├── .gitignore ├── CMakeLists.txt ├── Dependencies.md ├── README.md ├── Thirdparty └── g2o │ ├── .codacy.yaml │ ├── .gitignore │ ├── .travis.yml │ ├── CMakeLists.txt │ ├── EXTERNAL │ ├── CMakeLists.txt │ ├── ceres │ │ ├── LICENSE │ │ ├── autodiff.h │ │ ├── eigen.h │ │ ├── fixed_array.h │ │ ├── fpclassify.h │ │ ├── jet.h │ │ ├── macros.h │ │ ├── manual_constructor.h │ │ └── variadic_evaluate.h │ ├── csparse │ │ ├── CMakeLists.txt │ │ ├── License.txt │ │ ├── README.txt │ │ ├── cs.h │ │ ├── cs_add.c │ │ ├── cs_amd.c │ │ ├── cs_api.h │ │ ├── cs_chol.c │ │ ├── cs_cholsol.c │ │ ├── cs_compress.c │ │ ├── cs_counts.c │ │ ├── cs_cumsum.c │ │ ├── cs_dfs.c │ │ ├── cs_dmperm.c │ │ ├── cs_droptol.c │ │ ├── cs_dropzeros.c │ │ ├── cs_dupl.c │ │ ├── cs_entry.c │ │ ├── cs_ereach.c │ │ ├── cs_etree.c │ │ ├── cs_fkeep.c │ │ ├── cs_gaxpy.c │ │ ├── cs_happly.c │ │ ├── cs_house.c │ │ ├── cs_ipvec.c │ │ ├── cs_leaf.c │ │ ├── cs_load.c │ │ ├── cs_lsolve.c │ │ ├── cs_ltsolve.c │ │ ├── cs_lu.c │ │ ├── cs_lusol.c │ │ ├── cs_malloc.c │ │ ├── cs_maxtrans.c │ │ ├── cs_multiply.c │ │ ├── cs_norm.c │ │ ├── cs_permute.c │ │ ├── cs_pinv.c │ │ ├── cs_post.c │ │ ├── cs_print.c │ │ ├── cs_pvec.c │ │ ├── cs_qr.c │ │ ├── cs_qrsol.c │ │ ├── cs_randperm.c │ │ ├── cs_reach.c │ │ ├── cs_scatter.c │ │ ├── cs_scc.c │ │ ├── cs_schol.c │ │ ├── cs_spsolve.c │ │ ├── cs_sqr.c │ │ ├── cs_symperm.c │ │ ├── cs_tdfs.c │ │ ├── cs_transpose.c │ │ ├── cs_updown.c │ │ ├── cs_usolve.c │ │ ├── cs_util.c │ │ ├── cs_utsolve.c │ │ └── lesser.txt │ └── freeglut │ │ ├── CMakeLists.txt │ │ ├── COPYING │ │ ├── freeglut_font.cpp │ │ ├── freeglut_minimal.h │ │ ├── freeglut_stroke_mono_roman.cpp │ │ └── freeglut_stroke_roman.cpp │ ├── Makefile │ ├── README.md │ ├── appveyor.yml │ ├── cmake_modules │ ├── Config.cmake.in │ ├── FindBLAS.cmake │ ├── FindCSparse.cmake │ ├── FindCholmod.cmake │ ├── FindEigen3.cmake │ ├── FindG2O.cmake │ ├── FindLAPACK.cmake │ ├── FindQGLViewer.cmake │ └── FindSuiteSparse.cmake │ ├── config.h.in │ ├── doc │ ├── .gitignore │ ├── Makefile │ ├── README_IF_IT_WAS_WORKING_AND_IT_DOES_NOT.txt │ ├── doxygen │ │ ├── doxy.config │ │ └── readme.txt │ ├── g2o.pdf │ ├── g2o.tex │ ├── license-bsd.txt │ ├── license-gpl.txt │ ├── license-lgpl.txt │ ├── pics │ │ ├── classes.eps │ │ ├── classes.fig │ │ ├── classes.svg │ │ ├── hgraph.eps │ │ ├── hgraph.fig │ │ ├── slam.eps │ │ ├── slam.fig │ │ ├── viewer.eps │ │ └── viewer.png │ └── robots.bib │ ├── g2o │ ├── .gitignore │ ├── CMakeLists.txt │ ├── apps │ │ ├── CMakeLists.txt │ │ ├── g2o_cli │ │ │ ├── CMakeLists.txt │ │ │ ├── dl_wrapper.cpp │ │ │ ├── dl_wrapper.h │ │ │ ├── g2o.cpp │ │ │ ├── g2o_cli_api.h │ │ │ ├── g2o_common.cpp │ │ │ ├── g2o_common.h │ │ │ ├── output_helper.cpp │ │ │ └── output_helper.h │ │ ├── g2o_hierarchical │ │ │ ├── CMakeLists.txt │ │ │ ├── backbone_tree_action.cpp │ │ │ ├── backbone_tree_action.h │ │ │ ├── edge_creator.cpp │ │ │ ├── edge_creator.h │ │ │ ├── edge_labeler.cpp │ │ │ ├── edge_labeler.h │ │ │ ├── edge_types_cost_function.cpp │ │ │ ├── edge_types_cost_function.h │ │ │ ├── g2o_hierarchical.cpp │ │ │ ├── g2o_hierarchical_api.h │ │ │ ├── g2o_hierarchical_test_functions.cpp │ │ │ ├── simple_star_ops.cpp │ │ │ ├── simple_star_ops.h │ │ │ ├── star.cpp │ │ │ └── star.h │ │ ├── g2o_simulator │ │ │ ├── CMakeLists.txt │ │ │ ├── convertSegmentLine.cpp │ │ │ ├── converteSegmentLine.cpp │ │ │ ├── g2o_anonymize_observations.cpp │ │ │ ├── g2o_simulator_api.h │ │ │ ├── pointsensorparameters.cpp │ │ │ ├── pointsensorparameters.h │ │ │ ├── sensor_line3d.cpp │ │ │ ├── sensor_line3d.h │ │ │ ├── sensor_odometry.h │ │ │ ├── sensor_odometry2d.cpp │ │ │ ├── sensor_odometry2d.h │ │ │ ├── sensor_odometry3d.cpp │ │ │ ├── sensor_odometry3d.h │ │ │ ├── sensor_pointxy.cpp │ │ │ ├── sensor_pointxy.h │ │ │ ├── sensor_pointxy_bearing.cpp │ │ │ ├── sensor_pointxy_bearing.h │ │ │ ├── sensor_pointxy_offset.cpp │ │ │ ├── sensor_pointxy_offset.h │ │ │ ├── sensor_pointxyz.cpp │ │ │ ├── sensor_pointxyz.h │ │ │ ├── sensor_pointxyz_depth.cpp │ │ │ ├── sensor_pointxyz_depth.h │ │ │ ├── sensor_pointxyz_disparity.cpp │ │ │ ├── sensor_pointxyz_disparity.h │ │ │ ├── sensor_pose2d.cpp │ │ │ ├── sensor_pose2d.h │ │ │ ├── sensor_pose3d.cpp │ │ │ ├── sensor_pose3d.h │ │ │ ├── sensor_pose3d_offset.cpp │ │ │ ├── sensor_pose3d_offset.h │ │ │ ├── sensor_se3_prior.cpp │ │ │ ├── sensor_se3_prior.h │ │ │ ├── sensor_segment2d.cpp │ │ │ ├── sensor_segment2d.h │ │ │ ├── sensor_segment2d_line.cpp │ │ │ ├── sensor_segment2d_line.h │ │ │ ├── sensor_segment2d_pointline.cpp │ │ │ ├── sensor_segment2d_pointline.h │ │ │ ├── simulator.cpp │ │ │ ├── simulator.h │ │ │ ├── simulator2d.h │ │ │ ├── simulator2d_base.h │ │ │ ├── simulator2d_segment.cpp │ │ │ ├── simulator3d.h │ │ │ ├── simulator3d_base.h │ │ │ ├── simutils.cpp │ │ │ ├── simutils.h │ │ │ ├── test_simulator2d.cpp │ │ │ └── test_simulator3d.cpp │ │ ├── g2o_viewer │ │ │ ├── CMakeLists.txt │ │ │ ├── base_main_window.ui │ │ │ ├── base_properties_widget.ui │ │ │ ├── g2o_qglviewer.cpp │ │ │ ├── g2o_qglviewer.h │ │ │ ├── g2o_viewer.cpp │ │ │ ├── g2o_viewer_api.h │ │ │ ├── gui_hyper_graph_action.cpp │ │ │ ├── gui_hyper_graph_action.h │ │ │ ├── main_window.cpp │ │ │ ├── main_window.h │ │ │ ├── properties_widget.cpp │ │ │ ├── properties_widget.h │ │ │ ├── run_g2o_viewer.cpp │ │ │ ├── run_g2o_viewer.h │ │ │ ├── stream_redirect.cpp │ │ │ ├── stream_redirect.h │ │ │ ├── viewer_properties_widget.cpp │ │ │ └── viewer_properties_widget.h │ │ └── linked_binaries │ │ │ └── CMakeLists.txt │ ├── core │ │ ├── CMakeLists.txt │ │ ├── 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 │ │ ├── dynamic_aligned_buffer.hpp │ │ ├── eigen_types.h │ │ ├── estimate_propagator.cpp │ │ ├── estimate_propagator.h │ │ ├── factory.cpp │ │ ├── factory.h │ │ ├── g2o_core_api.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 │ │ ├── ownership.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 │ │ ├── sparse_optimizer_terminate_action.cpp │ │ └── sparse_optimizer_terminate_action.h │ ├── examples │ │ ├── CMakeLists.txt │ │ ├── ba │ │ │ ├── CMakeLists.txt │ │ │ └── ba_demo.cpp │ │ ├── ba_anchored_inverse_depth │ │ │ ├── CMakeLists.txt │ │ │ └── ba_anchored_inverse_depth_demo.cpp │ │ ├── bal │ │ │ ├── CMakeLists.txt │ │ │ └── bal_example.cpp │ │ ├── calibration_odom_laser │ │ │ ├── CMakeLists.txt │ │ │ ├── closed_form_calibration.cpp │ │ │ ├── closed_form_calibration.h │ │ │ ├── edge_se2_pure_calib.cpp │ │ │ ├── edge_se2_pure_calib.h │ │ │ ├── g2o_calibration_odom_laser_api.h │ │ │ ├── gm2dl_io.cpp │ │ │ ├── gm2dl_io.h │ │ │ ├── motion_information.h │ │ │ ├── sclam_helpers.cpp │ │ │ ├── sclam_helpers.h │ │ │ ├── sclam_laser_calib.cpp │ │ │ ├── sclam_odom_laser.cpp │ │ │ └── sclam_pure_calibration.cpp │ │ ├── data_convert │ │ │ ├── CMakeLists.txt │ │ │ └── convert_sba_slam3d.cpp │ │ ├── data_fitting │ │ │ ├── CMakeLists.txt │ │ │ ├── circle_fit.cpp │ │ │ └── curve_fit.cpp │ │ ├── g2o_unfold │ │ │ ├── g2o-unfold.cpp │ │ │ ├── tools.cpp │ │ │ └── tools.h │ │ ├── icp │ │ │ ├── CMakeLists.txt │ │ │ ├── gicp-test1.dat │ │ │ ├── gicp_demo.cpp │ │ │ └── gicp_sba_demo.cpp │ │ ├── interactive_slam │ │ │ ├── CMakeLists.txt │ │ │ ├── README.txt │ │ │ ├── g2o_incremental │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README.txt │ │ │ │ ├── g2o_incremental.cpp │ │ │ │ ├── g2o_incremental_api.h │ │ │ │ ├── graph_optimizer_sparse_incremental.cpp │ │ │ │ ├── graph_optimizer_sparse_incremental.h │ │ │ │ ├── linear_solver_cholmod_online.h │ │ │ │ └── protocol.txt │ │ │ ├── g2o_interactive │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── fast_output.h │ │ │ │ ├── g2o_interactive_api.h │ │ │ │ ├── g2o_online.cpp │ │ │ │ ├── g2o_slam_interface.cpp │ │ │ │ ├── g2o_slam_interface.h │ │ │ │ ├── generate_commands.cpp │ │ │ │ ├── graph_optimizer_sparse_online.cpp │ │ │ │ ├── graph_optimizer_sparse_online.h │ │ │ │ ├── protocol.txt │ │ │ │ ├── types_online.cpp │ │ │ │ ├── types_slam2d_online.h │ │ │ │ └── types_slam3d_online.h │ │ │ └── slam_parser │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── example │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── example_slam_interface.cpp │ │ │ │ ├── example_slam_interface.h │ │ │ │ └── test_slam_interface.cpp │ │ │ │ ├── interface │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── abstract_slam_interface.h │ │ │ │ ├── parser_interface.cpp │ │ │ │ ├── parser_interface.h │ │ │ │ ├── slam_context_interface.cpp │ │ │ │ └── slam_context_interface.h │ │ │ │ └── parser │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── FlexLexer.h │ │ │ │ ├── bison_parser.cpp │ │ │ │ ├── bison_parser.h │ │ │ │ ├── commands.h │ │ │ │ ├── driver.cpp │ │ │ │ ├── driver.h │ │ │ │ ├── flex_scanner.cpp │ │ │ │ ├── grammar.sh │ │ │ │ ├── location.hh │ │ │ │ ├── parser.yy │ │ │ │ ├── position.hh │ │ │ │ ├── scanner.h │ │ │ │ ├── scanner.l │ │ │ │ ├── slam_context.cpp │ │ │ │ ├── slam_context.h │ │ │ │ ├── stack.hh │ │ │ │ └── test_slam_parser.cpp │ │ ├── line_slam │ │ │ ├── CMakeLists.txt │ │ │ ├── line_test.cpp │ │ │ └── simulator_3d_line.cpp │ │ ├── plane_slam │ │ │ ├── CMakeLists.txt │ │ │ ├── plane_test.cpp │ │ │ └── simulator_3d_plane.cpp │ │ ├── sba │ │ │ ├── CMakeLists.txt │ │ │ └── sba_demo.cpp │ │ ├── sim3 │ │ │ ├── CMakeLists.txt │ │ │ └── optimize_sphere_by_sim3.cpp │ │ ├── simple_optimize │ │ │ ├── CMakeLists.txt │ │ │ └── simple_optimize.cpp │ │ ├── slam2d │ │ │ ├── CMakeLists.txt │ │ │ ├── base_main_window.ui │ │ │ ├── draw_helpers.cpp │ │ │ ├── draw_helpers.h │ │ │ ├── main_window.cpp │ │ │ ├── main_window.h │ │ │ ├── slam2d_g2o.cpp │ │ │ ├── slam2d_viewer.cpp │ │ │ └── slam2d_viewer.h │ │ ├── sphere │ │ │ ├── CMakeLists.txt │ │ │ └── create_sphere.cpp │ │ ├── target │ │ │ ├── CMakeLists.txt │ │ │ ├── constant_velocity_target.cpp │ │ │ ├── continuous_to_discrete.h │ │ │ ├── static_target.cpp │ │ │ ├── targetTypes3D.hpp │ │ │ └── targetTypes6D.hpp │ │ └── tutorial_slam2d │ │ │ ├── CMakeLists.txt │ │ │ ├── edge_se2.cpp │ │ │ ├── edge_se2.h │ │ │ ├── edge_se2_pointxy.cpp │ │ │ ├── edge_se2_pointxy.h │ │ │ ├── g2o_tutorial_slam2d_api.h │ │ │ ├── parameter_se2_offset.cpp │ │ │ ├── parameter_se2_offset.h │ │ │ ├── se2.h │ │ │ ├── simulator.cpp │ │ │ ├── simulator.h │ │ │ ├── tutorial_slam2d.cpp │ │ │ ├── types_tutorial_slam2d.cpp │ │ │ ├── types_tutorial_slam2d.h │ │ │ ├── vertex_point_xy.cpp │ │ │ ├── vertex_point_xy.h │ │ │ ├── vertex_se2.cpp │ │ │ └── vertex_se2.h │ ├── solvers │ │ ├── CMakeLists.txt │ │ ├── cholmod │ │ │ ├── CMakeLists.txt │ │ │ ├── linear_solver_cholmod.h │ │ │ └── solver_cholmod.cpp │ │ ├── csparse │ │ │ ├── CMakeLists.txt │ │ │ ├── csparse_extension.cpp │ │ │ ├── csparse_extension.h │ │ │ ├── csparse_helper.cpp │ │ │ ├── csparse_helper.h │ │ │ ├── g2o_csparse_api.h │ │ │ ├── g2o_csparse_extension_api.h │ │ │ ├── linear_solver_csparse.h │ │ │ └── solver_csparse.cpp │ │ ├── dense │ │ │ ├── CMakeLists.txt │ │ │ ├── linear_solver_dense.h │ │ │ └── solver_dense.cpp │ │ ├── eigen │ │ │ ├── CMakeLists.txt │ │ │ ├── linear_solver_eigen.h │ │ │ └── solver_eigen.cpp │ │ ├── pcg │ │ │ ├── CMakeLists.txt │ │ │ ├── linear_solver_pcg.h │ │ │ ├── linear_solver_pcg.hpp │ │ │ └── solver_pcg.cpp │ │ ├── slam2d_linear │ │ │ ├── CMakeLists.txt │ │ │ ├── g2o_slam2d_linear_api.h │ │ │ ├── slam2d_linear.cpp │ │ │ ├── solver_slam2d_linear.cpp │ │ │ └── solver_slam2d_linear.h │ │ └── structure_only │ │ │ ├── CMakeLists.txt │ │ │ ├── structure_only.cpp │ │ │ └── structure_only_solver.h │ ├── stuff │ │ ├── CMakeLists.txt │ │ ├── color_macros.h │ │ ├── command_args.cpp │ │ ├── command_args.h │ │ ├── filesys_tools.cpp │ │ ├── filesys_tools.h │ │ ├── g2o_stuff_api.h │ │ ├── macros.h │ │ ├── misc.h │ │ ├── opengl_primitives.cpp │ │ ├── opengl_primitives.h │ │ ├── opengl_wrapper.h │ │ ├── os_specific.c │ │ ├── os_specific.h │ │ ├── property.cpp │ │ ├── property.h │ │ ├── sampler.cpp │ │ ├── sampler.h │ │ ├── scoped_pointer.h │ │ ├── sparse_helper.cpp │ │ ├── sparse_helper.h │ │ ├── string_tools.cpp │ │ ├── string_tools.h │ │ ├── tictoc.cpp │ │ ├── tictoc.h │ │ ├── timeutil.cpp │ │ ├── timeutil.h │ │ └── unscented.h │ ├── types │ │ ├── CMakeLists.txt │ │ ├── data │ │ │ ├── CMakeLists.txt │ │ │ ├── data_queue.cpp │ │ │ ├── data_queue.h │ │ │ ├── g2o_types_data_api.h │ │ │ ├── laser_parameters.cpp │ │ │ ├── laser_parameters.h │ │ │ ├── raw_laser.cpp │ │ │ ├── raw_laser.h │ │ │ ├── robot_data.cpp │ │ │ ├── robot_data.h │ │ │ ├── robot_laser.cpp │ │ │ ├── robot_laser.h │ │ │ ├── types_data.cpp │ │ │ ├── types_data.h │ │ │ ├── vertex_ellipse.cpp │ │ │ ├── vertex_ellipse.h │ │ │ ├── vertex_tag.cpp │ │ │ └── vertex_tag.h │ │ ├── icp │ │ │ ├── CMakeLists.txt │ │ │ ├── g2o_types_icp_api.h │ │ │ ├── types_icp.cpp │ │ │ └── types_icp.h │ │ ├── sba │ │ │ ├── CMakeLists.txt │ │ │ ├── Trajectory_g2o.cpp │ │ │ ├── Trajectory_g2o.h │ │ │ ├── g2o_types_sba_api.h │ │ │ ├── sba_accessory_cam.cpp │ │ │ ├── sba_accessory_cam.h │ │ │ ├── sbacam.h │ │ │ ├── types_sba.cpp │ │ │ ├── types_sba.h │ │ │ ├── types_six_dof_expmap.cpp │ │ │ └── types_six_dof_expmap.h │ │ ├── sclam2d │ │ │ ├── CMakeLists.txt │ │ │ ├── edge_se2_odom_differential_calib.cpp │ │ │ ├── edge_se2_odom_differential_calib.h │ │ │ ├── edge_se2_sensor_calib.cpp │ │ │ ├── edge_se2_sensor_calib.h │ │ │ ├── g2o_types_sclam2d_api.h │ │ │ ├── odometry_measurement.cpp │ │ │ ├── odometry_measurement.h │ │ │ ├── types_sclam2d.cpp │ │ │ ├── types_sclam2d.h │ │ │ ├── vertex_odom_differential_params.cpp │ │ │ └── vertex_odom_differential_params.h │ │ ├── sim3 │ │ │ ├── CMakeLists.txt │ │ │ ├── sim3.h │ │ │ ├── types_seven_dof_expmap.cpp │ │ │ └── types_seven_dof_expmap.h │ │ ├── slam2d │ │ │ ├── CMakeLists.txt │ │ │ ├── edge_pointxy.cpp │ │ │ ├── edge_pointxy.h │ │ │ ├── edge_se2.cpp │ │ │ ├── edge_se2.h │ │ │ ├── edge_se2_lotsofxy.cpp │ │ │ ├── edge_se2_lotsofxy.h │ │ │ ├── edge_se2_offset.cpp │ │ │ ├── edge_se2_offset.h │ │ │ ├── edge_se2_pointxy.cpp │ │ │ ├── edge_se2_pointxy.h │ │ │ ├── edge_se2_pointxy_bearing.cpp │ │ │ ├── edge_se2_pointxy_bearing.h │ │ │ ├── edge_se2_pointxy_calib.cpp │ │ │ ├── edge_se2_pointxy_calib.h │ │ │ ├── edge_se2_pointxy_offset.cpp │ │ │ ├── edge_se2_pointxy_offset.h │ │ │ ├── edge_se2_prior.cpp │ │ │ ├── edge_se2_prior.h │ │ │ ├── edge_se2_twopointsxy.cpp │ │ │ ├── edge_se2_twopointsxy.h │ │ │ ├── edge_se2_xyprior.cpp │ │ │ ├── edge_se2_xyprior.h │ │ │ ├── edge_xy_prior.cpp │ │ │ ├── edge_xy_prior.h │ │ │ ├── g2o_types_slam2d_api.h │ │ │ ├── parameter_se2_offset.cpp │ │ │ ├── parameter_se2_offset.h │ │ │ ├── se2.h │ │ │ ├── types_slam2d.cpp │ │ │ ├── types_slam2d.h │ │ │ ├── vertex_point_xy.cpp │ │ │ ├── vertex_point_xy.h │ │ │ ├── vertex_se2.cpp │ │ │ └── vertex_se2.h │ │ ├── slam2d_addons │ │ │ ├── CMakeLists.txt │ │ │ ├── edge_line2d.cpp │ │ │ ├── edge_line2d.h │ │ │ ├── edge_line2d_pointxy.cpp │ │ │ ├── edge_line2d_pointxy.h │ │ │ ├── edge_se2_line2d.cpp │ │ │ ├── edge_se2_line2d.h │ │ │ ├── edge_se2_segment2d.cpp │ │ │ ├── edge_se2_segment2d.h │ │ │ ├── edge_se2_segment2d_line.cpp │ │ │ ├── edge_se2_segment2d_line.h │ │ │ ├── edge_se2_segment2d_pointLine.cpp │ │ │ ├── edge_se2_segment2d_pointLine.h │ │ │ ├── g2o_types_slam2d_addons_api.h │ │ │ ├── line_2d.h │ │ │ ├── types_slam2d_addons.cpp │ │ │ ├── types_slam2d_addons.h │ │ │ ├── vertex_line2d.cpp │ │ │ ├── vertex_line2d.h │ │ │ ├── vertex_segment2d.cpp │ │ │ └── vertex_segment2d.h │ │ ├── slam3d │ │ │ ├── CMakeLists.txt │ │ │ ├── dquat2mat.cpp │ │ │ ├── dquat2mat.h │ │ │ ├── dquat2mat.wxm │ │ │ ├── dquat2mat_maxima_generated.cpp │ │ │ ├── edge_pointxyz.cpp │ │ │ ├── edge_pointxyz.h │ │ │ ├── edge_se3.cpp │ │ │ ├── edge_se3.h │ │ │ ├── edge_se3_lotsofxyz.cpp │ │ │ ├── edge_se3_lotsofxyz.h │ │ │ ├── edge_se3_offset.cpp │ │ │ ├── edge_se3_offset.h │ │ │ ├── edge_se3_pointxyz.cpp │ │ │ ├── edge_se3_pointxyz.h │ │ │ ├── edge_se3_pointxyz_depth.cpp │ │ │ ├── edge_se3_pointxyz_depth.h │ │ │ ├── edge_se3_pointxyz_disparity.cpp │ │ │ ├── edge_se3_pointxyz_disparity.h │ │ │ ├── edge_se3_prior.cpp │ │ │ ├── edge_se3_prior.h │ │ │ ├── edge_se3_xyzprior.cpp │ │ │ ├── edge_se3_xyzprior.h │ │ │ ├── edge_xyz_prior.cpp │ │ │ ├── edge_xyz_prior.h │ │ │ ├── g2o_types_slam3d_api.h │ │ │ ├── isometry3d_gradients.cpp │ │ │ ├── isometry3d_gradients.h │ │ │ ├── isometry3d_mappings.cpp │ │ │ ├── isometry3d_mappings.h │ │ │ ├── parameter_camera.cpp │ │ │ ├── parameter_camera.h │ │ │ ├── parameter_se3_offset.cpp │ │ │ ├── parameter_se3_offset.h │ │ │ ├── parameter_stereo_camera.cpp │ │ │ ├── parameter_stereo_camera.h │ │ │ ├── se3_ops.h │ │ │ ├── se3_ops.hpp │ │ │ ├── se3quat.h │ │ │ ├── types_slam3d.cpp │ │ │ ├── types_slam3d.h │ │ │ ├── vertex_pointxyz.cpp │ │ │ ├── vertex_pointxyz.h │ │ │ ├── vertex_se3.cpp │ │ │ └── vertex_se3.h │ │ └── slam3d_addons │ │ │ ├── CMakeLists.txt │ │ │ ├── SE3_sensor_edges.cpp │ │ │ ├── SE3_sensor_edges.h │ │ │ ├── edge_plane.cpp │ │ │ ├── edge_plane.h │ │ │ ├── edge_se3_calib.cpp │ │ │ ├── edge_se3_calib.h │ │ │ ├── edge_se3_euler.cpp │ │ │ ├── edge_se3_euler.h │ │ │ ├── edge_se3_line.cpp │ │ │ ├── edge_se3_line.h │ │ │ ├── edge_se3_plane_calib.cpp │ │ │ ├── edge_se3_plane_calib.h │ │ │ ├── g2o_types_slam3d_addons_api.h │ │ │ ├── line3d.cpp │ │ │ ├── line3d.h │ │ │ ├── plane3d.h │ │ │ ├── types_slam3d_addons.cpp │ │ │ ├── types_slam3d_addons.h │ │ │ ├── vertex_line3d.cpp │ │ │ ├── vertex_line3d.h │ │ │ ├── vertex_plane.cpp │ │ │ ├── vertex_plane.h │ │ │ ├── vertex_se3_euler.cpp │ │ │ └── vertex_se3_euler.h │ └── what_is_in_these_directories.txt │ └── script │ ├── android.toolchain.cmake │ ├── install-deps-linux.sh │ ├── install-deps-osx.sh │ ├── install-deps-windows.bat │ └── run-unitTests.sh ├── Vocabulary └── ORBvoc.txt.tar.gz ├── cmake_modules ├── CMakeHelper.cmake ├── FindEigen3.cmake └── FindG2O.cmake ├── config ├── sample_primary_config_file.yaml ├── slam_feature_config.yaml ├── slam_mapping_config.yaml └── slam_tracking_config.yaml ├── doc ├── dcslam_overview.jpg └── recon_examples.jpg ├── src ├── CMakeLists.txt ├── core │ ├── CMakeLists.txt │ ├── Camera.cpp │ ├── Camera.h │ ├── CovisibilityGraph.cpp │ ├── CovisibilityGraph.h │ ├── Documentation │ ├── FeatureExtractorSettings.cpp │ ├── FeatureExtractorSettings.h │ ├── FeatureViews.cpp │ ├── FeatureViews.h │ ├── Frame.cc │ ├── Frame.h │ ├── KeyFrame.cc │ ├── KeyFrame.h │ ├── KeyFrameDB.cc │ ├── KeyFrameDB.h │ ├── LandMarkMatches.cpp │ ├── LandMarkMatches.h │ ├── Map.cc │ ├── Map.h │ ├── MapPoint.cc │ ├── MapPoint.h │ ├── MapPointDB.cpp │ ├── MapPointDB.h │ ├── MapPointFactory.cpp │ ├── MapPointFactory.h │ ├── PlaceRecognizer.cpp │ ├── PlaceRecognizer.h │ ├── SensorData.cpp │ ├── SensorData.h │ ├── SpanningTree.cpp │ ├── SpanningTree.h │ ├── Trajectory.cc │ └── Trajectory.h ├── estimators │ ├── CMakeLists.txt │ ├── PnPsolver.cc │ ├── PnPsolver.h │ ├── Sim3Solver.cc │ ├── Sim3Solver.h │ ├── Triangulator.cpp │ └── Triangulator.h ├── features │ ├── CMakeLists.txt │ ├── Documentation │ ├── FeatureExtractor.cpp │ ├── FeatureExtractor.h │ ├── FeatureFactory.cpp │ ├── FeatureFactory.h │ ├── FeatureMatcher.cc │ ├── FeatureMatcher.h │ ├── FeatureUtil.cpp │ ├── FeatureUtil.h │ ├── MatchCriteria.cpp │ ├── MatchCriteria.h │ ├── ORBExtractor.cpp │ ├── ORBExtractor.h │ ├── ORBFactory.cpp │ ├── ORBFactory.h │ ├── SURFExtractor.cpp │ ├── SURFExtractor.h │ ├── SURFFactory.cpp │ ├── SURFFactory.h │ ├── Stereomatcher.cpp │ ├── Stereomatcher.h │ └── low_level │ │ ├── CMakeLists.txt │ │ ├── DescriptorDistance.cpp │ │ ├── DescriptorDistance.h │ │ ├── Documentation │ │ ├── FeatureDescriptor.cpp │ │ ├── FeatureDescriptor.h │ │ ├── FeatureFinder.cpp │ │ ├── FeatureFinder.h │ │ ├── FeatureVocabulary.cpp │ │ ├── FeatureVocabulary.h │ │ ├── ORBFinder.cpp │ │ ├── ORBFinder.h │ │ ├── ORBVocabulary.cpp │ │ ├── ORBVocabulary.h │ │ ├── SURFFinder.cpp │ │ ├── SURFFinder.h │ │ ├── SURFVocabulary.cpp │ │ └── SURFVocabulary.h ├── initializers │ ├── CMakeLists.txt │ ├── Initializer.cpp │ ├── Initializer.h │ ├── InitializerDataStructs.cpp │ ├── InitializerDataStructs.h │ ├── MonoEstimator.cpp │ ├── MonoEstimator.h │ ├── MonoInitializer.cpp │ ├── MonoInitializer.h │ ├── StereoInitializer.cpp │ └── StereoInitializer.h ├── main │ ├── CMakeLists.txt │ ├── ImageProcessing.cpp │ ├── ImageProcessing.h │ ├── InterThread.cpp │ ├── InterThread.h │ ├── LoopClosing.cc │ ├── LoopClosing.h │ ├── Mapping.cpp │ ├── Mapping.h │ ├── ORBSLAM_datastructs.cc │ ├── ORBSLAM_datastructs.h │ ├── System.cc │ ├── System.h │ ├── Tracking.cpp │ └── Tracking.h ├── optimizers │ ├── BundleAdjustment.cc │ ├── BundleAdjustment.h │ ├── CMakeLists.txt │ ├── GlobalBundleAdjustment.cc │ ├── GlobalBundleAdjustment.h │ ├── ImagingBundleAdjustment.cc │ ├── ImagingBundleAdjustment.h │ ├── LocalBundleAdjustment.cc │ ├── LocalBundleAdjustment.h │ ├── OptHelpers.cc │ ├── OptHelpers.h │ ├── Optimizer.cc │ └── Optimizer.h ├── slam │ ├── CMakeLists.txt │ ├── dummy.cpp │ ├── dummy.h │ ├── mapping │ │ ├── CMakeLists.txt │ │ ├── KeyFrameCuller.cpp │ │ ├── KeyFrameCuller.h │ │ ├── LandMarkCuller.cpp │ │ ├── LandMarkCuller.h │ │ ├── LandMarkFuser.cpp │ │ ├── LandMarkFuser.h │ │ ├── LandMarkTriangulator.cpp │ │ ├── LandMarkTriangulator.h │ │ ├── LocalBundleAdjustmentJob.cpp │ │ ├── LocalBundleAdjustmentJob.h │ │ ├── MapJob.cpp │ │ ├── MapJob.h │ │ ├── MappingDataStructs.cpp │ │ ├── MappingDataStructs.h │ │ ├── ProcessNewKeyFrame.cpp │ │ └── ProcessNewKeyFrame.h │ └── tracking │ │ ├── CMakeLists.txt │ │ ├── TrackLocalMap.cpp │ │ ├── TrackLocalMap.h │ │ ├── TrackMotionModel.cpp │ │ ├── TrackMotionModel.h │ │ ├── TrackPlaceRecognition.cpp │ │ ├── TrackPlaceRecognition.h │ │ ├── TrackReferenceKeyFrame.cpp │ │ ├── TrackReferenceKeyFrame.h │ │ ├── TrackingState.cpp │ │ ├── TrackingState.h │ │ ├── TrackingStateInitialize.cpp │ │ ├── TrackingStateInitialize.h │ │ ├── TrackingStateNormal.cpp │ │ ├── TrackingStateNormal.h │ │ ├── TrackingStateNull.cpp │ │ ├── TrackingStateNull.h │ │ ├── TrackingStatePostInitialization.cpp │ │ ├── TrackingStatePostInitialization.h │ │ ├── TrackingStateReInitialize.cpp │ │ ├── TrackingStateReInitialize.h │ │ ├── TrackingStateRelocalize.cpp │ │ ├── TrackingStateRelocalize.h │ │ ├── TrackingStateTransition.cpp │ │ ├── TrackingStateTransition.h │ │ ├── TrackingStateTransitionReinit.cpp │ │ ├── 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