │ ├── cs (copy).yaml │ │ ├── cs.yaml │ │ ├── lsd-machine.yaml │ │ ├── lsd-room.yaml │ │ ├── mono_euroc │ │ ├── mono_euroc.cc │ │ ├── mono_kitti │ │ ├── mono_kitti.cc │ │ ├── mono_tum │ │ └── mono_tum.cc │ ├── RGB-D │ │ ├── TUM1.yaml │ │ ├── TUM2.yaml │ │ ├── TUM3.yaml │ │ ├── associations │ │ │ ├── fr1_desk.txt │ │ │ ├── fr1_desk2.txt │ │ │ ├── fr1_room.txt │ │ │ ├── fr1_xyz.txt │ │ │ ├── fr2_desk.txt │ │ │ ├── fr2_xyz.txt │ │ │ ├── fr3_nstr_tex_near.txt │ │ │ ├── fr3_office.txt │ │ │ ├── fr3_office_val.txt │ │ │ ├── fr3_str_tex_far.txt │ │ │ └── fr3_str_tex_near.txt │ │ ├── rgbd_tum │ │ └── rgbd_tum.cc │ ├── ROS │ │ └── ORB_SLAM2 │ │ │ ├── Asus.yaml │ │ │ ├── CMakeLists.txt │ │ │ ├── Mono │ │ │ ├── MonoAR │ │ │ ├── RGBD │ │ │ ├── Stereo │ │ │ ├── build │ │ │ ├── CATKIN_IGNORE │ │ │ ├── CMakeCache.txt │ │ │ ├── CMakeFiles │ │ │ │ ├── 3.5.1 │ │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ │ ├── CompilerIdC │ │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ │ └── a.out │ │ │ │ │ └── CompilerIdCXX │ │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ │ └── a.out │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── CMakeError.log │ │ │ │ ├── CMakeOutput.log │ │ │ │ ├── CMakeRuleHashes.txt │ │ │ │ ├── Makefile.cmake │ │ │ │ ├── Makefile2 │ │ │ │ ├── Mono.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ ├── progress.make │ │ │ │ │ └── src │ │ │ │ │ │ └── ros_mono.cc.o │ │ │ │ ├── RGBD.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ ├── progress.make │ │ │ │ │ └── src │ │ │ │ │ │ └── ros_rgbd.cc.o │ │ │ │ ├── ROSBUILD_genmsg_cpp.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── ROSBUILD_genmsg_lisp.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── ROSBUILD_gensrv_cpp.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── ROSBUILD_gensrv_lisp.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── Stereo.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ ├── progress.make │ │ │ │ │ └── src │ │ │ │ │ │ └── ros_stereo.cc.o │ │ │ │ ├── TargetDirectories.txt │ │ │ │ ├── _catkin_empty_exported_target.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── clean_test_results.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── cmake.check_cache │ │ │ │ ├── download_extra_data.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── doxygen.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── feature_tests.bin │ │ │ │ ├── feature_tests.c │ │ │ │ ├── feature_tests.cxx │ │ │ │ ├── progress.marks │ │ │ │ ├── rosbuild_clean-test-results.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── rosbuild_precompile.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── rosbuild_premsgsrvgen.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── rospack_genmsg.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── rospack_genmsg_libexe.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── rospack_gensrv.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── run_tests.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── test-future.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── test-results-run.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── test-results.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── test.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ └── tests.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ ├── Makefile │ │ │ ├── catkin │ │ │ │ └── catkin_generated │ │ │ │ │ └── version │ │ │ │ │ └── package.cmake │ │ │ ├── catkin_generated │ │ │ │ ├── env_cached.sh │ │ │ │ ├── generate_cached_setup.py │ │ │ │ ├── installspace │ │ │ │ │ ├── .rosinstall │ │ │ │ │ ├── _setup_util.py │ │ │ │ │ ├── env.sh │ │ │ │ │ ├── setup.bash │ │ │ │ │ ├── setup.sh │ │ │ │ │ └── setup.zsh │ │ │ │ ├── ordered_paths.cmake │ │ │ │ ├── setup_cached.sh │ │ │ │ └── stamps │ │ │ │ │ └── ORB_SLAM2 │ │ │ │ │ ├── _setup_util.py.stamp │ │ │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ │ │ └── package.xml.stamp │ │ │ ├── cmake_install.cmake │ │ │ ├── devel │ │ │ │ ├── .catkin │ │ │ │ ├── .rosinstall │ │ │ │ ├── _setup_util.py │ │ │ │ ├── env.sh │ │ │ │ ├── setup.bash │ │ │ │ ├── setup.sh │ │ │ │ └── setup.zsh │ │ │ └── gtest │ │ │ │ ├── CMakeFiles │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── gtest.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ ├── gtest_main.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ └── progress.marks │ │ │ │ ├── Makefile │ │ │ │ └── cmake_install.cmake │ │ │ ├── manifest.xml │ │ │ └── src │ │ │ ├── AR │ │ │ ├── ViewerAR.cc │ │ │ ├── ViewerAR.h │ │ │ └── ros_mono_ar.cc │ │ │ ├── ros_mono (3rd copy).cc │ │ │ ├── ros_mono (4th copy).cc │ │ │ ├── ros_mono (another copy).cc │ │ │ ├── ros_mono (copy).cc │ │ │ ├── ros_mono.cc │ │ │ ├── ros_mono2222.cc │ │ │ ├── ros_rgbd.cc │ │ │ └── ros_stereo.cc │ └── Stereo │ │ ├── EuRoC.yaml │ │ ├── EuRoC_TimeStamps │ │ ├── MH01.txt │ │ ├── MH02.txt │ │ ├── MH03.txt │ │ ├── MH04.txt │ │ ├── MH05.txt │ │ ├── V101.txt │ │ ├── V102.txt │ │ ├── V103.txt │ │ ├── V201.txt │ │ ├── V202.txt │ │ └── V203.txt │ │ ├── KITTI00-02.yaml │ │ ├── KITTI03.yaml │ │ ├── KITTI04-12.yaml │ │ ├── stereo_euroc │ │ ├── stereo_euroc.cc │ │ ├── stereo_kitti │ │ └── stereo_kitti.cc ├── KeyFrameTrajectory.txt ├── LICENSE.txt ├── License-gpl.txt ├── ORB-SLAM2: Current Frame_screenshot_20.05.2017.png ├── README.md ├── Thirdparty │ ├── 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 │ │ ├── build │ │ │ ├── CMakeCache.txt │ │ │ ├── CMakeFiles │ │ │ │ ├── 3.5.1 │ │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ │ ├── CompilerIdC │ │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ │ └── a.out │ │ │ │ │ └── CompilerIdCXX │ │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ │ └── a.out │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── CMakeOutput.log │ │ │ │ ├── DBoW2.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DBoW2 │ │ │ │ │ │ ├── BowVector.cpp.o │ │ │ │ │ │ ├── FORB.cpp.o │ │ │ │ │ │ ├── FeatureVector.cpp.o │ │ │ │ │ │ └── ScoringObject.cpp.o │ │ │ │ │ ├── DUtils │ │ │ │ │ │ ├── Random.cpp.o │ │ │ │ │ │ └── Timestamp.cpp.o │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ ├── Makefile.cmake │ │ │ │ ├── Makefile2 │ │ │ │ ├── TargetDirectories.txt │ │ │ │ ├── cmake.check_cache │ │ │ │ ├── feature_tests.bin │ │ │ │ ├── feature_tests.c │ │ │ │ ├── feature_tests.cxx │ │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ └── cmake_install.cmake │ │ └── lib │ │ │ └── libDBoW2.so │ └── g2o │ │ ├── CMakeLists.txt │ │ ├── README.txt │ │ ├── build │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 3.5.1 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeOutput.log │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── TargetDirectories.txt │ │ │ ├── cmake.check_cache │ │ │ ├── feature_tests.bin │ │ │ ├── feature_tests.c │ │ │ ├── feature_tests.cxx │ │ │ ├── g2o.dir │ │ │ │ ├── C.includecache │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── g2o │ │ │ │ │ ├── core │ │ │ │ │ │ ├── batch_stats.cpp.o │ │ │ │ │ │ ├── cache.cpp.o │ │ │ │ │ │ ├── estimate_propagator.cpp.o │ │ │ │ │ │ ├── factory.cpp.o │ │ │ │ │ │ ├── hyper_dijkstra.cpp.o │ │ │ │ │ │ ├── hyper_graph.cpp.o │ │ │ │ │ │ ├── hyper_graph_action.cpp.o │ │ │ │ │ │ ├── jacobian_workspace.cpp.o │ │ │ │ │ │ ├── marginal_covariance_cholesky.cpp.o │ │ │ │ │ │ ├── matrix_structure.cpp.o │ │ │ │ │ │ ├── optimizable_graph.cpp.o │ │ │ │ │ │ ├── optimization_algorithm.cpp.o │ │ │ │ │ │ ├── optimization_algorithm_factory.cpp.o │ │ │ │ │ │ ├── optimization_algorithm_levenberg.cpp.o │ │ │ │ │ │ ├── optimization_algorithm_with_hessian.cpp.o │ │ │ │ │ │ ├── parameter.cpp.o │ │ │ │ │ │ ├── parameter_container.cpp.o │ │ │ │ │ │ ├── robust_kernel.cpp.o │ │ │ │ │ │ ├── robust_kernel_factory.cpp.o │ │ │ │ │ │ ├── robust_kernel_impl.cpp.o │ │ │ │ │ │ ├── solver.cpp.o │ │ │ │ │ │ └── sparse_optimizer.cpp.o │ │ │ │ │ ├── stuff │ │ │ │ │ │ ├── os_specific.c.o │ │ │ │ │ │ ├── property.cpp.o │ │ │ │ │ │ ├── string_tools.cpp.o │ │ │ │ │ │ └── timeutil.cpp.o │ │ │ │ │ └── types │ │ │ │ │ │ ├── types_sba.cpp.o │ │ │ │ │ │ ├── types_seven_dof_expmap.cpp.o │ │ │ │ │ │ └── types_six_dof_expmap.cpp.o │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ ├── Makefile │ │ └── cmake_install.cmake │ │ ├── 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 │ │ │ ├── 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 │ │ ├── lib │ │ └── libg2o.so │ │ └── license-bsd.txt ├── Vocabulary │ └── ORBvoc.txt.tar.gz ├── build.sh ├── build │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.5.1 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeOutput.log │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── ORB_SLAM2.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ ├── progress.make │ │ │ └── src │ │ │ │ ├── Converter.cc.o │ │ │ │ ├── Frame.cc.o │ │ │ │ ├── FrameDrawer.cc.o │ │ │ │ ├── Initializer.cc.o │ │ │ │ ├── KeyFrame.cc.o │ │ │ │ ├── KeyFrameDatabase.cc.o │ │ │ │ ├── LocalMapping.cc.o │ │ │ │ ├── LoopClosing.cc.o │ │ │ │ ├── Map.cc.o │ │ │ │ ├── MapDrawer.cc.o │ │ │ │ ├── MapPoint.cc.o │ │ │ │ ├── ORBextractor.cc.o │ │ │ │ ├── ORBmatcher.cc.o │ │ │ │ ├── Optimizer.cc.o │ │ │ │ ├── OrbLine.cc.o │ │ │ │ ├── PnPsolver.cc.o │ │ │ │ ├── Sim3Solver.cc.o │ │ │ │ ├── System.cc.o │ │ │ │ ├── Tracking.cc.o │ │ │ │ └── Viewer.cc.o │ │ ├── TargetDirectories.txt │ │ ├── cmake.check_cache │ │ ├── feature_tests.bin │ │ ├── feature_tests.c │ │ ├── feature_tests.cxx │ │ ├── mono_euroc.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── Examples │ │ │ │ └── Monocular │ │ │ │ │ └── mono_euroc.cc.o │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ ├── mono_kitti.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── Examples │ │ │ │ └── Monocular │ │ │ │ │ └── mono_kitti.cc.o │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ ├── mono_tum.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── Examples │ │ │ │ └── Monocular │ │ │ │ │ └── mono_tum.cc.o │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ ├── progress.marks │ │ ├── rgbd_tum.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── Examples │ │ │ │ └── RGB-D │ │ │ │ │ └── rgbd_tum.cc.o │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ ├── stereo_euroc.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── Examples │ │ │ │ └── Stereo │ │ │ │ │ └── stereo_euroc.cc.o │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ └── stereo_kitti.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── Examples │ │ │ └── Stereo │ │ │ │ └── stereo_kitti.cc.o │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ ├── Makefile │ └── cmake_install.cmake ├── build_ros.sh ├── cmake_modules │ └── FindEigen3.cmake ├── enable_kernel_sources.sh ├── 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 │ ├── OrbLine.h │ ├── PnPsolver.h │ ├── Sim3Solver.h │ ├── System.h │ ├── Tracking.h │ └── Viewer.h ├── launch files for Chris │ ├── lab.yaml │ ├── laserscan.launch │ ├── mapping.launch │ ├── project.rviz │ └── tests ├── lib │ └── libORB_SLAM2.so ├── 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 │ ├── OrbLine.cc │ ├── PnPsolver.cc │ ├── Sim3Solver.cc │ ├── System.cc │ ├── Tracking.cc │ └── Viewer.cc └── test │ ├── 1.png │ ├── 2.png │ ├── 3.png │ ├── 4.png │ ├── 5.png │ └── 6.png ├── ORB_SLAM2_MapDrawer_GetMapPoints ├── 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 ├── System.cc ├── Tracking.cc └── Viewer.cc ├── ORB_SLAM2_PublishCameraPose_tf ├── CMakeLists.txt ├── Dependencies.md ├── Examples │ ├── Monocular │ │ ├── EuRoC.yaml │ │ ├── EuRoC_TimeStamps │ │ │ ├── MH01.txt │ │ │ ├── MH02.txt │ │ │ ├── MH03.txt │ │ │ ├── MH04.txt │ │ │ ├── MH05.txt │ │ │ ├── V101.txt │ │ │ ├── V102.txt │ │ │ ├── V103.txt │ │ │ ├── V201.txt │ │ │ ├── V202.txt │ │ │ └── V203.txt │ │ ├── KITTI00-02.yaml │ │ ├── KITTI03.yaml │ │ ├── KITTI04-12.yaml │ │ ├── TUM1.yaml │ │ ├── TUM2.yaml │ │ ├── TUM3.yaml │ │ ├── cs (copy).yaml │ │ ├── cs.yaml │ │ ├── mono_euroc.cc │ │ ├── mono_kitti.cc │ │ └── mono_tum.cc │ ├── RGB-D │ │ ├── TUM1.yaml │ │ ├── TUM2.yaml │ │ ├── TUM3.yaml │ │ ├── associations │ │ │ ├── fr1_desk.txt │ │ │ ├── fr1_desk2.txt │ │ │ ├── fr1_room.txt │ │ │ ├── fr1_xyz.txt │ │ │ ├── fr2_desk.txt │ │ │ ├── fr2_xyz.txt │ │ │ ├── fr3_nstr_tex_near.txt │ │ │ ├── fr3_office.txt │ │ │ ├── fr3_office_val.txt │ │ │ ├── fr3_str_tex_far.txt │ │ │ └── fr3_str_tex_near.txt │ │ └── rgbd_tum.cc │ ├── ROS │ │ └── ORB_SLAM2 │ │ │ ├── Asus.yaml │ │ │ ├── CMakeLists.txt │ │ │ ├── DenseInput.h │ │ │ ├── build │ │ │ ├── CMakeCache.txt │ │ │ └── CMakeFiles │ │ │ │ ├── 2.8.12.2 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ │ ├── CMakeOutput.log │ │ │ │ └── cmake.check_cache │ │ │ ├── manifest.xml │ │ │ └── src │ │ │ ├── ros_mono.cc │ │ │ ├── ros_rgbd.cc │ │ │ └── ros_stereo.cc │ └── Stereo │ │ ├── EuRoC.yaml │ │ ├── EuRoC_TimeStamps │ │ ├── MH01.txt │ │ ├── MH02.txt │ │ ├── MH03.txt │ │ ├── MH04.txt │ │ ├── MH05.txt │ │ ├── V101.txt │ │ ├── V102.txt │ │ ├── V103.txt │ │ ├── V201.txt │ │ ├── V202.txt │ │ └── V203.txt │ │ ├── KITTI00-02.yaml │ │ ├── KITTI03.yaml │ │ ├── KITTI04-12.yaml │ │ ├── stereo_euroc.cc │ │ └── stereo_kitti.cc ├── LICENSE.txt ├── License-gpl.txt ├── README.md ├── Thirdparty │ ├── 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 │ │ ├── build │ │ │ ├── CMakeCache.txt │ │ │ ├── CMakeFiles │ │ │ │ ├── 2.8.12.2 │ │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ │ ├── CompilerIdC │ │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ │ └── a.out │ │ │ │ │ └── CompilerIdCXX │ │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ │ └── a.out │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── CMakeOutput.log │ │ │ │ ├── DBoW2.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DBoW2 │ │ │ │ │ │ ├── BowVector.cpp.o │ │ │ │ │ │ ├── FORB.cpp.o │ │ │ │ │ │ ├── FeatureVector.cpp.o │ │ │ │ │ │ └── ScoringObject.cpp.o │ │ │ │ │ ├── DUtils │ │ │ │ │ │ ├── Random.cpp.o │ │ │ │ │ │ └── Timestamp.cpp.o │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ ├── Makefile.cmake │ │ │ │ ├── Makefile2 │ │ │ │ ├── TargetDirectories.txt │ │ │ │ ├── cmake.check_cache │ │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ └── cmake_install.cmake │ │ └── lib │ │ │ └── libDBoW2.so │ └── g2o │ │ ├── CMakeLists.txt │ │ ├── README.txt │ │ ├── build │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 2.8.12.2 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeOutput.log │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── TargetDirectories.txt │ │ │ ├── cmake.check_cache │ │ │ ├── g2o.dir │ │ │ │ ├── C.includecache │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── g2o │ │ │ │ │ ├── core │ │ │ │ │ │ ├── batch_stats.cpp.o │ │ │ │ │ │ ├── cache.cpp.o │ │ │ │ │ │ ├── estimate_propagator.cpp.o │ │ │ │ │ │ ├── factory.cpp.o │ │ │ │ │ │ ├── hyper_dijkstra.cpp.o │ │ │ │ │ │ ├── hyper_graph.cpp.o │ │ │ │ │ │ ├── hyper_graph_action.cpp.o │ │ │ │ │ │ ├── jacobian_workspace.cpp.o │ │ │ │ │ │ ├── marginal_covariance_cholesky.cpp.o │ │ │ │ │ │ ├── matrix_structure.cpp.o │ │ │ │ │ │ ├── optimizable_graph.cpp.o │ │ │ │ │ │ ├── optimization_algorithm.cpp.o │ │ │ │ │ │ ├── optimization_algorithm_factory.cpp.o │ │ │ │ │ │ ├── optimization_algorithm_levenberg.cpp.o │ │ │ │ │ │ ├── optimization_algorithm_with_hessian.cpp.o │ │ │ │ │ │ ├── parameter.cpp.o │ │ │ │ │ │ ├── parameter_container.cpp.o │ │ │ │ │ │ ├── robust_kernel.cpp.o │ │ │ │ │ │ ├── robust_kernel_factory.cpp.o │ │ │ │ │ │ ├── robust_kernel_impl.cpp.o │ │ │ │ │ │ ├── solver.cpp.o │ │ │ │ │ │ └── sparse_optimizer.cpp.o │ │ │ │ │ ├── stuff │ │ │ │ │ │ ├── os_specific.c.o │ │ │ │ │ │ ├── property.cpp.o │ │ │ │ │ │ ├── string_tools.cpp.o │ │ │ │ │ │ └── timeutil.cpp.o │ │ │ │ │ └── types │ │ │ │ │ │ ├── types_sba.cpp.o │ │ │ │ │ │ ├── types_seven_dof_expmap.cpp.o │ │ │ │ │ │ └── types_six_dof_expmap.cpp.o │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ ├── Makefile │ │ └── cmake_install.cmake │ │ ├── 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 │ │ │ ├── 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 │ │ ├── lib │ │ └── libg2o.so │ │ └── license-bsd.txt ├── Vocabulary │ └── ORBvoc.txt.tar.gz ├── build.sh ├── build │ ├── CMakeCache.txt │ └── CMakeFiles │ │ ├── 2.8.12.2 │ │ ├── CMakeCCompiler.cmake │ │ ├── CMakeCXXCompiler.cmake │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ ├── CMakeSystem.cmake │ │ ├── CompilerIdC │ │ │ ├── CMakeCCompilerId.c │ │ │ └── a.out │ │ └── CompilerIdCXX │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ └── a.out │ │ ├── CMakeOutput.log │ │ └── cmake.check_cache ├── build_ros.sh ├── cmake_modules │ └── FindEigen3.cmake ├── 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 │ ├── System.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 │ ├── System.cc │ ├── Tracking.cc │ └── Viewer.cc ├── Pangolin ├── .travis.yml ├── CMakeLists.txt ├── CMakeModules │ ├── AndroidUtils.cmake │ ├── CreateMethodCallFile.cmake │ ├── EmbedBinaryFiles.cmake │ ├── FindDC1394.cmake │ ├── FindDepthSense.cmake │ ├── FindEigen3.cmake │ ├── FindFFMPEG.cmake │ ├── FindFREEGLUT.cmake │ ├── FindGLEW.cmake │ ├── FindGLUES.cmake │ ├── FindLibRealSense.cmake │ ├── FindOculus.cmake │ ├── FindOpenEXR.cmake │ ├── FindOpenNI.cmake │ ├── FindOpenNI2.cmake │ ├── FindPleora.cmake │ ├── FindROBOTVISION.cmake │ ├── FindTeliCam.cmake │ ├── FindTooN.cmake │ ├── FindXrandr.cmake │ ├── Findlibusb1.cmake │ ├── Findpthread.cmake │ ├── Finduvc.cmake │ └── SetPlatformVars.cmake ├── LICENCE ├── README.md ├── appveyor.yml ├── build │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.5.1 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeOutput.log │ │ ├── CMakeRuleHashes.txt │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── TargetDirectories.txt │ │ ├── cmake.check_cache │ │ ├── feature_tests.bin │ │ ├── feature_tests.c │ │ ├── feature_tests.cxx │ │ ├── progress.marks │ │ └── uninstall.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ ├── CPackConfig.cmake │ ├── CPackSourceConfig.cmake │ ├── Makefile │ ├── cmake_install.cmake │ ├── cmake_uninstall.cmake │ ├── examples │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ └── progress.marks │ │ ├── HelloPangolin │ │ │ ├── CMakeFiles │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── HelloPangolin.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ ├── main.cpp.o │ │ │ │ │ └── progress.make │ │ │ │ └── progress.marks │ │ │ ├── HelloPangolin │ │ │ ├── Makefile │ │ │ └── cmake_install.cmake │ │ ├── Makefile │ │ ├── SharedMemoryCamera │ │ │ ├── CMakeFiles │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── SharedMemoryCamera.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ ├── main.cpp.o │ │ │ │ │ └── progress.make │ │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ ├── SharedMemoryCamera │ │ │ └── cmake_install.cmake │ │ ├── SimpleDisplay │ │ │ ├── CMakeFiles │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── SimpleDisplay.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ ├── main.cpp.o │ │ │ │ │ └── progress.make │ │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ ├── SimpleDisplay │ │ │ └── cmake_install.cmake │ │ ├── SimpleDisplayImage │ │ │ ├── CMakeFiles │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── SimpleDisplayImage.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ ├── main.cpp.o │ │ │ │ │ └── progress.make │ │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ ├── SimpleDisplayImage │ │ │ └── cmake_install.cmake │ │ ├── SimpleMultiDisplay │ │ │ ├── CMakeFiles │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── SimpleMultiDisplay.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ ├── main.cpp.o │ │ │ │ │ └── progress.make │ │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ ├── SimpleMultiDisplay │ │ │ └── cmake_install.cmake │ │ ├── SimplePlot │ │ │ ├── CMakeFiles │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── SimplePlot.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ ├── main.cpp.o │ │ │ │ │ └── progress.make │ │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ ├── SimplePlot │ │ │ └── cmake_install.cmake │ │ ├── SimpleRecord │ │ │ ├── CMakeFiles │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── SimpleRecord.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ ├── main.cpp.o │ │ │ │ │ └── progress.make │ │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ ├── SimpleRecord │ │ │ └── cmake_install.cmake │ │ ├── SimpleRepeatVideo │ │ │ ├── CMakeFiles │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── SimpleRepeatVideo.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ ├── main.cpp.o │ │ │ │ │ └── progress.make │ │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ ├── SimpleRepeatVideo │ │ │ └── cmake_install.cmake │ │ ├── SimpleScene │ │ │ ├── CMakeFiles │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── SimpleScene.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ ├── main.cpp.o │ │ │ │ │ └── progress.make │ │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ ├── SimpleScene │ │ │ └── cmake_install.cmake │ │ ├── SimpleVideo │ │ │ ├── CMakeFiles │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── SimpleVideo.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ ├── main.cpp.o │ │ │ │ │ └── progress.make │ │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ ├── SimpleVideo │ │ │ └── cmake_install.cmake │ │ └── cmake_install.cmake │ ├── external │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ └── progress.marks │ │ ├── Makefile │ │ └── cmake_install.cmake │ ├── src │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── Export │ │ │ │ └── lib │ │ │ │ │ └── cmake │ │ │ │ │ └── Pangolin │ │ │ │ │ ├── PangolinTargets-release.cmake │ │ │ │ │ └── PangolinTargets.cmake │ │ │ ├── PangolinConfig.cmake │ │ │ ├── pangolin.dir │ │ │ │ ├── C.includecache │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── console │ │ │ │ │ └── ConsoleView.cpp.o │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── display │ │ │ │ │ ├── device │ │ │ │ │ │ └── display_x11.cpp.o │ │ │ │ │ ├── display.cpp.o │ │ │ │ │ ├── opengl_render_state.cpp.o │ │ │ │ │ ├── view.cpp.o │ │ │ │ │ ├── viewport.cpp.o │ │ │ │ │ └── widgets │ │ │ │ │ │ └── widgets.cpp.o │ │ │ │ ├── flags.make │ │ │ │ ├── fonts.c.o │ │ │ │ ├── gl │ │ │ │ │ ├── glchar.cpp.o │ │ │ │ │ ├── gldraw.cpp.o │ │ │ │ │ ├── glfont.cpp.o │ │ │ │ │ ├── glpangoglu.cpp.o │ │ │ │ │ ├── gltext.cpp.o │ │ │ │ │ └── gltexturecache.cpp.o │ │ │ │ ├── handler │ │ │ │ │ ├── handler.cpp.o │ │ │ │ │ ├── handler_glbuffer.cpp.o │ │ │ │ │ └── handler_image.cpp.o │ │ │ │ ├── image │ │ │ │ │ ├── image_io.cpp.o │ │ │ │ │ └── pixel_format.cpp.o │ │ │ │ ├── link.txt │ │ │ │ ├── log │ │ │ │ │ ├── packetstream_reader.cpp.o │ │ │ │ │ └── packetstream_writer.cpp.o │ │ │ │ ├── plot │ │ │ │ │ ├── datalog.cpp.o │ │ │ │ │ └── plotter.cpp.o │ │ │ │ ├── progress.make │ │ │ │ ├── python │ │ │ │ │ ├── PyInterpreter.cpp.o │ │ │ │ │ └── PyModulePangolin.cpp.o │ │ │ │ ├── tools │ │ │ │ │ └── video_viewer.cpp.o │ │ │ │ ├── utils │ │ │ │ │ ├── file_extension.cpp.o │ │ │ │ │ ├── file_utils.cpp.o │ │ │ │ │ ├── posix │ │ │ │ │ │ ├── condition_variable.cpp.o │ │ │ │ │ │ ├── semaphore.cpp.o │ │ │ │ │ │ └── shared_memory_buffer.cpp.o │ │ │ │ │ ├── sigstate.cpp.o │ │ │ │ │ ├── threadedfilebuf.cpp.o │ │ │ │ │ ├── timer.cpp.o │ │ │ │ │ └── uri.cpp.o │ │ │ │ ├── var │ │ │ │ │ ├── input_record_repeat.cpp.o │ │ │ │ │ └── vars.cpp.o │ │ │ │ └── video │ │ │ │ │ ├── drivers │ │ │ │ │ ├── debayer.cpp.o │ │ │ │ │ ├── ffmpeg.cpp.o │ │ │ │ │ ├── images.cpp.o │ │ │ │ │ ├── images_out.cpp.o │ │ │ │ │ ├── join.cpp.o │ │ │ │ │ ├── json.cpp.o │ │ │ │ │ ├── merge.cpp.o │ │ │ │ │ ├── mirror.cpp.o │ │ │ │ │ ├── pango.cpp.o │ │ │ │ │ ├── pango_video_output.cpp.o │ │ │ │ │ ├── pvn.cpp.o │ │ │ │ │ ├── shared_memory.cpp.o │ │ │ │ │ ├── shift.cpp.o │ │ │ │ │ ├── split.cpp.o │ │ │ │ │ ├── test.cpp.o │ │ │ │ │ ├── thread.cpp.o │ │ │ │ │ ├── unpack.cpp.o │ │ │ │ │ └── v4l.cpp.o │ │ │ │ │ ├── video.cpp.o │ │ │ │ │ ├── video_input.cpp.o │ │ │ │ │ ├── video_interface_factory.cpp.o │ │ │ │ │ ├── video_output.cpp.o │ │ │ │ │ └── video_output_interface_factory.cpp.o │ │ │ └── progress.marks │ │ ├── Makefile │ │ ├── PangolinConfig.cmake │ │ ├── PangolinConfigVersion.cmake │ │ ├── PangolinTargets.cmake │ │ ├── cmake_install.cmake │ │ ├── fonts.c │ │ ├── include │ │ │ └── pangolin │ │ │ │ ├── config.h │ │ │ │ └── video_drivers.h │ │ └── libpangolin.so │ ├── test │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ └── progress.marks │ │ ├── Makefile │ │ ├── cmake_install.cmake │ │ └── log │ │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── Testlog.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── testlog.cpp.o │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ ├── Testlog │ │ │ └── cmake_install.cmake │ └── tools │ │ ├── CMakeFiles │ │ ├── CMakeDirectoryInformation.cmake │ │ └── progress.marks │ │ ├── Makefile │ │ ├── VideoConvert │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── VideoConvert.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── main.cpp.o │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ ├── Makefile │ │ ├── VideoConvert │ │ └── cmake_install.cmake │ │ ├── VideoViewer │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── VideoViewer.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── main.cpp.o │ │ │ │ └── progress.make │ │ │ ├── install-mime-info.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ ├── Makefile │ │ ├── VideoViewer │ │ ├── cmake_install.cmake │ │ └── pango.desktop │ │ └── cmake_install.cmake ├── cmake_uninstall.cmake.in ├── examples │ ├── CMakeLists.txt │ ├── HelloPangolin │ │ ├── CMakeLists.txt │ │ └── main.cpp │ ├── SharedMemoryCamera │ │ ├── CMakeLists.txt │ │ └── main.cpp │ ├── SimpleDisplay │ │ ├── CMakeLists.txt │ │ ├── app.cfg │ │ └── main.cpp │ ├── SimpleDisplayImage │ │ ├── CMakeLists.txt │ │ └── main.cpp │ ├── SimpleMultiDisplay │ │ ├── CMakeLists.txt │ │ ├── app.cfg │ │ └── main.cpp │ ├── SimplePlot │ │ ├── CMakeLists.txt │ │ └── main.cpp │ ├── SimpleRecord │ │ ├── CMakeLists.txt │ │ └── main.cpp │ ├── SimpleRepeatVideo │ │ ├── CMakeLists.txt │ │ └── main.cpp │ ├── SimpleScene │ │ ├── CMakeLists.txt │ │ └── main.cpp │ ├── SimpleVideo │ │ ├── CMakeLists.txt │ │ └── main.cpp │ └── VBODisplay │ │ ├── CMakeLists.txt │ │ ├── kernal.cu │ │ └── main.cpp ├── external │ └── CMakeLists.txt ├── include │ └── pangolin │ │ ├── compat │ │ ├── glconsole.h │ │ ├── glutbitmap.h │ │ ├── ovr.h │ │ └── type_traits.h │ │ ├── console │ │ ├── ConsoleInterpreter.h │ │ └── ConsoleView.h │ │ ├── display │ │ ├── attach.h │ │ ├── device │ │ │ ├── OsxWindow.h │ │ │ ├── PangolinNSApplication.h │ │ │ ├── PangolinNSGLView.h │ │ │ ├── WinWindow.h │ │ │ ├── X11GlContext.h │ │ │ ├── X11Window.h │ │ │ ├── display_android.h │ │ │ └── display_glut.h │ │ ├── display.h │ │ ├── display_internal.h │ │ ├── opengl_render_state.h │ │ ├── user_app.h │ │ ├── view.h │ │ ├── viewport.h │ │ ├── widgets │ │ │ └── widgets.h │ │ └── window.h │ │ ├── factory │ │ └── factory_registry.h │ │ ├── gl │ │ ├── cg.h │ │ ├── colour.h │ │ ├── compat │ │ │ ├── gl2engine.h │ │ │ └── gl_es_compat.h │ │ ├── gl.h │ │ ├── gl.hpp │ │ ├── glchar.h │ │ ├── glcuda.h │ │ ├── gldraw.h │ │ ├── glfont.h │ │ ├── glformattraits.h │ │ ├── glglut.h │ │ ├── glinclude.h │ │ ├── glpangoglu.h │ │ ├── glpixformat.h │ │ ├── glplatform.h │ │ ├── glsl.h │ │ ├── glstate.h │ │ ├── gltext.h │ │ ├── gltexturecache.h │ │ └── glvbo.h │ │ ├── handler │ │ ├── handler.h │ │ ├── handler_enums.h │ │ ├── handler_glbuffer.h │ │ └── handler_image.h │ │ ├── hud │ │ └── oculus_hud.h │ │ ├── image │ │ ├── copy.h │ │ ├── image.h │ │ ├── image_io.h │ │ ├── image_utils.h │ │ ├── managed_image.h │ │ ├── memcpy.h │ │ ├── pixel_format.h │ │ └── typed_image.h │ │ ├── ios │ │ ├── PangolinAppDelegate.h │ │ └── PangolinUIView.h │ │ ├── log │ │ ├── packet_index.h │ │ ├── packetstream.h │ │ ├── packetstream_reader.h │ │ ├── packetstream_source.h │ │ ├── packetstream_writer.h │ │ └── sync_time.h │ │ ├── pangolin.h │ │ ├── platform.h │ │ ├── plot │ │ ├── datalog.h │ │ ├── plotter.h │ │ └── range.h │ │ ├── python │ │ ├── PyInterpreter.h │ │ ├── PyModulePangolin.h │ │ ├── PyPangoIO.h │ │ ├── PyUniqueObj.h │ │ └── PyVar.h │ │ ├── scene │ │ ├── axis.h │ │ ├── interactive.h │ │ ├── interactive_index.h │ │ ├── renderable.h │ │ └── scenehandler.h │ │ ├── tools │ │ └── video_viewer.h │ │ ├── utils │ │ ├── assert.h │ │ ├── file_extension.h │ │ ├── file_utils.h │ │ ├── fix_size_buffer_queue.h │ │ ├── format_string.h │ │ ├── log.h │ │ ├── params.h │ │ ├── picojson.h │ │ ├── posix │ │ │ ├── condition_variable.h │ │ │ ├── semaphore.h │ │ │ └── shared_memory_buffer.h │ │ ├── sigstate.h │ │ ├── simple_math.h │ │ ├── static_init.h │ │ ├── threadedfilebuf.h │ │ ├── timer.h │ │ ├── transform.h │ │ ├── type_convert.h │ │ ├── uri.h │ │ └── xml │ │ │ ├── license.txt │ │ │ ├── rapidxml.hpp │ │ │ ├── rapidxml_iterators.hpp │ │ │ ├── rapidxml_print.hpp │ │ │ └── rapidxml_utils.hpp │ │ ├── var │ │ ├── input_record_repeat.h │ │ ├── var.h │ │ ├── varextra.h │ │ ├── varstate.h │ │ ├── varvalue.h │ │ ├── varvaluegeneric.h │ │ ├── varvaluet.h │ │ └── varwrapper.h │ │ └── video │ │ ├── drivers │ │ ├── debayer.h │ │ ├── deinterlace.h │ │ ├── depthsense.h │ │ ├── ffmpeg.h │ │ ├── firewire.h │ │ ├── images.h │ │ ├── images_out.h │ │ ├── join.h │ │ ├── merge.h │ │ ├── mirror.h │ │ ├── openni.h │ │ ├── openni2.h │ │ ├── openni_common.h │ │ ├── pango.h │ │ ├── pango_video_output.h │ │ ├── pleora.h │ │ ├── pvn.h │ │ ├── realsense.h │ │ ├── shared_memory.h │ │ ├── shift.h │ │ ├── split.h │ │ ├── teli.h │ │ ├── test.h │ │ ├── thread.h │ │ ├── unpack.h │ │ ├── uvc.h │ │ └── v4l.h │ │ ├── iostream_operators.h │ │ ├── stream_info.h │ │ ├── video.h │ │ ├── video_exception.h │ │ ├── video_input.h │ │ ├── video_interface.h │ │ ├── video_output.h │ │ ├── video_output_interface.h │ │ └── video_record_repeat.h ├── src │ ├── CMakeLists.txt │ ├── Doxyfile.in │ ├── PangolinConfig.cmake.in │ ├── PangolinConfigVersion.cmake.in │ ├── _embed_ │ │ └── fonts │ │ │ ├── AnonymousPro.ttf │ │ │ └── AnonymousPro.txt │ ├── config.h.in │ ├── console │ │ └── ConsoleView.cpp │ ├── display │ │ ├── device │ │ │ ├── PangolinNSApplication.mm │ │ │ ├── PangolinNSGLView.mm │ │ │ ├── display_android.cpp │ │ │ ├── display_glut.cpp │ │ │ ├── display_osx.mm │ │ │ ├── display_win.cpp │ │ │ └── display_x11.cpp │ │ ├── display.cpp │ │ ├── opengl_render_state.cpp │ │ ├── view.cpp │ │ ├── viewport.cpp │ │ └── widgets │ │ │ └── widgets.cpp │ ├── gl │ │ ├── compat │ │ │ └── gl2engine.cpp │ │ ├── glchar.cpp │ │ ├── gldraw.cpp │ │ ├── glfont.cpp │ │ ├── glpangoglu.cpp │ │ ├── gltext.cpp │ │ ├── gltexturecache.cpp │ │ └── stb_truetype.h │ ├── handler │ │ ├── handler.cpp │ │ ├── handler_glbuffer.cpp │ │ └── handler_image.cpp │ ├── hud │ │ └── oculus_hud.cpp │ ├── image │ │ ├── image_io.cpp │ │ └── pixel_format.cpp │ ├── ios │ │ ├── PangolinAppDelegate.mm │ │ └── PangolinUIView.mm │ ├── log │ │ ├── packetstream_reader.cpp │ │ └── packetstream_writer.cpp │ ├── plot │ │ ├── datalog.cpp │ │ └── plotter.cpp │ ├── python │ │ ├── PyInterpreter.cpp │ │ └── PyModulePangolin.cpp │ ├── tools │ │ └── video_viewer.cpp │ ├── utils │ │ ├── file_extension.cpp │ │ ├── file_utils.cpp │ │ ├── posix │ │ │ ├── condition_variable.cpp │ │ │ ├── semaphore.cpp │ │ │ └── shared_memory_buffer.cpp │ │ ├── sigstate.cpp │ │ ├── threadedfilebuf.cpp │ │ ├── timer.cpp │ │ └── uri.cpp │ ├── var │ │ ├── input_record_repeat.cpp │ │ └── vars.cpp │ └── video │ │ ├── drivers │ │ ├── debayer.cpp │ │ ├── deinterlace.cpp │ │ ├── depthsense.cpp │ │ ├── ffmpeg.cpp │ │ ├── firewire.cpp │ │ ├── images.cpp │ │ ├── images_out.cpp │ │ ├── join.cpp │ │ ├── json.cpp │ │ ├── merge.cpp │ │ ├── mirror.cpp │ │ ├── openni.cpp │ │ ├── openni2.cpp │ │ ├── pango.cpp │ │ ├── pango_video_output.cpp │ │ ├── pleora.cpp │ │ ├── pvn.cpp │ │ ├── realsense.cpp │ │ ├── shared_memory.cpp │ │ ├── shift.cpp │ │ ├── split.cpp │ │ ├── teli.cpp │ │ ├── test.cpp │ │ ├── thread.cpp │ │ ├── unpack.cpp │ │ ├── uvc.cpp │ │ └── v4l.cpp │ │ ├── video.cpp │ │ ├── video_input.cpp │ │ ├── video_interface_factory.cpp │ │ ├── video_output.cpp │ │ └── video_output_interface_factory.cpp ├── test │ ├── CMakeLists.txt │ └── log │ │ ├── CMakeLists.txt │ │ └── testlog.cpp └── tools │ ├── CMakeLists.txt │ ├── VideoConvert │ ├── CMakeLists.txt │ └── main.cpp │ └── VideoViewer │ ├── CMakeLists.txt │ ├── application-x-pango.svg │ ├── application-x-pango.xml │ └── main.cpp ├── README.md ├── mono_kitti.cc ├── mono_tum.cc ├── orb_lineDebug ├── .kdev4 │ ├── A4.kdev4 │ └── orb_lineDebug.kdev4 ├── CMakeLists (copy).txt ├── CMakeLists.txt ├── CMakeLists.txt~ ├── build │ ├── 1.png │ ├── 2.png │ ├── 3.png │ ├── 4.png │ ├── 5 (copy).png │ ├── 5.png │ ├── 6 (copy).png │ ├── 6.png │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.5.1 │ 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if(UNIX) 2 | find_package(Pangolin 0.4 REQUIRED) 3 | include_directories(${Pangolin_INCLUDE_DIRS}) 4 | 5 | add_executable(SharedMemoryCamera main.cpp) 6 | target_link_libraries(SharedMemoryCamera ${Pangolin_LIBRARIES}) 7 | endif() 8 | -------------------------------------------------------------------------------- /Pangolin/examples/SimpleDisplay/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # Find Pangolin (https://github.com/stevenlovegrove/Pangolin) 2 | find_package(Pangolin 0.4 REQUIRED) 3 | include_directories(${Pangolin_INCLUDE_DIRS}) 4 | 5 | add_executable(SimpleDisplay main.cpp) 6 | target_link_libraries(SimpleDisplay ${Pangolin_LIBRARIES} ) 7 | 8 | -------------------------------------------------------------------------------- /Pangolin/examples/SimpleDisplayImage/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # Find Pangolin (https://github.com/stevenlovegrove/Pangolin) 2 | find_package(Pangolin 0.4 REQUIRED) 3 | include_directories(${Pangolin_INCLUDE_DIRS}) 4 | 5 | add_executable(SimpleDisplayImage main.cpp) 6 | target_link_libraries(SimpleDisplayImage ${Pangolin_LIBRARIES}) 7 | -------------------------------------------------------------------------------- /Pangolin/examples/SimpleMultiDisplay/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # Find Pangolin (https://github.com/stevenlovegrove/Pangolin) 2 | find_package(Pangolin 0.4 REQUIRED) 3 | include_directories(${Pangolin_INCLUDE_DIRS}) 4 | 5 | add_executable(SimpleMultiDisplay main.cpp) 6 | target_link_libraries(SimpleMultiDisplay ${Pangolin_LIBRARIES}) 7 | -------------------------------------------------------------------------------- /Pangolin/examples/SimplePlot/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # Find Pangolin (https://github.com/stevenlovegrove/Pangolin) 2 | find_package(Pangolin 0.4 REQUIRED) 3 | include_directories(${Pangolin_INCLUDE_DIRS}) 4 | 5 | add_executable(SimplePlot main.cpp) 6 | target_link_libraries(SimplePlot ${Pangolin_LIBRARIES}) 7 | -------------------------------------------------------------------------------- /Pangolin/examples/SimpleRecord/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # Find Pangolin (https://github.com/stevenlovegrove/Pangolin) 2 | find_package(Pangolin 0.4 REQUIRED) 3 | include_directories(${Pangolin_INCLUDE_DIRS}) 4 | 5 | add_executable(SimpleRecord main.cpp) 6 | target_link_libraries(SimpleRecord ${Pangolin_LIBRARIES}) 7 | -------------------------------------------------------------------------------- /Pangolin/examples/SimpleRepeatVideo/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # Find Pangolin (https://github.com/stevenlovegrove/Pangolin) 2 | find_package(Pangolin 0.4 REQUIRED) 3 | include_directories(${Pangolin_INCLUDE_DIRS}) 4 | 5 | add_executable(SimpleRepeatVideo main.cpp) 6 | target_link_libraries(SimpleRepeatVideo ${Pangolin_LIBRARIES}) 7 | -------------------------------------------------------------------------------- /Pangolin/examples/SimpleScene/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # Find Pangolin (https://github.com/stevenlovegrove/Pangolin) 2 | find_package(Pangolin 0.4 REQUIRED) 3 | include_directories(${Pangolin_INCLUDE_DIRS}) 4 | 5 | add_executable(SimpleScene main.cpp) 6 | target_link_libraries(SimpleScene ${Pangolin_LIBRARIES}) 7 | -------------------------------------------------------------------------------- /Pangolin/examples/SimpleVideo/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # Find Pangolin (https://github.com/stevenlovegrove/Pangolin) 2 | find_package(Pangolin 0.4 REQUIRED) 3 | include_directories(${Pangolin_INCLUDE_DIRS}) 4 | 5 | add_executable(SimpleVideo main.cpp) 6 | target_link_libraries(SimpleVideo ${Pangolin_LIBRARIES}) 7 | -------------------------------------------------------------------------------- /Pangolin/examples/VBODisplay/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # Find Pangolin (https://github.com/stevenlovegrove/Pangolin) 2 | find_package(Pangolin 0.4 REQUIRED) 3 | include_directories(${Pangolin_INCLUDE_DIRS}) 4 | link_directories(${Pangolin_LIBRARY_DIRS}) 5 | link_libraries(${Pangolin_LIBRARIES}) 6 | 7 | find_package(CUDA QUIET) 8 | 9 | # This example could be made to work with C++11, but the kernel code must be 10 | # compiled without it. 11 | if(CUDA_FOUND) 12 | cuda_include_directories(${CMAKE_CURRENT_SOURCE_DIR}) 13 | 14 | cuda_add_executable( 15 | VBODisplay 16 | main.cpp kernal.cu 17 | ) 18 | 19 | endif() 20 | -------------------------------------------------------------------------------- /Pangolin/include/pangolin/display/device/X11GlContext.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/atlas-jj/ORB_Line_SLAM/c1f7c52dea58867db9516ba06b7258f317ccffde/Pangolin/include/pangolin/display/device/X11GlContext.h -------------------------------------------------------------------------------- /Pangolin/include/pangolin/ios/PangolinUIView.h: -------------------------------------------------------------------------------- 1 | // 2 | // GlTestViewController.h 3 | // gltest 4 | // 5 | // Created by Steven Lovegrove on 30/01/2014. 6 | // Copyright (c) 2014 Steven Lovegrove. All rights reserved. 7 | // 8 | 9 | #import 10 | 11 | #include 12 | #include 13 | 14 | @interface PangolinUIView : UIView { 15 | CAEAGLLayer* _eaglLayer; 16 | EAGLContext* _context; 17 | 18 | GLuint _colorRenderBuffer; 19 | GLuint _depthRenderBuffer; 20 | } 21 | 22 | @end -------------------------------------------------------------------------------- /Pangolin/include/pangolin/tools/video_viewer.h: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | namespace pangolin 4 | { 5 | 6 | void RunVideoViewerUI(const std::string& input_uri, const std::string& output_uri); 7 | 8 | } 9 | -------------------------------------------------------------------------------- /Pangolin/include/pangolin/utils/posix/semaphore.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | #include 6 | 7 | namespace pangolin 8 | { 9 | 10 | class SemaphoreInterface 11 | { 12 | public: 13 | 14 | virtual ~SemaphoreInterface() { 15 | } 16 | 17 | virtual bool tryAcquire() = 0; 18 | virtual void acquire() = 0; 19 | virtual void release() = 0; 20 | }; 21 | 22 | std::shared_ptr create_named_semaphore(const std::string& name, 23 | unsigned int value); 24 | std::shared_ptr open_named_semaphore(const std::string& name); 25 | 26 | } 27 | -------------------------------------------------------------------------------- /Pangolin/include/pangolin/video/video_exception.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | #include 5 | #include 6 | 7 | namespace pangolin { 8 | 9 | struct PANGOLIN_EXPORT VideoException : std::exception 10 | { 11 | VideoException(std::string str) : desc(str) {} 12 | VideoException(std::string str, std::string detail) { 13 | desc = str + "\n\t" + detail; 14 | } 15 | ~VideoException() throw() {} 16 | const char* what() const throw() { return desc.c_str(); } 17 | std::string desc; 18 | }; 19 | 20 | } 21 | 22 | -------------------------------------------------------------------------------- /Pangolin/src/_embed_/fonts/AnonymousPro.ttf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/atlas-jj/ORB_Line_SLAM/c1f7c52dea58867db9516ba06b7258f317ccffde/Pangolin/src/_embed_/fonts/AnonymousPro.ttf -------------------------------------------------------------------------------- /Pangolin/test/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | add_subdirectory("log") -------------------------------------------------------------------------------- /Pangolin/test/log/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # Find Pangolin (https://github.com/stevenlovegrove/Pangolin) 2 | find_package(Pangolin 0.4 REQUIRED) 3 | include_directories(${Pangolin_INCLUDE_DIRS}) 4 | 5 | add_executable(Testlog testlog.cpp ) 6 | target_link_libraries(Testlog ${Pangolin_LIBRARIES}) 7 | -------------------------------------------------------------------------------- /Pangolin/tools/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | if(BUILD_PANGOLIN_GUI AND BUILD_PANGOLIN_VARS ) 2 | if(BUILD_PANGOLIN_VIDEO) 3 | add_subdirectory(VideoViewer) 4 | add_subdirectory(VideoConvert) 5 | endif() 6 | endif() 7 | -------------------------------------------------------------------------------- /Pangolin/tools/VideoConvert/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # Find Pangolin (https://github.com/stevenlovegrove/Pangolin) 2 | find_package(Pangolin 0.4 REQUIRED) 3 | include_directories(${Pangolin_INCLUDE_DIRS}) 4 | 5 | add_executable(VideoConvert main.cpp) 6 | target_link_libraries(VideoConvert ${Pangolin_LIBRARIES}) 7 | 8 | ####################################################### 9 | ## Install 10 | 11 | install(TARGETS VideoConvert 12 | RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin 13 | LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib 14 | ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib 15 | ) 16 | -------------------------------------------------------------------------------- /Pangolin/tools/VideoViewer/application-x-pango.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Pangolin Video File 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /orb_lineDebug/build/1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/atlas-jj/ORB_Line_SLAM/c1f7c52dea58867db9516ba06b7258f317ccffde/orb_lineDebug/build/1.png -------------------------------------------------------------------------------- /orb_lineDebug/build/2.png: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- /orb_lineDebug/lib/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | add_library (lib OrbLine.cc) 2 | -------------------------------------------------------------------------------- /orb_lineDebug/lib/CMakeLists.txt~: -------------------------------------------------------------------------------- 1 | add_library (lib norm_dist.cpp) 2 | -------------------------------------------------------------------------------- /orb_lineDebug/lib/point.cpp: -------------------------------------------------------------------------------- 1 | /************************************************************************* 2 | > File Name: point.cpp 3 | > Author: 4 | > Mail: 5 | > Created Time: Tue 21 Feb 2017 05:07:31 PM MST 6 | ************************************************************************/ 7 | 8 | #include 9 | #include 10 | #include"../include/point.h" 11 | using namespace std; 12 | 13 | point::point() 14 | {} 15 | 16 | point::point(double _x, double _y, double _theta) 17 | { 18 | x=_x; 19 | y=_y; 20 | theta=_theta; 21 | } 22 | point::~point(){} 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /orb_lineDebug/line tests: -------------------------------------------------------------------------------- 1 | 3D points: [0.03710794509385966, 0.068673677147449, 1.327782049548807; 2 | 0.00811013520841377, 0.05071837719691827, 1.028833555548963; 3 | 0.3049762190406032, -0.02801664942277293, 1.422576543210702; 4 | 0.3147422011650335, -0.09234568484674782, 1.473560124780775; 5 | 0.2238351492086254, -0.0591054978332993, 1.207124197599327; 6 | 0.2416984253353538, -0.07200609713355434, 1.440648958683604; 7 | 0.2598685465814864, -0.08695869279716573, 1.507751665103835; 8 | 0.299082682718405, -0.08535178234786603, 1.442539885097434] 9 | 10 | 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