├── .github └── workflows │ ├── docker_1804_build.yaml │ ├── docker_2004_build.yaml │ └── industrial_ci_action.yml.disable ├── .gitignore ├── Dockerfile_ros1_18_04 ├── Dockerfile_ros1_18_04_small.dockerfile ├── Dockerfile_ros1_20_04 ├── LICENSE.kalibr ├── LICENSE.tartancalib ├── README.md ├── Schweizer-Messer ├── numpy_eigen │ ├── CMakeLists.txt │ ├── cmake │ │ ├── add_python_export_library.cmake │ │ └── numpy_eigen-extras.cmake.in │ ├── include │ │ └── numpy_eigen │ │ │ ├── NumpyEigenConverter.hpp │ │ │ ├── boost_python_headers.hpp │ │ │ ├── copy_routines.hpp │ │ │ └── type_traits.hpp │ ├── mainpage.dox │ ├── package.xml │ ├── setup.py │ ├── src │ │ ├── autogen_files.cmake │ │ ├── autogen_module │ │ │ ├── import_1_1_double.cpp │ │ │ ├── import_1_1_float.cpp │ │ │ ├── import_1_1_int.cpp │ │ │ ├── import_1_1_long.cpp │ │ │ ├── import_1_1_uchar.cpp │ │ │ ├── import_1_2_double.cpp │ │ │ ├── import_1_2_float.cpp │ │ │ ├── import_1_2_int.cpp │ │ │ ├── import_1_2_long.cpp │ │ │ ├── import_1_2_uchar.cpp │ │ │ ├── import_1_3_double.cpp │ │ │ ├── import_1_3_float.cpp │ │ │ ├── import_1_3_int.cpp │ │ │ ├── import_1_3_long.cpp │ │ │ ├── import_1_3_uchar.cpp │ │ │ ├── import_1_4_double.cpp │ │ │ ├── import_1_4_float.cpp │ │ │ ├── import_1_4_int.cpp │ │ │ ├── import_1_4_long.cpp │ │ │ ├── import_1_4_uchar.cpp │ │ │ ├── import_1_5_double.cpp │ │ │ ├── import_1_5_float.cpp │ │ │ ├── import_1_5_int.cpp │ │ │ ├── import_1_5_long.cpp │ │ │ ├── import_1_5_uchar.cpp │ │ │ ├── import_1_6_double.cpp │ │ │ ├── import_1_6_float.cpp │ │ │ ├── import_1_6_int.cpp │ │ │ ├── import_1_6_long.cpp │ │ │ ├── import_1_6_uchar.cpp │ │ │ ├── import_1_D_double.cpp │ │ │ ├── import_1_D_float.cpp │ │ │ ├── import_1_D_int.cpp │ │ │ ├── import_1_D_long.cpp │ │ │ ├── import_1_D_uchar.cpp │ │ │ ├── import_2_1_double.cpp │ │ │ ├── import_2_1_float.cpp │ │ │ ├── import_2_1_int.cpp │ │ │ ├── import_2_1_long.cpp │ │ │ ├── import_2_1_uchar.cpp │ │ │ ├── import_2_2_double.cpp │ │ │ ├── import_2_2_float.cpp │ │ │ ├── import_2_2_int.cpp │ │ │ ├── import_2_2_long.cpp │ │ │ ├── import_2_2_uchar.cpp │ │ │ ├── import_2_3_double.cpp │ │ │ ├── import_2_3_float.cpp │ │ │ ├── import_2_3_int.cpp │ │ │ ├── import_2_3_long.cpp │ │ │ ├── import_2_3_uchar.cpp │ │ │ ├── import_2_4_double.cpp │ │ │ ├── import_2_4_float.cpp │ │ │ ├── import_2_4_int.cpp │ │ │ ├── import_2_4_long.cpp │ │ │ ├── import_2_4_uchar.cpp │ │ │ ├── import_2_5_double.cpp │ │ │ ├── import_2_5_float.cpp │ │ │ ├── import_2_5_int.cpp │ │ │ ├── import_2_5_long.cpp │ │ │ ├── import_2_5_uchar.cpp │ │ │ ├── import_2_6_double.cpp │ │ │ ├── import_2_6_float.cpp │ │ │ ├── import_2_6_int.cpp │ │ │ ├── import_2_6_long.cpp │ │ │ ├── import_2_6_uchar.cpp │ │ │ ├── import_2_D_double.cpp │ │ │ ├── import_2_D_float.cpp │ │ │ ├── import_2_D_int.cpp │ │ │ ├── import_2_D_long.cpp │ │ │ ├── import_2_D_uchar.cpp │ │ │ ├── import_3_1_double.cpp │ │ │ ├── import_3_1_float.cpp │ │ │ ├── import_3_1_int.cpp │ │ │ ├── import_3_1_long.cpp │ │ │ ├── import_3_1_uchar.cpp │ │ │ ├── import_3_2_double.cpp │ │ │ ├── import_3_2_float.cpp │ │ │ ├── import_3_2_int.cpp │ │ │ ├── import_3_2_long.cpp │ │ │ ├── import_3_2_uchar.cpp │ │ │ ├── import_3_3_double.cpp │ │ │ ├── import_3_3_float.cpp │ │ │ ├── import_3_3_int.cpp │ │ │ ├── import_3_3_long.cpp │ │ │ ├── import_3_3_uchar.cpp │ │ │ ├── import_3_4_double.cpp │ │ │ ├── import_3_4_float.cpp │ │ │ ├── import_3_4_int.cpp │ │ │ ├── import_3_4_long.cpp │ │ │ ├── import_3_4_uchar.cpp │ │ │ ├── import_3_5_double.cpp │ │ │ ├── import_3_5_float.cpp │ │ │ ├── import_3_5_int.cpp │ │ │ ├── import_3_5_long.cpp │ │ │ ├── import_3_5_uchar.cpp │ │ │ ├── import_3_6_double.cpp │ │ │ ├── import_3_6_float.cpp │ │ │ ├── import_3_6_int.cpp │ │ │ ├── import_3_6_long.cpp │ │ │ ├── import_3_6_uchar.cpp │ │ │ ├── import_3_D_double.cpp │ │ │ ├── import_3_D_float.cpp │ │ │ ├── import_3_D_int.cpp │ │ │ ├── import_3_D_long.cpp │ │ │ ├── import_3_D_uchar.cpp │ │ │ ├── import_4_1_double.cpp │ │ │ ├── import_4_1_float.cpp │ │ │ ├── import_4_1_int.cpp │ │ │ ├── import_4_1_long.cpp │ │ │ ├── import_4_1_uchar.cpp │ │ │ ├── import_4_2_double.cpp │ │ │ ├── import_4_2_float.cpp │ │ │ ├── import_4_2_int.cpp │ │ │ ├── import_4_2_long.cpp │ │ │ ├── import_4_2_uchar.cpp │ │ │ ├── import_4_3_double.cpp │ │ │ ├── import_4_3_float.cpp │ │ │ ├── import_4_3_int.cpp │ │ │ ├── import_4_3_long.cpp │ │ │ ├── import_4_3_uchar.cpp │ │ │ ├── import_4_4_double.cpp │ │ │ ├── import_4_4_float.cpp │ │ │ ├── import_4_4_int.cpp │ │ │ ├── import_4_4_long.cpp │ │ │ ├── import_4_4_uchar.cpp │ │ │ ├── import_4_5_double.cpp │ │ │ ├── import_4_5_float.cpp │ │ │ ├── import_4_5_int.cpp │ │ │ ├── import_4_5_long.cpp │ │ │ ├── import_4_5_uchar.cpp │ │ │ ├── import_4_6_double.cpp │ │ │ ├── import_4_6_float.cpp │ │ │ ├── import_4_6_int.cpp │ │ │ ├── import_4_6_long.cpp │ │ │ ├── import_4_6_uchar.cpp │ │ │ ├── import_4_D_double.cpp │ │ │ ├── import_4_D_float.cpp │ │ │ ├── import_4_D_int.cpp │ │ │ ├── import_4_D_long.cpp │ │ │ ├── import_4_D_uchar.cpp │ │ │ ├── import_5_1_double.cpp │ │ │ ├── import_5_1_float.cpp │ │ │ ├── import_5_1_int.cpp │ │ │ ├── import_5_1_long.cpp │ │ │ ├── import_5_1_uchar.cpp │ │ │ ├── import_5_2_double.cpp │ │ │ ├── import_5_2_float.cpp │ │ │ ├── import_5_2_int.cpp │ │ │ ├── import_5_2_long.cpp │ │ │ ├── import_5_2_uchar.cpp │ │ │ ├── import_5_3_double.cpp │ │ │ ├── import_5_3_float.cpp │ │ │ ├── import_5_3_int.cpp │ │ │ ├── import_5_3_long.cpp │ │ │ ├── import_5_3_uchar.cpp │ │ │ ├── import_5_4_double.cpp │ │ │ ├── import_5_4_float.cpp │ │ │ ├── import_5_4_int.cpp │ │ │ ├── import_5_4_long.cpp │ │ │ ├── import_5_4_uchar.cpp │ │ │ ├── import_5_5_double.cpp │ │ │ ├── import_5_5_float.cpp │ │ │ ├── import_5_5_int.cpp │ │ │ ├── import_5_5_long.cpp │ │ │ ├── import_5_5_uchar.cpp │ │ │ ├── import_5_6_double.cpp │ │ │ ├── import_5_6_float.cpp │ │ │ ├── import_5_6_int.cpp │ │ │ ├── import_5_6_long.cpp │ │ │ ├── import_5_6_uchar.cpp │ │ │ ├── import_5_D_double.cpp │ │ │ ├── import_5_D_float.cpp │ │ │ ├── import_5_D_int.cpp │ │ │ ├── import_5_D_long.cpp │ │ │ ├── import_5_D_uchar.cpp │ │ │ ├── import_6_1_double.cpp │ │ │ ├── import_6_1_float.cpp │ │ │ ├── import_6_1_int.cpp │ │ │ ├── import_6_1_long.cpp │ │ │ ├── import_6_1_uchar.cpp │ │ │ ├── import_6_2_double.cpp │ │ │ ├── import_6_2_float.cpp │ │ │ ├── import_6_2_int.cpp │ │ │ ├── import_6_2_long.cpp │ │ │ ├── import_6_2_uchar.cpp │ │ │ ├── import_6_3_double.cpp │ │ │ ├── import_6_3_float.cpp │ │ │ ├── import_6_3_int.cpp │ │ │ ├── import_6_3_long.cpp │ │ │ ├── import_6_3_uchar.cpp │ │ │ ├── import_6_4_double.cpp │ │ │ ├── import_6_4_float.cpp │ │ │ ├── import_6_4_int.cpp │ │ │ ├── import_6_4_long.cpp │ │ │ ├── import_6_4_uchar.cpp │ │ │ ├── import_6_5_double.cpp │ │ │ ├── import_6_5_float.cpp │ │ │ ├── import_6_5_int.cpp │ │ │ ├── import_6_5_long.cpp │ │ │ ├── import_6_5_uchar.cpp │ │ │ ├── import_6_6_double.cpp │ │ │ ├── import_6_6_float.cpp │ │ │ ├── import_6_6_int.cpp │ │ │ ├── import_6_6_long.cpp │ │ │ ├── import_6_6_uchar.cpp │ │ │ ├── import_6_D_double.cpp │ │ │ ├── import_6_D_float.cpp │ │ │ ├── import_6_D_int.cpp │ │ │ ├── import_6_D_long.cpp │ │ │ ├── import_6_D_uchar.cpp │ │ │ ├── import_D_1_double.cpp │ │ │ ├── import_D_1_float.cpp │ │ │ ├── import_D_1_int.cpp │ │ │ ├── import_D_1_long.cpp │ │ │ ├── import_D_1_uchar.cpp │ │ │ ├── import_D_2_double.cpp │ │ │ ├── import_D_2_float.cpp │ │ │ ├── import_D_2_int.cpp │ │ │ ├── import_D_2_long.cpp │ │ │ ├── import_D_2_uchar.cpp │ │ │ ├── import_D_3_double.cpp │ │ │ ├── import_D_3_float.cpp │ │ │ ├── import_D_3_int.cpp │ │ │ ├── import_D_3_long.cpp │ │ │ ├── import_D_3_uchar.cpp │ │ │ ├── import_D_4_double.cpp │ │ │ ├── import_D_4_float.cpp │ │ │ ├── import_D_4_int.cpp │ │ │ ├── import_D_4_long.cpp │ │ │ ├── import_D_4_uchar.cpp │ │ │ ├── import_D_5_double.cpp │ │ │ ├── import_D_5_float.cpp │ │ │ ├── import_D_5_int.cpp │ │ │ ├── import_D_5_long.cpp │ │ │ ├── import_D_5_uchar.cpp │ │ │ ├── import_D_6_double.cpp │ │ │ ├── import_D_6_float.cpp │ │ │ ├── import_D_6_int.cpp │ │ │ ├── import_D_6_long.cpp │ │ │ ├── import_D_6_uchar.cpp │ │ │ ├── import_D_D_double.cpp │ │ │ ├── import_D_D_float.cpp │ │ │ ├── import_D_D_int.cpp │ │ │ ├── import_D_D_long.cpp │ │ │ ├── import_D_D_uchar.cpp │ │ │ └── numpy_eigen_export_module.cpp │ │ ├── autogen_test_files.cmake │ │ ├── autogen_test_module │ │ │ ├── numpy_eigen_test_module.cpp │ │ │ ├── test_1_1_double.cpp │ │ │ ├── test_1_1_float.cpp │ │ │ ├── test_1_1_int.cpp │ │ │ ├── test_1_1_long.cpp │ │ │ ├── test_1_1_uchar.cpp │ │ │ ├── test_1_2_double.cpp │ │ │ ├── test_1_2_float.cpp │ │ │ ├── test_1_2_int.cpp │ │ │ ├── test_1_2_long.cpp │ │ │ ├── test_1_2_uchar.cpp │ │ │ ├── test_1_3_double.cpp │ │ │ ├── test_1_3_float.cpp │ │ │ ├── test_1_3_int.cpp │ │ │ ├── test_1_3_long.cpp │ │ │ ├── test_1_3_uchar.cpp │ │ │ ├── test_1_4_double.cpp │ │ │ ├── test_1_4_float.cpp │ │ │ ├── test_1_4_int.cpp │ │ │ ├── test_1_4_long.cpp │ │ │ ├── test_1_4_uchar.cpp │ │ │ ├── test_1_5_double.cpp │ │ │ ├── test_1_5_float.cpp │ │ │ ├── test_1_5_int.cpp │ │ │ ├── test_1_5_long.cpp │ │ │ ├── test_1_5_uchar.cpp │ │ │ ├── test_1_6_double.cpp │ │ │ ├── test_1_6_float.cpp │ │ │ ├── test_1_6_int.cpp │ │ │ ├── test_1_6_long.cpp │ │ │ ├── test_1_6_uchar.cpp │ │ │ ├── test_1_D_double.cpp │ │ │ ├── test_1_D_float.cpp │ │ │ ├── test_1_D_int.cpp │ │ │ ├── test_1_D_long.cpp │ │ │ ├── test_1_D_uchar.cpp │ │ │ ├── test_2_1_double.cpp │ │ │ ├── test_2_1_float.cpp │ │ │ ├── test_2_1_int.cpp │ │ │ ├── test_2_1_long.cpp │ │ │ ├── test_2_1_uchar.cpp │ │ │ ├── test_2_2_double.cpp │ │ │ ├── test_2_2_float.cpp │ │ │ ├── test_2_2_int.cpp │ │ │ ├── test_2_2_long.cpp │ │ │ ├── test_2_2_uchar.cpp │ │ │ ├── test_2_3_double.cpp │ │ │ ├── test_2_3_float.cpp │ │ │ ├── test_2_3_int.cpp │ │ │ ├── test_2_3_long.cpp │ │ │ ├── test_2_3_uchar.cpp │ │ │ ├── test_2_4_double.cpp │ │ │ ├── test_2_4_float.cpp │ │ │ ├── test_2_4_int.cpp │ │ │ ├── test_2_4_long.cpp │ │ │ ├── test_2_4_uchar.cpp │ │ │ ├── test_2_5_double.cpp │ │ │ ├── test_2_5_float.cpp │ │ │ ├── test_2_5_int.cpp │ │ │ ├── test_2_5_long.cpp │ │ │ ├── test_2_5_uchar.cpp │ │ │ ├── test_2_6_double.cpp │ │ │ ├── test_2_6_float.cpp │ │ │ ├── test_2_6_int.cpp │ │ │ ├── test_2_6_long.cpp │ │ │ ├── test_2_6_uchar.cpp │ │ │ ├── test_2_D_double.cpp │ │ │ ├── test_2_D_float.cpp │ │ │ ├── test_2_D_int.cpp │ │ │ ├── test_2_D_long.cpp │ │ │ ├── test_2_D_uchar.cpp │ │ │ ├── test_3_1_double.cpp │ │ │ ├── test_3_1_float.cpp │ │ │ ├── test_3_1_int.cpp │ │ │ ├── test_3_1_long.cpp │ │ │ ├── test_3_1_uchar.cpp │ │ │ ├── test_3_2_double.cpp │ │ │ ├── test_3_2_float.cpp │ │ │ ├── test_3_2_int.cpp │ │ │ ├── test_3_2_long.cpp │ │ │ ├── test_3_2_uchar.cpp │ │ │ ├── test_3_3_double.cpp │ │ │ ├── test_3_3_float.cpp │ │ │ ├── test_3_3_int.cpp │ │ │ ├── test_3_3_long.cpp │ │ │ ├── test_3_3_uchar.cpp │ │ │ ├── test_3_4_double.cpp │ │ │ ├── test_3_4_float.cpp │ │ │ ├── test_3_4_int.cpp │ │ │ ├── test_3_4_long.cpp │ │ │ ├── test_3_4_uchar.cpp │ │ │ ├── test_3_5_double.cpp │ │ │ ├── test_3_5_float.cpp │ │ │ ├── test_3_5_int.cpp │ │ │ ├── test_3_5_long.cpp │ │ │ ├── test_3_5_uchar.cpp │ │ │ ├── test_3_6_double.cpp │ │ │ ├── test_3_6_float.cpp │ │ │ ├── test_3_6_int.cpp │ │ │ ├── test_3_6_long.cpp │ │ │ ├── test_3_6_uchar.cpp │ │ │ ├── test_3_D_double.cpp │ │ │ ├── test_3_D_float.cpp │ │ │ ├── test_3_D_int.cpp │ │ │ ├── test_3_D_long.cpp │ │ │ ├── test_3_D_uchar.cpp │ │ │ ├── test_4_1_double.cpp │ │ │ ├── test_4_1_float.cpp │ │ │ ├── test_4_1_int.cpp │ │ │ ├── test_4_1_long.cpp │ │ │ ├── test_4_1_uchar.cpp │ │ │ ├── test_4_2_double.cpp │ │ │ ├── test_4_2_float.cpp │ │ │ ├── test_4_2_int.cpp │ │ │ ├── test_4_2_long.cpp │ │ │ ├── test_4_2_uchar.cpp │ │ │ ├── test_4_3_double.cpp │ │ │ ├── test_4_3_float.cpp │ │ │ ├── test_4_3_int.cpp │ │ │ ├── test_4_3_long.cpp │ │ │ ├── test_4_3_uchar.cpp │ │ │ ├── test_4_4_double.cpp │ │ │ ├── test_4_4_float.cpp │ │ │ ├── test_4_4_int.cpp │ │ │ ├── test_4_4_long.cpp │ │ │ ├── test_4_4_uchar.cpp │ │ │ ├── test_4_5_double.cpp │ │ │ ├── test_4_5_float.cpp │ │ │ ├── test_4_5_int.cpp │ │ │ ├── test_4_5_long.cpp │ │ │ ├── test_4_5_uchar.cpp │ │ │ ├── test_4_6_double.cpp │ │ │ ├── test_4_6_float.cpp │ │ │ ├── test_4_6_int.cpp │ │ │ ├── test_4_6_long.cpp │ │ │ ├── test_4_6_uchar.cpp │ │ │ ├── test_4_D_double.cpp │ │ │ ├── test_4_D_float.cpp │ │ │ ├── test_4_D_int.cpp │ │ │ ├── test_4_D_long.cpp │ │ │ ├── test_4_D_uchar.cpp │ │ │ ├── test_5_1_double.cpp │ │ │ ├── test_5_1_float.cpp │ │ │ ├── test_5_1_int.cpp │ │ │ ├── test_5_1_long.cpp │ │ │ ├── test_5_1_uchar.cpp │ │ │ ├── test_5_2_double.cpp │ │ │ ├── test_5_2_float.cpp │ │ │ ├── test_5_2_int.cpp │ │ │ ├── test_5_2_long.cpp │ │ │ ├── test_5_2_uchar.cpp │ │ │ ├── test_5_3_double.cpp │ │ │ ├── test_5_3_float.cpp │ │ │ ├── test_5_3_int.cpp │ │ │ ├── test_5_3_long.cpp │ │ │ ├── test_5_3_uchar.cpp │ │ │ ├── test_5_4_double.cpp │ │ │ ├── test_5_4_float.cpp │ │ │ ├── test_5_4_int.cpp │ │ │ ├── test_5_4_long.cpp │ │ │ ├── test_5_4_uchar.cpp │ │ │ ├── test_5_5_double.cpp │ │ │ ├── test_5_5_float.cpp │ │ │ ├── test_5_5_int.cpp │ │ │ ├── test_5_5_long.cpp │ │ │ ├── test_5_5_uchar.cpp │ │ │ ├── test_5_6_double.cpp │ │ │ ├── test_5_6_float.cpp │ │ │ ├── test_5_6_int.cpp │ │ │ ├── test_5_6_long.cpp │ │ │ ├── test_5_6_uchar.cpp │ │ │ ├── test_5_D_double.cpp │ │ │ ├── test_5_D_float.cpp │ │ │ ├── test_5_D_int.cpp │ │ │ ├── test_5_D_long.cpp │ │ │ ├── test_5_D_uchar.cpp │ │ │ ├── test_6_1_double.cpp │ │ │ ├── test_6_1_float.cpp │ │ │ ├── test_6_1_int.cpp │ │ │ ├── test_6_1_long.cpp │ │ │ ├── test_6_1_uchar.cpp │ │ │ ├── test_6_2_double.cpp │ │ │ ├── test_6_2_float.cpp │ │ │ ├── test_6_2_int.cpp │ │ │ ├── test_6_2_long.cpp │ │ │ ├── test_6_2_uchar.cpp │ │ │ ├── test_6_3_double.cpp │ │ │ ├── test_6_3_float.cpp │ │ │ ├── test_6_3_int.cpp │ │ │ ├── test_6_3_long.cpp │ │ │ ├── test_6_3_uchar.cpp │ │ │ ├── test_6_4_double.cpp │ │ │ ├── test_6_4_float.cpp │ │ │ ├── test_6_4_int.cpp │ │ │ ├── test_6_4_long.cpp │ │ │ ├── test_6_4_uchar.cpp │ │ │ ├── test_6_5_double.cpp │ │ │ ├── test_6_5_float.cpp │ │ │ ├── test_6_5_int.cpp │ │ │ ├── test_6_5_long.cpp │ │ │ ├── test_6_5_uchar.cpp │ │ │ ├── test_6_6_double.cpp │ │ │ ├── test_6_6_float.cpp │ │ │ ├── test_6_6_int.cpp │ │ │ ├── test_6_6_long.cpp │ │ │ ├── test_6_6_uchar.cpp │ │ │ ├── test_6_D_double.cpp │ │ │ ├── test_6_D_float.cpp │ │ │ ├── test_6_D_int.cpp │ │ │ ├── test_6_D_long.cpp │ │ │ ├── test_6_D_uchar.cpp │ │ │ ├── test_D_1_double.cpp │ │ │ ├── test_D_1_float.cpp │ │ │ ├── test_D_1_int.cpp │ │ │ ├── test_D_1_long.cpp │ │ │ ├── test_D_1_uchar.cpp │ │ │ ├── test_D_2_double.cpp │ │ │ ├── test_D_2_float.cpp │ │ │ ├── test_D_2_int.cpp │ │ │ ├── test_D_2_long.cpp │ │ │ ├── test_D_2_uchar.cpp │ │ │ ├── test_D_3_double.cpp │ │ │ ├── test_D_3_float.cpp │ │ │ ├── test_D_3_int.cpp │ │ │ ├── test_D_3_long.cpp │ │ │ ├── test_D_3_uchar.cpp │ │ │ ├── test_D_4_double.cpp │ │ │ ├── test_D_4_float.cpp │ │ │ ├── test_D_4_int.cpp │ │ │ ├── test_D_4_long.cpp │ │ │ ├── test_D_4_uchar.cpp │ │ │ ├── test_D_5_double.cpp │ │ │ ├── test_D_5_float.cpp │ │ │ ├── test_D_5_int.cpp │ │ │ ├── test_D_5_long.cpp │ │ │ ├── test_D_5_uchar.cpp │ │ │ ├── test_D_6_double.cpp │ │ │ ├── test_D_6_float.cpp │ │ │ ├── test_D_6_int.cpp │ │ │ ├── test_D_6_long.cpp │ │ │ ├── test_D_6_uchar.cpp │ │ │ ├── test_D_D_double.cpp │ │ │ ├── test_D_D_float.cpp │ │ │ ├── test_D_D_int.cpp │ │ │ ├── test_D_D_long.cpp │ │ │ └── test_D_D_uchar.cpp │ │ ├── create_export_module.py │ │ └── numpy_eigen │ │ │ ├── __init__.py │ │ │ └── test │ │ │ └── __init__.py │ └── test │ │ └── numpy_eigen_tests.py ├── python_module │ ├── CMakeLists.txt │ ├── cmake │ │ └── add_python_export_library.cmake │ └── package.xml ├── sm_boost │ ├── CMakeLists.txt │ ├── include │ │ ├── boost │ │ │ ├── portable_binary_archive.hpp │ │ │ ├── portable_binary_iarchive.hpp │ │ │ └── portable_binary_oarchive.hpp │ │ └── sm │ │ │ └── boost │ │ │ ├── JobQueue.hpp │ │ │ ├── implementation │ │ │ └── JobQueue.hpp │ │ │ ├── null_deleter.hpp │ │ │ ├── ptime.hpp │ │ │ └── serialization.hpp │ ├── mainpage.dox │ ├── package.xml │ ├── src │ │ ├── JobQueue.cpp │ │ ├── portable_binary_iarchive.cpp │ │ └── portable_binary_oarchive.cpp │ └── test │ │ ├── testFuture.cpp │ │ └── test_main.cpp ├── sm_common │ ├── CMakeLists.txt │ ├── cmake │ │ └── export_flags.cmake │ ├── include │ │ └── sm │ │ │ ├── Id.hpp │ │ │ ├── aligned_allocation.h │ │ │ ├── assert_macros.hpp │ │ │ ├── hash_id.hpp │ │ │ ├── is_binary_equal.hpp │ │ │ ├── maths.hpp │ │ │ ├── numerical_comparisons.hpp │ │ │ ├── progress_info.hpp │ │ │ ├── round.hpp │ │ │ ├── serialization_macros.hpp │ │ │ ├── source_file_pos.hpp │ │ │ ├── string_routines.hpp │ │ │ └── typetraits.hpp │ ├── mainpage.dox │ ├── package.xml │ ├── src │ │ └── progress_info.cpp │ └── test │ │ ├── hash_id.cpp │ │ ├── maths.cpp │ │ ├── numerical_comparisons.cpp │ │ ├── serialization_macros.cpp │ │ └── test_main.cpp ├── sm_eigen │ ├── CMakeLists.txt │ ├── cmake │ │ └── sm_eigen-extras.cmake.in │ ├── include │ │ └── sm │ │ │ └── eigen │ │ │ ├── NumericalDiff.hpp │ │ │ ├── assert_macros.hpp │ │ │ ├── gtest.hpp │ │ │ ├── matrix_sqrt.hpp │ │ │ ├── property_tree.hpp │ │ │ ├── random.hpp │ │ │ ├── serialization.hpp │ │ │ ├── static_assert.hpp │ │ │ └── traits.hpp │ ├── mainpage.dox │ ├── package.xml │ ├── src │ │ └── random.cpp │ └── test │ │ ├── EigenSerializationTests.cpp │ │ ├── MatrixSqrtTest.cpp │ │ └── test_main.cpp ├── sm_kinematics │ ├── CMakeLists.txt │ ├── include │ │ └── sm │ │ │ └── kinematics │ │ │ ├── EulerAnglesYawPitchRoll.hpp │ │ │ ├── EulerAnglesZXY.h │ │ │ ├── EulerAnglesZYX.hpp │ │ │ ├── EulerRodriguez.hpp │ │ │ ├── HomogeneousPoint.hpp │ │ │ ├── RotationVector.hpp │ │ │ ├── RotationalKinematics.hpp │ │ │ ├── Transformation.hpp │ │ │ ├── UncertainHomogeneousPoint.hpp │ │ │ ├── UncertainTransformation.hpp │ │ │ ├── UncertainVector.hpp │ │ │ ├── homogeneous_coordinates.hpp │ │ │ ├── implementation │ │ │ └── UncertainVector.hpp │ │ │ ├── property_tree.hpp │ │ │ ├── quaternion_algebra.hpp │ │ │ ├── rotations.hpp │ │ │ ├── three_point_methods.hpp │ │ │ └── transformations.hpp │ ├── mainpage.dox │ ├── package.xml │ ├── src │ │ ├── EulerAnglesYawPitchRoll.cpp │ │ ├── EulerAnglesZXY.cpp │ │ ├── EulerAnglesZYX.cpp │ │ ├── EulerRodriguez.cpp │ │ ├── HomogeneousPoint.cpp │ │ ├── RotationVector.cpp │ │ ├── RotationalKinematics.cpp │ │ ├── Transformation.cpp │ │ ├── UncertainHomogeneousPoint.cpp │ │ ├── UncertainTransformation.cpp │ │ ├── homogeneous_coordinates.cpp │ │ ├── quaternion_algebra.cpp │ │ ├── rotations.cpp │ │ ├── three_point_methods.cpp │ │ └── transformations.cpp │ └── test │ │ ├── HomogeneousPoint.cpp │ │ ├── PointTestHarness.hpp │ │ ├── QuaternionTests.cpp │ │ ├── RotationalKinematicsTests.cpp │ │ ├── TransformationTests.cpp │ │ ├── UncertainHomogeneousPoint.cpp │ │ ├── UncertainTransformationTests.cpp │ │ ├── homogeneous_coordinates.cpp │ │ ├── test_main.cpp │ │ ├── three_point_methods.cpp │ │ └── transformations.cpp ├── sm_logging │ ├── CMakeLists.txt │ ├── include │ │ └── sm │ │ │ ├── logging.hpp │ │ │ └── logging │ │ │ ├── Formatter.hpp │ │ │ ├── Levels.hpp │ │ │ ├── LogLocation.hpp │ │ │ ├── Logger.hpp │ │ │ ├── LoggingEvent.hpp │ │ │ ├── LoggingGlobals.hpp │ │ │ ├── StdOutLogger.hpp │ │ │ ├── Tokens.hpp │ │ │ ├── assert.h │ │ │ ├── console.hpp │ │ │ ├── macros.h │ │ │ └── macros_generated.hpp │ ├── mainpage.dox │ ├── package.xml │ ├── scripts │ │ ├── generate_macros.py │ │ └── generate_speed_test.py │ ├── src │ │ ├── Formatter.cpp │ │ ├── Logger.cpp │ │ ├── LoggingEvent.cpp │ │ ├── LoggingGlobals.cpp │ │ ├── StdOutLogger.cpp │ │ ├── Tokens.cpp │ │ └── gettimeofday.hpp │ └── test │ │ ├── logTest.cpp │ │ └── test_main.cpp ├── sm_matrix_archive │ ├── .gitignore │ ├── CMakeLists.txt │ ├── include │ │ └── sm │ │ │ └── MatrixArchive.hpp │ ├── mainpage.dox │ ├── matlab │ │ ├── loadMatrixArchive.m │ │ └── saveMatrixArchive.m │ ├── package.xml │ ├── src │ │ └── MatrixArchive.cpp │ └── test │ │ ├── TestMatrixArchive.cpp │ │ └── test_main.cpp ├── sm_opencv │ ├── CMakeLists.txt │ ├── include │ │ └── sm │ │ │ └── opencv │ │ │ └── serialization.hpp │ ├── mainpage.dox │ └── package.xml ├── sm_property_tree │ ├── CMakeLists.txt │ ├── include │ │ └── sm │ │ │ ├── BoostPropertyTree.hpp │ │ │ ├── BoostPropertyTreeImplementation.hpp │ │ │ ├── BoostPropertyTreeSupport.hpp │ │ │ ├── PropertyTree.hpp │ │ │ └── PropertyTreeImplementation.hpp │ ├── mainpage.dox │ ├── package.xml │ ├── src │ │ ├── BoostPropertyTree.cpp │ │ ├── BoostPropertyTreeImplementation.cpp │ │ ├── BoostPropertyTreeSupport.cpp │ │ ├── PropertyTree.cpp │ │ └── PropertyTreeImplementation.cpp │ └── test │ │ ├── BoostPropertyTreeImplementation.cpp │ │ └── test_main.cpp ├── sm_python │ ├── CMakeLists.txt │ ├── include │ │ └── sm │ │ │ └── python │ │ │ ├── Id.hpp │ │ │ ├── boost_serialization_pickle.hpp │ │ │ ├── stl_converters.hpp │ │ │ └── unique_register_ptr_to_python.hpp │ ├── mainpage.dox │ ├── package.xml │ ├── python │ │ └── sm │ │ │ ├── PlotCollection.py │ │ │ ├── Progress.py │ │ │ ├── __init__.py │ │ │ ├── experiments │ │ │ └── __init__.py │ │ │ ├── plotCoordinateFrame.py │ │ │ └── saveFigTight.py │ ├── setup.py │ └── src │ │ ├── Logging.cpp │ │ ├── exportEigen.cpp │ │ ├── exportHomogeneousPoint.cpp │ │ ├── exportMatrixArchive.cpp │ │ ├── exportNsecTime.cpp │ │ ├── exportPropertyTree.cpp │ │ ├── exportTimestampCorrector.cpp │ │ ├── exportTransformation.cpp │ │ ├── exportUncertainVector.cpp │ │ ├── export_eigen_property_tree.cpp │ │ ├── export_homogeneous.cpp │ │ ├── export_kinematics_property_tree.cpp │ │ ├── export_quaternion_algebra.cpp │ │ ├── export_rotational_kinematics.cpp │ │ ├── export_rotations.cpp │ │ ├── export_transformations.cpp │ │ ├── module.cpp │ │ └── random.cpp ├── sm_random │ ├── CMakeLists.txt │ ├── include │ │ └── sm │ │ │ └── random.hpp │ ├── mainpage.dox │ ├── package.xml │ └── src │ │ └── random.cpp └── sm_timing │ ├── CMakeLists.txt │ ├── include │ └── sm │ │ └── timing │ │ ├── NsecTimeUtilities.hpp │ │ ├── Timer.hpp │ │ ├── TimestampCorrector.hpp │ │ └── implementation │ │ └── TimestampCorrector.hpp │ ├── mainpage.dox │ ├── package.xml │ ├── src │ ├── NsecTimeUtilities.cpp │ └── Timer.cpp │ └── test │ ├── TestNsecTimeUtilities.cpp │ ├── TestTimestampCorrector.cpp │ └── test_main.cpp ├── aslam_cv ├── aslam_cameras │ ├── CMakeLists.txt │ ├── include │ │ └── aslam │ │ │ ├── BackProjection.hpp │ │ │ ├── DescriptorBase.hpp │ │ │ ├── Frame.hpp │ │ │ ├── FrameBase.hpp │ │ │ ├── Image.hpp │ │ │ ├── Keypoint.hpp │ │ │ ├── KeypointBase.hpp │ │ │ ├── KeypointIdentifier.hpp │ │ │ ├── Landmark.hpp │ │ │ ├── cameras.hpp │ │ │ ├── cameras │ │ │ ├── CameraGeometry.hpp │ │ │ ├── CameraGeometryBase.hpp │ │ │ ├── DepthProjection.hpp │ │ │ ├── DoubleSphereProjection.hpp │ │ │ ├── EquidistantDistortion.hpp │ │ │ ├── ExtendedUnifiedProjection.hpp │ │ │ ├── FiniteDifferences.hpp │ │ │ ├── FovDistortion.hpp │ │ │ ├── GlobalShutter.hpp │ │ │ ├── GridCalibrationTargetBase.hpp │ │ │ ├── GridCalibrationTargetCheckerboard.hpp │ │ │ ├── GridCalibrationTargetCirclegrid.hpp │ │ │ ├── GridCalibrationTargetObservation.hpp │ │ │ ├── GridDetector.hpp │ │ │ ├── ImageMask.hpp │ │ │ ├── NoDistortion.hpp │ │ │ ├── NoMask.hpp │ │ │ ├── OmniProjection.hpp │ │ │ ├── PinholeProjection.hpp │ │ │ ├── RadialTangentialDistortion.hpp │ │ │ ├── RollingShutter.hpp │ │ │ ├── StaticAssert.hpp │ │ │ ├── Triangulation.hpp │ │ │ ├── implementation │ │ │ │ ├── CameraGeometry.hpp │ │ │ │ ├── DepthProjection.hpp │ │ │ │ ├── DoubleSphereProjection.hpp │ │ │ │ ├── EquidistantDistortion.hpp │ │ │ │ ├── ExtendedUnifiedProjection.hpp │ │ │ │ ├── FovDistortion.hpp │ │ │ │ ├── NoDistortion.hpp │ │ │ │ ├── OmniProjection.hpp │ │ │ │ ├── PinholeProjection.hpp │ │ │ │ └── RadialTangentialDistortion.hpp │ │ │ └── test │ │ │ │ └── CameraGeometryTestHarness.hpp │ │ │ ├── frontend_ids.hpp │ │ │ ├── implementation │ │ │ ├── Frame.hpp │ │ │ ├── Image.hpp │ │ │ ├── Keypoint.hpp │ │ │ └── utilities.hpp │ │ │ ├── targets.hpp │ │ │ └── utilities.hpp │ ├── package.xml │ ├── src │ │ ├── BackProjection.cpp │ │ ├── CameraGeometryBase.cpp │ │ ├── DepthCameraGeometry.cpp │ │ ├── DescriptorBase.cpp │ │ ├── EquidistantDistortion.cpp │ │ ├── FovDistortion.cpp │ │ ├── FrameBase.cpp │ │ ├── GlobalShutter.cpp │ │ ├── GridCalibrationTargetBase.cpp │ │ ├── GridCalibrationTargetCheckerboard.cpp │ │ ├── GridCalibrationTargetCirclegrid.cpp │ │ ├── GridCalibrationTargetObservation.cpp │ │ ├── GridDetector.cpp │ │ ├── Image.cpp │ │ ├── ImageMask.cpp │ │ ├── KeypointBase.cpp │ │ ├── Landmark.cpp │ │ ├── MaskedCameraGeometry.cpp │ │ ├── NoDistortion.cpp │ │ ├── NoMask.cpp │ │ ├── OmniCameraGeometry.cpp │ │ ├── PinholeCameraGeometry.cpp │ │ ├── PinholeRSCameraGeometry.cpp │ │ ├── RadialTangentialDistortion.cpp │ │ ├── RollingShutter.cpp │ │ ├── SphericalCameraGeometry.cpp │ │ └── Triangulation.cpp │ ├── test.ba │ └── test │ │ ├── DepthCameraGeometry.cpp │ │ ├── DoubleSphereCameraGeometry.cpp │ │ ├── EquidistantDistortion.cpp │ │ ├── ExtendedUnifiedCameraGeometry.cpp │ │ ├── FovDistortion.cpp │ │ ├── GridCalibration.cpp │ │ ├── OmniCameraGeometry.cpp │ │ ├── PinholeCameraGeometry.cpp │ │ ├── RadialTangentialDistortion.cpp │ │ ├── Triangulation.cpp │ │ ├── testFrame.cpp │ │ ├── test_etc.cpp │ │ └── test_main.cpp ├── aslam_cameras_april │ ├── CMakeLists.txt │ ├── include │ │ └── aslam │ │ │ └── cameras │ │ │ └── GridCalibrationTargetAprilgrid.hpp │ ├── package.xml │ ├── python │ │ └── aslam_cameras_april │ │ │ └── __init__.py │ ├── setup.py │ └── src │ │ ├── GridCalibrationTargetAprilgrid.cpp │ │ ├── createTargetPDF.py │ │ └── module.cpp ├── aslam_cv_backend │ ├── CMakeLists.txt │ ├── include │ │ └── aslam │ │ │ ├── CameraGeometryDesignVariableContainer.hpp │ │ │ ├── GridCalibrationTargetDesignVariableContainer.hpp │ │ │ ├── NCameraSystemDesignVariableContainer.hpp │ │ │ ├── NCameraSystemEstimation.hpp │ │ │ └── backend │ │ │ ├── CameraDesignVariable.hpp │ │ │ ├── ScalarExpressionNodeKeypointTime.hpp │ │ │ └── implementation │ │ │ ├── CameraDesignVariable.hpp │ │ │ └── ScalarExpressionNodeKeypointTime.hpp │ ├── package.xml │ ├── src │ │ ├── CameraGeometryDesignVariableContainer.cpp │ │ ├── GridCalibrationTargetDesignVariableContainer.cpp │ │ ├── NCameraSystemDesignVariableContainer.cpp │ │ └── NCameraSystemEstimation.cpp │ └── test │ │ ├── testReprojectionError.cpp │ │ └── test_main.cpp ├── aslam_cv_backend_python │ ├── CMakeLists.txt │ ├── include │ │ └── aslam │ │ │ ├── ExportCameraDesignVariable.hpp │ │ │ ├── ExportReprojectionError.hpp │ │ │ └── ExportScalarExpressionNodeKeypointTime.hpp │ ├── package.xml │ ├── python │ │ └── aslam_cv_backend │ │ │ └── __init__.py │ ├── setup.py │ └── src │ │ ├── CameraGeometryDesignVariableContainer.cpp │ │ ├── GridCalibration.cpp │ │ ├── NCameraSystemDesignVariableContainer.cpp │ │ ├── helpers.hpp │ │ └── module.cpp ├── aslam_cv_error_terms │ ├── CMakeLists.txt │ ├── include │ │ └── aslam │ │ │ └── backend │ │ │ ├── BSplineMotionError.hpp │ │ │ ├── CovarianceReprojectionError.hpp │ │ │ ├── ReprojectionError.hpp │ │ │ ├── SimpleReprojectionError.hpp │ │ │ └── implementation │ │ │ ├── BSplineMotionError.hpp │ │ │ ├── CovarianceReprojectionError.hpp │ │ │ ├── ReprojectionError.hpp │ │ │ └── SimpleReprojectionError.hpp │ ├── package.xml │ └── test │ │ ├── TestReprojectionError.cpp │ │ └── test_main.cpp ├── aslam_cv_python │ ├── CMakeLists.txt │ ├── deltille │ │ └── deltille │ │ │ ├── DetectorParams.h │ │ │ ├── DetectorTools.cpp │ │ │ ├── DetectorTools.h │ │ │ ├── PolynomialFit.h │ │ │ ├── PolynomialSaddleDetectorContext.h │ │ │ ├── TagFamily.h │ │ │ ├── deltille.cc │ │ │ └── utils.h │ ├── example │ │ ├── pipeline.info │ │ └── prototype.py │ ├── include │ │ └── aslam │ │ │ └── python │ │ │ ├── ExportFrame.hpp │ │ │ ├── exportOmniUndistorter.hpp │ │ │ └── exportPinholeUndistorter.hpp │ ├── libvis │ │ ├── resources │ │ │ ├── copy.png │ │ │ ├── fit_contents.png │ │ │ ├── resize_to_contents.png │ │ │ ├── resources.qrc │ │ │ ├── save.png │ │ │ ├── scale_1x.png │ │ │ ├── settings_sliders.png │ │ │ └── zoom_and_resize_to_contents.png │ │ ├── src │ │ │ ├── bin2c │ │ │ │ └── main.cc │ │ │ └── libvis │ │ │ │ ├── any_image.h │ │ │ │ ├── calibration │ │ │ │ ├── checkerboard.h │ │ │ │ └── tagged_checkerboard.h │ │ │ │ ├── camera.h │ │ │ │ ├── camera_frustum.h │ │ │ │ ├── camera_frustum_opengl.h │ │ │ │ ├── command_line_parser.cc │ │ │ │ ├── command_line_parser.h │ │ │ │ ├── cuda │ │ │ │ ├── cholesky_solver.h │ │ │ │ ├── cuda_auto_tuner.h │ │ │ │ ├── cuda_buffer.cu │ │ │ │ ├── cuda_buffer.cuh │ │ │ │ ├── cuda_buffer.h │ │ │ │ ├── cuda_buffer_inl.h │ │ │ │ ├── cuda_matrix.cuh │ │ │ │ ├── cuda_unprojection_lookup.cuh │ │ │ │ ├── cuda_unprojection_lookup.h │ │ │ │ ├── cuda_util.cuh │ │ │ │ ├── cuda_util.h │ │ │ │ ├── patch_match_stereo.cc │ │ │ │ ├── patch_match_stereo.cu │ │ │ │ ├── patch_match_stereo.cuh │ │ │ │ ├── patch_match_stereo.h │ │ │ │ ├── patch_match_stereo_cost.cuh │ │ │ │ ├── patch_match_stereo_kernel_consistency.cu │ │ │ │ ├── patch_match_stereo_kernel_init.cu │ │ │ │ ├── patch_match_stereo_kernel_mutation.cu │ │ │ │ ├── patch_match_stereo_kernel_optimize.cu │ │ │ │ ├── patch_match_stereo_kernel_outliers.cu │ │ │ │ ├── patch_match_stereo_kernel_propagation.cu │ │ │ │ ├── patch_match_stereo_kernel_refinement.cu │ │ │ │ ├── patch_match_stereo_samples.cu │ │ │ │ ├── patch_match_stereo_samples.cuh │ │ │ │ ├── patch_match_stereo_util.cuh │ │ │ │ ├── pixel_corner_projector.cuh │ │ │ │ ├── pixel_corner_projector.h │ │ │ │ └── test │ │ │ │ │ ├── cholesky_solver.cc │ │ │ │ │ ├── cholesky_solver.cu │ │ │ │ │ ├── cholesky_solver.cuh │ │ │ │ │ └── main.cc │ │ │ │ ├── dlt.h │ │ │ │ ├── eigen.h │ │ │ │ ├── external_io │ │ │ │ ├── colmap_model.cc │ │ │ │ ├── colmap_model.h │ │ │ │ ├── meshlab_project.cc │ │ │ │ └── meshlab_project.h │ │ │ │ ├── geometry.h │ │ │ │ ├── glew.cc │ │ │ │ ├── glew.h │ │ │ │ ├── image.cc │ │ │ │ ├── image.h │ │ │ │ ├── image_cache.h │ │ │ │ ├── image_display.cc │ │ │ │ ├── image_display.h │ │ │ │ ├── image_display_qt_widget.cc │ │ │ │ ├── image_display_qt_widget.h │ │ │ │ ├── image_display_qt_window.cc │ │ │ │ ├── image_display_qt_window.h │ │ │ │ ├── image_frame.h │ │ │ │ ├── image_io.cc │ │ │ │ ├── image_io.h │ │ │ │ ├── image_io_libpng.cc │ │ │ │ ├── image_io_libpng.h │ │ │ │ ├── image_io_netpbm.cc │ │ │ │ ├── image_io_netpbm.h │ │ │ │ ├── image_io_qt.cc │ │ │ │ ├── image_io_qt.h │ │ │ │ ├── image_template_specializations.h │ │ │ │ ├── libvis.cc │ │ │ │ ├── libvis.h │ │ │ │ ├── lm_optimizer.h │ │ │ │ ├── lm_optimizer_back_substitution_accumulator.h │ │ │ │ ├── lm_optimizer_cost_accumulator.h │ │ │ │ ├── lm_optimizer_gradient_descent.h │ │ │ │ ├── lm_optimizer_impl.h │ │ │ │ ├── lm_optimizer_jtj_accumulator_base.h │ │ │ │ ├── lm_optimizer_residual_sum_and_jacobian_accumulator.h │ │ │ │ ├── lm_optimizer_update_accumulator.h │ │ │ │ ├── logging.h │ │ │ │ ├── loss_functions.h │ │ │ │ ├── mesh.h │ │ │ │ ├── mesh_opengl.h │ │ │ │ ├── opengl.cc │ │ │ │ ├── opengl.h │ │ │ │ ├── opengl_context.cc │ │ │ │ ├── opengl_context.h │ │ │ │ ├── opengl_context_glx.cc │ │ │ │ ├── opengl_context_glx.h │ │ │ │ ├── opengl_context_qt.cc │ │ │ │ ├── opengl_context_qt.h │ │ │ │ ├── patch_match_stereo.cc │ │ │ │ ├── patch_match_stereo.h │ │ │ │ ├── point_cloud.h │ │ │ │ ├── point_cloud_opengl.h │ │ │ │ ├── qt_thread.cc │ │ │ │ ├── qt_thread.h │ │ │ │ ├── render_display.cc │ │ │ │ ├── render_display.h │ │ │ │ ├── render_window.cc │ │ │ │ ├── render_window.h │ │ │ │ ├── render_window_qt.cc │ │ │ │ ├── render_window_qt.h │ │ │ │ ├── render_window_qt_opengl.cc │ │ │ │ ├── render_window_qt_opengl.h │ │ │ │ ├── render_window_qt_vulkan.cc │ │ │ │ ├── render_window_qt_vulkan.h │ │ │ │ ├── renderer.cc │ │ │ │ ├── renderer.h │ │ │ │ ├── rgbd_video.h │ │ │ │ ├── rgbd_video_io_tum_dataset.h │ │ │ │ ├── shader_program_opengl.cc │ │ │ │ ├── shader_program_opengl.h │ │ │ │ ├── shaders │ │ │ │ ├── compile.sh │ │ │ │ ├── license_header.h │ │ │ │ ├── shader.frag │ │ │ │ └── shader.vert │ │ │ │ ├── sophus.h │ │ │ │ ├── statistics.h │ │ │ │ ├── test │ │ │ │ ├── camera.cc │ │ │ │ ├── dlt.cc │ │ │ │ ├── geometry.cc │ │ │ │ ├── image.cc │ │ │ │ ├── image_cache.cc │ │ │ │ ├── lm_optimizer.cc │ │ │ │ ├── loss_functions.cc │ │ │ │ ├── main.cc │ │ │ │ ├── point_cloud.cc │ │ │ │ └── util.cc │ │ │ │ ├── timing.cc │ │ │ │ ├── timing.h │ │ │ │ ├── util.h │ │ │ │ ├── vulkan.cc │ │ │ │ ├── vulkan.h │ │ │ │ └── window_callbacks.h │ │ └── third_party │ │ │ ├── gtest │ │ │ ├── CHANGES │ │ │ ├── CMakeLists.txt │ │ │ ├── CONTRIBUTORS │ │ │ ├── LICENSE │ │ │ ├── Makefile.am │ │ │ ├── README │ │ │ ├── cmake │ │ │ │ └── internal_utils.cmake │ │ │ ├── codegear │ │ │ │ ├── gtest.cbproj │ │ │ │ ├── gtest.groupproj │ │ │ │ ├── gtest_all.cc │ │ │ │ ├── gtest_link.cc │ │ │ │ ├── gtest_main.cbproj │ │ │ │ └── gtest_unittest.cbproj │ │ │ ├── configure.ac │ │ │ ├── include │ │ │ │ └── gtest │ │ │ │ │ ├── gtest-death-test.h │ │ │ │ │ ├── gtest-message.h │ │ │ │ │ ├── gtest-param-test.h │ │ │ │ │ ├── gtest-param-test.h.pump │ │ │ │ │ ├── gtest-printers.h │ │ │ │ │ ├── gtest-spi.h │ │ │ │ │ ├── gtest-test-part.h │ │ │ │ │ ├── gtest-typed-test.h │ │ │ │ │ ├── gtest.h │ │ │ │ │ ├── gtest_pred_impl.h │ │ │ │ │ ├── gtest_prod.h │ │ │ │ │ └── internal │ │ │ │ │ ├── gtest-death-test-internal.h │ │ │ │ │ ├── gtest-filepath.h │ │ │ │ │ ├── gtest-internal.h │ │ │ │ │ ├── gtest-linked_ptr.h │ │ │ │ │ ├── gtest-param-util-generated.h │ │ │ │ │ ├── gtest-param-util-generated.h.pump │ │ │ │ │ ├── gtest-param-util.h │ │ │ │ │ ├── gtest-port.h │ │ │ │ │ ├── gtest-string.h │ │ │ │ │ ├── gtest-tuple.h │ │ │ │ │ ├── gtest-tuple.h.pump │ │ │ │ │ ├── gtest-type-util.h │ │ │ │ │ └── gtest-type-util.h.pump │ │ │ ├── m4 │ │ │ │ ├── acx_pthread.m4 │ │ │ │ └── gtest.m4 │ │ │ ├── make │ │ │ │ └── Makefile │ │ │ ├── msvc │ │ │ │ ├── gtest-md.sln │ │ │ │ ├── gtest-md.vcproj │ │ │ │ ├── gtest.sln │ │ │ │ ├── gtest.vcproj │ │ │ │ ├── gtest_main-md.vcproj │ │ │ │ ├── gtest_main.vcproj │ │ │ │ ├── gtest_prod_test-md.vcproj │ │ │ │ ├── gtest_prod_test.vcproj │ │ │ │ ├── gtest_unittest-md.vcproj │ │ │ │ └── gtest_unittest.vcproj │ │ │ ├── samples │ │ │ │ ├── prime_tables.h │ │ │ │ ├── sample1.cc │ │ │ │ ├── sample1.h │ │ │ │ ├── sample10_unittest.cc │ │ │ │ ├── sample1_unittest.cc │ │ │ │ ├── sample2.cc │ │ │ │ ├── sample2.h │ │ │ │ ├── sample2_unittest.cc │ │ │ │ ├── sample3-inl.h │ │ │ │ ├── sample3_unittest.cc │ │ │ │ ├── sample4.cc │ │ │ │ ├── sample4.h │ │ │ │ ├── sample4_unittest.cc │ │ │ │ ├── sample5_unittest.cc │ │ │ │ ├── sample6_unittest.cc │ │ │ │ ├── sample7_unittest.cc │ │ │ │ ├── sample8_unittest.cc │ │ │ │ └── sample9_unittest.cc │ │ │ ├── scripts │ │ │ │ ├── fuse_gtest_files.py │ │ │ │ ├── gen_gtest_pred_impl.py │ │ │ │ ├── gtest-config.in │ │ │ │ ├── pump.py │ │ │ │ ├── test │ │ │ │ │ └── Makefile │ │ │ │ ├── upload.py │ │ │ │ └── upload_gtest.py │ │ │ ├── src │ │ │ │ ├── gtest-all.cc │ │ │ │ ├── gtest-death-test.cc │ │ │ │ ├── gtest-filepath.cc │ │ │ │ ├── gtest-internal-inl.h │ │ │ │ ├── gtest-port.cc │ │ │ │ ├── gtest-printers.cc │ │ │ │ ├── gtest-test-part.cc │ │ │ │ ├── gtest-typed-test.cc │ │ │ │ ├── gtest.cc │ │ │ │ └── gtest_main.cc │ │ │ ├── test │ │ │ │ ├── gtest-death-test_ex_test.cc │ │ │ │ ├── gtest-death-test_test.cc │ │ │ │ ├── gtest-filepath_test.cc │ │ │ │ ├── gtest-linked_ptr_test.cc │ │ │ │ ├── gtest-listener_test.cc │ │ │ │ ├── gtest-message_test.cc │ │ │ │ ├── gtest-options_test.cc │ │ │ │ ├── gtest-param-test2_test.cc │ │ │ │ ├── gtest-param-test_test.cc │ │ │ │ ├── gtest-param-test_test.h │ │ │ │ ├── gtest-port_test.cc │ │ │ │ ├── gtest-printers_test.cc │ │ │ │ ├── gtest-test-part_test.cc │ │ │ │ ├── gtest-tuple_test.cc │ │ │ │ ├── gtest-typed-test2_test.cc │ │ │ │ ├── gtest-typed-test_test.cc │ │ │ │ ├── gtest-typed-test_test.h │ │ │ │ ├── gtest-unittest-api_test.cc │ │ │ │ ├── gtest_all_test.cc │ │ │ │ ├── gtest_break_on_failure_unittest.py │ │ │ │ ├── gtest_break_on_failure_unittest_.cc │ │ │ │ ├── gtest_catch_exceptions_test.py │ │ │ │ ├── gtest_catch_exceptions_test_.cc │ │ │ │ ├── gtest_color_test.py │ │ │ │ ├── gtest_color_test_.cc │ │ │ │ ├── gtest_env_var_test.py │ │ │ │ ├── gtest_env_var_test_.cc │ │ │ │ ├── gtest_environment_test.cc │ │ │ │ ├── gtest_filter_unittest.py │ │ │ │ ├── gtest_filter_unittest_.cc │ │ │ │ ├── gtest_help_test.py │ │ │ │ ├── gtest_help_test_.cc │ │ │ │ ├── gtest_list_tests_unittest.py │ │ │ │ ├── gtest_list_tests_unittest_.cc │ │ │ │ ├── gtest_main_unittest.cc │ │ │ │ ├── gtest_no_test_unittest.cc │ │ │ │ ├── gtest_output_test.py │ │ │ │ ├── gtest_output_test_.cc │ │ │ │ ├── gtest_output_test_golden_lin.txt │ │ │ │ ├── gtest_pred_impl_unittest.cc │ │ │ │ ├── gtest_premature_exit_test.cc │ │ │ │ ├── gtest_prod_test.cc │ │ │ │ ├── gtest_repeat_test.cc │ │ │ │ ├── gtest_shuffle_test.py │ │ │ │ ├── gtest_shuffle_test_.cc │ │ │ │ ├── gtest_sole_header_test.cc │ │ │ │ ├── gtest_stress_test.cc │ │ │ │ ├── gtest_test_utils.py │ │ │ │ ├── gtest_throw_on_failure_ex_test.cc │ │ │ │ ├── gtest_throw_on_failure_test.py │ │ │ │ ├── gtest_throw_on_failure_test_.cc │ │ │ │ ├── gtest_uninitialized_test.py │ │ │ │ ├── gtest_uninitialized_test_.cc │ │ │ │ ├── gtest_unittest.cc │ │ │ │ ├── gtest_xml_outfile1_test_.cc │ │ │ │ ├── gtest_xml_outfile2_test_.cc │ │ │ │ ├── gtest_xml_outfiles_test.py │ │ │ │ ├── gtest_xml_output_unittest.py │ │ │ │ ├── gtest_xml_output_unittest_.cc │ │ │ │ ├── gtest_xml_test_utils.py │ │ │ │ ├── production.cc │ │ │ │ └── production.h │ │ │ └── xcode │ │ │ │ ├── Config │ │ │ │ ├── DebugProject.xcconfig │ │ │ │ ├── FrameworkTarget.xcconfig │ │ │ │ ├── General.xcconfig │ │ │ │ ├── ReleaseProject.xcconfig │ │ │ │ ├── StaticLibraryTarget.xcconfig │ │ │ │ └── TestTarget.xcconfig │ │ │ │ ├── Resources │ │ │ │ └── Info.plist │ │ │ │ ├── Samples │ │ │ │ └── FrameworkSample │ │ │ │ │ ├── Info.plist │ │ │ │ │ ├── WidgetFramework.xcodeproj │ │ │ │ │ └── project.pbxproj │ │ │ │ │ ├── runtests.sh │ │ │ │ │ ├── widget.cc │ │ │ │ │ ├── widget.h │ │ │ │ │ └── widget_test.cc │ │ │ │ ├── Scripts │ │ │ │ ├── runtests.sh │ │ │ │ └── versiongenerate.py │ │ │ │ └── gtest.xcodeproj │ │ │ │ └── project.pbxproj │ │ │ ├── libpng │ │ │ ├── ANNOUNCE │ │ │ ├── AUTHORS │ │ │ ├── CHANGES │ │ │ ├── CMakeLists.txt │ │ │ ├── INSTALL │ │ │ ├── LICENSE │ │ │ ├── Makefile.am │ │ │ ├── Makefile.in │ │ │ ├── README │ │ │ ├── TODO │ │ │ ├── TRADEMARK │ │ │ ├── aclocal.m4 │ │ │ ├── arm │ │ │ │ ├── arm_init.c │ │ │ │ ├── filter_neon.S │ │ │ │ ├── filter_neon_intrinsics.c │ │ │ │ └── palette_neon_intrinsics.c │ │ │ ├── autogen.sh │ │ │ ├── compile │ │ │ ├── config.guess │ │ │ ├── config.h.in │ │ │ ├── config.sub │ │ │ ├── configure │ │ │ ├── configure.ac │ │ │ ├── contrib │ │ │ │ ├── README.txt │ │ │ │ ├── arm-neon │ │ │ │ │ ├── README │ │ │ │ │ ├── android-ndk.c │ │ │ │ │ ├── linux-auxv.c │ │ │ │ │ └── linux.c │ │ │ │ ├── conftest │ │ │ │ │ ├── README │ │ │ │ │ ├── pngcp.dfa │ │ │ │ │ ├── read.dfa │ │ │ │ │ ├── s_read.dfa │ │ │ │ │ ├── s_write.dfa │ │ │ │ │ ├── simple.dfa │ │ │ │ │ └── write.dfa │ │ │ │ ├── examples │ │ │ │ │ ├── README.txt │ │ │ │ │ ├── iccfrompng.c │ │ │ │ │ ├── pngpixel.c │ │ │ │ │ ├── pngtopng.c │ │ │ │ │ └── simpleover.c │ │ │ │ ├── gregbook │ │ │ │ │ ├── COPYING │ │ │ │ │ ├── LICENSE │ │ │ │ │ ├── Makefile.mingw32 │ │ │ │ │ ├── Makefile.sgi │ │ │ │ │ ├── Makefile.unx │ │ │ │ │ ├── Makefile.w32 │ │ │ │ │ ├── README │ │ │ │ │ ├── makevms.com │ │ │ │ │ ├── readpng.c │ │ │ │ │ ├── readpng.h │ │ │ │ │ ├── readpng2.c │ │ │ │ │ ├── readpng2.h │ │ │ │ │ ├── readppm.c │ │ │ │ │ ├── rpng-win.c │ │ │ │ │ ├── rpng-x.c │ │ │ │ │ ├── rpng2-win.c │ │ │ │ │ ├── rpng2-x.c │ │ │ │ │ ├── toucan.png │ │ │ │ │ ├── wpng.c │ │ │ │ │ ├── writepng.c │ │ │ │ │ └── writepng.h │ │ │ │ ├── libtests │ │ │ │ │ ├── fakepng.c │ │ │ │ │ ├── gentests.sh │ │ │ │ │ ├── makepng.c │ │ │ │ │ ├── pngimage.c │ │ │ │ │ ├── pngstest-errors.h │ │ │ │ │ ├── pngstest.c │ │ │ │ │ ├── pngunknown.c │ │ │ │ │ ├── pngvalid.c │ │ │ │ │ ├── readpng.c │ │ │ │ │ ├── tarith.c │ │ │ │ │ └── timepng.c │ │ │ │ ├── mips-msa │ │ │ │ │ ├── README │ │ │ │ │ └── linux.c │ │ │ │ ├── oss-fuzz │ │ │ │ │ ├── Dockerfile │ │ │ │ │ ├── README.txt │ │ │ │ │ ├── build.sh │ │ │ │ │ ├── libpng_read_fuzzer.cc │ │ │ │ │ ├── libpng_read_fuzzer.options │ │ │ │ │ └── png.dict │ │ │ │ ├── pngminim │ │ │ │ │ ├── README │ │ │ │ │ ├── decoder │ │ │ │ │ │ ├── README │ │ │ │ │ │ ├── makefile │ │ │ │ │ │ ├── pngusr.dfa │ │ │ │ │ │ └── pngusr.h │ │ │ │ │ ├── encoder │ │ │ │ │ │ ├── README │ │ │ │ │ │ ├── makefile │ │ │ │ │ │ ├── pngusr.dfa │ │ │ │ │ │ └── pngusr.h │ │ │ │ │ └── preader │ │ │ │ │ │ ├── README │ │ │ │ │ │ ├── makefile │ │ │ │ │ │ ├── pngusr.dfa │ │ │ │ │ │ └── pngusr.h │ │ │ │ ├── pngminus │ │ │ │ │ ├── CHANGES.txt │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── LICENSE.txt │ │ │ │ │ ├── Makefile │ │ │ │ │ ├── README.txt │ │ │ │ │ ├── makevms.com │ │ │ │ │ ├── png2pnm.bat │ │ │ │ │ ├── png2pnm.c │ │ │ │ │ ├── png2pnm.sh │ │ │ │ │ ├── pngminus.bat │ │ │ │ │ ├── pngminus.sh │ │ │ │ │ ├── pnm2png.bat │ │ │ │ │ ├── pnm2png.c │ │ │ │ │ └── pnm2png.sh │ │ │ │ ├── pngsuite │ │ │ │ │ ├── README │ │ │ │ │ ├── bad_interlace_conversions.txt │ │ │ │ │ ├── basn0g01.png │ │ │ │ │ ├── basn0g02.png │ │ │ │ │ ├── basn0g04.png │ │ │ │ │ ├── basn0g08.png │ │ │ │ │ ├── basn0g16.png │ │ │ │ │ ├── basn2c08.png │ │ │ │ │ ├── basn2c16.png │ │ │ │ │ ├── basn3p01.png │ │ │ │ │ ├── basn3p02.png │ │ │ │ │ ├── basn3p04.png │ │ │ │ │ ├── basn3p08.png │ │ │ │ │ ├── basn4a08.png │ │ │ │ │ ├── basn4a16.png │ │ │ │ │ ├── basn6a08.png │ │ │ │ │ ├── basn6a16.png │ │ │ │ │ ├── ftbbn0g01.png │ │ │ │ │ ├── ftbbn0g02.png │ │ │ │ │ ├── ftbbn0g04.png │ │ │ │ │ ├── ftbbn2c16.png │ │ │ │ │ ├── ftbbn3p08.png │ │ │ │ │ ├── ftbgn2c16.png │ │ │ │ │ ├── ftbgn3p08.png │ │ │ │ │ ├── ftbrn2c08.png │ │ │ │ │ ├── ftbwn0g16.png │ │ │ │ │ ├── ftbwn3p08.png │ │ │ │ │ ├── ftbyn3p08.png │ │ │ │ │ ├── ftp0n0g08.png │ │ │ │ │ ├── ftp0n2c08.png │ │ │ │ │ ├── ftp0n3p08.png │ │ │ │ │ ├── ftp1n3p08.png │ │ │ │ │ ├── ibasn0g08.png │ │ │ │ │ ├── ibasn0g16.png │ │ │ │ │ ├── ibasn2c08.png │ │ │ │ │ ├── ibasn2c16.png │ │ │ │ │ ├── ibasn3p08.png │ │ │ │ │ ├── ibasn4a08.png │ │ │ │ │ ├── ibasn4a16.png │ │ │ │ │ ├── ibasn6a08.png │ │ │ │ │ ├── ibasn6a16.png │ │ │ │ │ ├── iftbbn2c16.png │ │ │ │ │ ├── iftbbn3p08.png │ │ │ │ │ ├── iftbgn2c16.png │ │ │ │ │ ├── iftbgn3p08.png │ │ │ │ │ ├── iftbrn2c08.png │ │ │ │ │ ├── iftbwn0g16.png │ │ │ │ │ ├── iftbwn3p08.png │ │ │ │ │ ├── iftbyn3p08.png │ │ │ │ │ ├── iftp0n0g08.png │ │ │ │ │ ├── iftp0n2c08.png │ │ │ │ │ ├── iftp0n3p08.png │ │ │ │ │ ├── iftp1n3p08.png │ │ │ │ │ └── interlaced │ │ │ │ │ │ ├── README │ │ │ │ │ │ ├── ibasn0g01.png │ │ │ │ │ │ ├── ibasn0g02.png │ │ │ │ │ │ ├── ibasn0g04.png │ │ │ │ │ │ ├── ibasn3p01.png │ │ │ │ │ │ ├── ibasn3p02.png │ │ │ │ │ │ ├── ibasn3p04.png │ │ │ │ │ │ ├── iftbbn0g01.png │ │ │ │ │ │ ├── iftbbn0g02.png │ │ │ │ │ │ └── iftbbn0g04.png │ │ │ │ ├── powerpc-vsx │ │ │ │ │ ├── README │ │ │ │ │ ├── linux.c │ │ │ │ │ └── linux_aux.c │ │ │ │ ├── testpngs │ │ │ │ │ ├── crashers │ │ │ │ │ │ ├── bad_iCCP.png │ │ │ │ │ │ ├── badadler.png │ │ │ │ │ │ ├── badcrc.png │ │ │ │ │ │ ├── empty_ancillary_chunks.png │ │ │ │ │ │ ├── huge_IDAT.png │ │ │ │ │ │ ├── huge_bKGD_chunk.png │ │ │ │ │ │ ├── huge_cHRM_chunk.png │ │ │ │ │ │ ├── huge_eXIf_chunk.png │ │ │ │ │ │ ├── huge_gAMA_chunk.png │ │ │ │ │ │ ├── huge_hIST_chunk.png │ │ │ │ │ │ ├── huge_iCCP_chunk.png │ │ │ │ │ │ ├── huge_iTXt_chunk.png │ │ │ │ │ │ ├── huge_juNK_unsafe_to_copy.png │ │ │ │ │ │ ├── huge_juNk_safe_to_copy.png │ │ │ │ │ │ ├── huge_pCAL_chunk.png │ │ │ │ │ │ ├── huge_pHYs_chunk.png │ │ │ │ │ │ ├── huge_sCAL_chunk.png │ │ │ │ │ │ ├── huge_sPLT_chunk.png │ │ │ │ │ │ ├── huge_sRGB_chunk.png │ │ │ │ │ │ ├── huge_sTER_chunk.png │ │ │ │ │ │ ├── huge_tEXt_chunk.png │ │ │ │ │ │ ├── huge_tIME_chunk.png │ │ │ │ │ │ └── huge_zTXt_chunk.png │ │ │ │ │ ├── gray-1-1.8-tRNS.png │ │ │ │ │ ├── gray-1-1.8.png │ │ │ │ │ ├── gray-1-linear-tRNS.png │ │ │ │ │ ├── gray-1-linear.png │ │ │ │ │ ├── gray-1-sRGB-tRNS.png │ │ │ │ │ ├── gray-1-sRGB.png │ │ │ │ │ ├── gray-1-tRNS.png │ │ │ │ │ ├── gray-1.png │ │ │ │ │ ├── gray-16-1.8-tRNS.png │ │ │ │ │ ├── gray-16-1.8.png │ │ │ │ │ ├── gray-16-linear-tRNS.png │ │ │ │ │ ├── gray-16-linear.png │ │ │ │ │ ├── gray-16-sRGB-tRNS.png │ │ │ │ │ ├── gray-16-sRGB.png │ │ │ │ │ ├── gray-16-tRNS.png │ │ │ │ │ ├── gray-16.png │ │ │ │ │ ├── gray-2-1.8-tRNS.png │ │ │ │ │ ├── gray-2-1.8.png │ │ │ │ │ ├── gray-2-linear-tRNS.png │ │ │ │ │ ├── gray-2-linear.png │ │ │ │ │ ├── gray-2-sRGB-tRNS.png │ │ │ │ │ ├── gray-2-sRGB.png │ │ │ │ │ ├── gray-2-tRNS.png │ │ │ │ │ ├── gray-2.png │ │ │ │ │ ├── gray-4-1.8-tRNS.png │ │ │ │ │ ├── gray-4-1.8.png │ │ │ │ │ ├── gray-4-linear-tRNS.png │ │ │ │ │ ├── gray-4-linear.png │ │ │ │ │ ├── gray-4-sRGB-tRNS.png │ │ │ │ │ ├── gray-4-sRGB.png │ │ │ │ │ ├── gray-4-tRNS.png │ │ │ │ │ ├── gray-4.png │ │ │ │ │ ├── gray-8-1.8-tRNS.png │ │ │ │ │ ├── gray-8-1.8.png │ │ │ │ │ ├── gray-8-linear-tRNS.png │ │ │ │ │ ├── gray-8-linear.png │ │ │ │ │ ├── gray-8-sRGB-tRNS.png │ │ │ │ │ ├── gray-8-sRGB.png │ │ │ │ │ ├── gray-8-tRNS.png │ │ │ │ │ ├── gray-8.png │ │ │ │ │ ├── gray-alpha-16-1.8.png │ │ │ │ │ ├── gray-alpha-16-linear.png │ │ │ │ │ ├── gray-alpha-16-sRGB.png │ │ │ │ │ ├── gray-alpha-16.png │ │ │ │ │ ├── gray-alpha-8-1.8.png │ │ │ │ │ ├── gray-alpha-8-linear.png │ │ │ │ │ ├── gray-alpha-8-sRGB.png │ │ │ │ │ ├── gray-alpha-8.png │ │ │ │ │ ├── makepngs.sh │ │ │ │ │ ├── palette-1-1.8-tRNS.png │ │ │ │ │ ├── palette-1-1.8.png │ │ │ │ │ ├── palette-1-linear-tRNS.png │ │ │ │ │ ├── palette-1-linear.png │ │ │ │ │ ├── palette-1-sRGB-tRNS.png │ │ │ │ │ ├── palette-1-sRGB.png │ │ │ │ │ ├── palette-1-tRNS.png │ │ │ │ │ ├── palette-1.png │ │ │ │ │ ├── palette-2-1.8-tRNS.png │ │ │ │ │ ├── palette-2-1.8.png │ │ │ │ │ ├── palette-2-linear-tRNS.png │ │ │ │ │ ├── palette-2-linear.png │ │ │ │ │ ├── palette-2-sRGB-tRNS.png │ │ │ │ │ ├── palette-2-sRGB.png │ │ │ │ │ ├── palette-2-tRNS.png │ │ │ │ │ ├── palette-2.png │ │ │ │ │ ├── palette-4-1.8-tRNS.png │ │ │ │ │ ├── palette-4-1.8.png │ │ │ │ │ ├── palette-4-linear-tRNS.png │ │ │ │ │ ├── palette-4-linear.png │ │ │ │ │ ├── palette-4-sRGB-tRNS.png │ │ │ │ │ ├── palette-4-sRGB.png │ │ │ │ │ ├── palette-4-tRNS.png │ │ │ │ │ ├── palette-4.png │ │ │ │ │ ├── palette-8-1.8-tRNS.png │ │ │ │ │ ├── palette-8-1.8.png │ │ │ │ │ ├── palette-8-linear-tRNS.png │ │ │ │ │ ├── palette-8-linear.png │ │ │ │ │ ├── palette-8-sRGB-tRNS.png │ │ │ │ │ ├── palette-8-sRGB.png │ │ │ │ │ ├── palette-8-tRNS.png │ │ │ │ │ ├── palette-8.png │ │ │ │ │ ├── rgb-16-1.8-tRNS.png │ │ │ │ │ ├── rgb-16-1.8.png │ │ │ │ │ ├── rgb-16-linear-tRNS.png │ │ │ │ │ ├── rgb-16-linear.png │ │ │ │ │ ├── rgb-16-sRGB-tRNS.png │ │ │ │ │ ├── rgb-16-sRGB.png │ │ │ │ │ ├── rgb-16-tRNS.png │ │ │ │ │ ├── rgb-16.png │ │ │ │ │ ├── rgb-8-1.8-tRNS.png │ │ │ │ │ ├── rgb-8-1.8.png │ │ │ │ │ ├── rgb-8-linear-tRNS.png │ │ │ │ │ ├── rgb-8-linear.png │ │ │ │ │ ├── rgb-8-sRGB-tRNS.png │ │ │ │ │ ├── rgb-8-sRGB.png │ │ │ │ │ ├── rgb-8-tRNS.png │ │ │ │ │ ├── rgb-8.png │ │ │ │ │ ├── rgb-alpha-16-1.8.png │ │ │ │ │ ├── rgb-alpha-16-linear.png │ │ │ │ │ ├── rgb-alpha-16-sRGB.png │ │ │ │ │ ├── rgb-alpha-16.png │ │ │ │ │ ├── rgb-alpha-8-1.8.png │ │ │ │ │ ├── rgb-alpha-8-linear.png │ │ │ │ │ ├── rgb-alpha-8-sRGB.png │ │ │ │ │ └── rgb-alpha-8.png │ │ │ │ ├── tools │ │ │ │ │ ├── README.txt │ │ │ │ │ ├── checksum-icc.c │ │ │ │ │ ├── chkfmt │ │ │ │ │ ├── cvtcolor.c │ │ │ │ │ ├── genpng.c │ │ │ │ │ ├── intgamma.sh │ │ │ │ │ ├── makesRGB.c │ │ │ │ │ ├── png-fix-itxt.c │ │ │ │ │ ├── pngcp.c │ │ │ │ │ ├── pngfix.c │ │ │ │ │ ├── reindent │ │ │ │ │ └── sRGB.h │ │ │ │ └── visupng │ │ │ │ │ ├── PngFile.c │ │ │ │ │ ├── PngFile.h │ │ │ │ │ ├── README.txt │ │ │ │ │ ├── VisualPng.c │ │ │ │ │ ├── VisualPng.dsp │ │ │ │ │ ├── VisualPng.dsw │ │ │ │ │ ├── VisualPng.ico │ │ │ │ │ ├── VisualPng.png │ │ │ │ │ ├── VisualPng.rc │ │ │ │ │ ├── cexcept.h │ │ │ │ │ └── resource.h │ │ │ ├── depcomp │ │ │ ├── example.c │ │ │ ├── install-sh │ │ │ ├── intel │ │ │ │ ├── filter_sse2_intrinsics.c │ │ │ │ └── intel_init.c │ │ │ ├── libpng-config.in │ │ │ ├── libpng-manual.txt │ │ │ ├── libpng.3 │ │ │ ├── libpng.pc.in │ │ │ ├── libpngpf.3 │ │ │ ├── ltmain.sh │ │ │ ├── mips │ │ │ │ ├── filter_msa_intrinsics.c │ │ │ │ └── mips_init.c │ │ │ ├── missing │ │ │ ├── png.5 │ │ │ ├── png.c │ │ │ ├── png.h │ │ │ ├── pngbar.png │ │ │ ├── pngconf.h │ │ │ ├── pngdebug.h │ │ │ ├── pngerror.c │ │ │ ├── pngget.c │ │ │ ├── pnginfo.h │ │ │ ├── pnglibconf.h │ │ │ ├── pngmem.c │ │ │ ├── pngnow.png │ │ │ ├── pngpread.c │ │ │ ├── pngpriv.h │ │ │ ├── pngread.c │ │ │ ├── pngrio.c │ │ │ ├── pngrtran.c │ │ │ ├── pngrutil.c │ │ │ ├── pngset.c │ │ │ ├── pngstruct.h │ │ │ ├── pngtest.c │ │ │ ├── pngtest.png │ │ │ ├── pngtrans.c │ │ │ ├── pngusr.dfa │ │ │ ├── pngwio.c │ │ │ ├── pngwrite.c │ │ │ ├── pngwtran.c │ │ │ ├── pngwutil.c │ │ │ ├── powerpc │ │ │ │ ├── filter_vsx_intrinsics.c │ │ │ │ └── powerpc_init.c │ │ │ ├── projects │ │ │ │ ├── owatcom │ │ │ │ │ ├── libpng.tgt │ │ │ │ │ ├── libpng.wpj │ │ │ │ │ ├── pngconfig.mak │ │ │ │ │ ├── pngstest.tgt │ │ │ │ │ ├── pngtest.tgt │ │ │ │ │ └── pngvalid.tgt │ │ │ │ ├── visualc71 │ │ │ │ │ ├── PRJ0041.mak │ │ │ │ │ ├── README.txt │ │ │ │ │ ├── README_zlib.txt │ │ │ │ │ ├── libpng.sln │ │ │ │ │ ├── libpng.vcproj │ │ │ │ │ ├── pngtest.vcproj │ │ │ │ │ └── zlib.vcproj │ │ │ │ └── vstudio │ │ │ │ │ ├── README.txt │ │ │ │ │ ├── libpng │ │ │ │ │ └── libpng.vcxproj │ │ │ │ │ ├── pnglibconf │ │ │ │ │ └── pnglibconf.vcxproj │ │ │ │ │ ├── pngstest │ │ │ │ │ └── pngstest.vcxproj │ │ │ │ │ ├── pngtest │ │ │ │ │ └── pngtest.vcxproj │ │ │ │ │ ├── pngunknown │ │ │ │ │ └── pngunknown.vcxproj │ │ │ │ │ ├── pngvalid │ │ │ │ │ └── pngvalid.vcxproj │ │ │ │ │ ├── vstudio.sln │ │ │ │ │ ├── zlib.props │ │ │ │ │ └── zlib │ │ │ │ │ └── zlib.vcxproj │ │ │ ├── scripts │ │ │ │ ├── README.txt │ │ │ │ ├── SCOPTIONS.ppc │ │ │ │ ├── checksym.awk │ │ │ │ ├── descrip.mms │ │ │ │ ├── dfn.awk │ │ │ │ ├── genchk.cmake.in │ │ │ │ ├── genout.cmake.in │ │ │ │ ├── gensrc.cmake.in │ │ │ │ ├── intprefix.c │ │ │ │ ├── libpng-config-body.in │ │ │ │ ├── libpng-config-head.in │ │ │ │ ├── libpng.pc.in │ │ │ │ ├── libtool.m4 │ │ │ │ ├── ltoptions.m4 │ │ │ │ ├── ltsugar.m4 │ │ │ │ ├── ltversion.m4 │ │ │ │ ├── lt~obsolete.m4 │ │ │ │ ├── macro.lst │ │ │ │ ├── makefile.32sunu │ │ │ │ ├── makefile.64sunu │ │ │ │ ├── makefile.acorn │ │ │ │ ├── makefile.aix │ │ │ │ ├── makefile.amiga │ │ │ │ ├── makefile.atari │ │ │ │ ├── makefile.bc32 │ │ │ │ ├── makefile.beos │ │ │ │ ├── makefile.cegcc │ │ │ │ ├── makefile.clang │ │ │ │ ├── makefile.clang-asan │ │ │ │ ├── makefile.darwin │ │ │ │ ├── makefile.dec │ │ │ │ ├── makefile.dj2 │ │ │ │ ├── makefile.freebsd │ │ │ │ ├── makefile.gcc │ │ │ │ ├── makefile.gcc-asan │ │ │ │ ├── makefile.hp64 │ │ │ │ ├── makefile.hpgcc │ │ │ │ ├── makefile.hpux │ │ │ │ ├── makefile.ibmc │ │ │ │ ├── makefile.intel │ │ │ │ ├── makefile.linux │ │ │ │ ├── makefile.linux-opt │ │ │ │ ├── makefile.mips │ │ │ │ ├── makefile.msys │ │ │ │ ├── makefile.netbsd │ │ │ │ ├── makefile.openbsd │ │ │ │ ├── makefile.sco │ │ │ │ ├── makefile.sggcc │ │ │ │ ├── makefile.sgi │ │ │ │ ├── makefile.so9 │ │ │ │ ├── makefile.solaris │ │ │ │ ├── makefile.std │ │ │ │ ├── makefile.sunos │ │ │ │ ├── makefile.vcwin32 │ │ │ │ ├── makevms.com │ │ │ │ ├── options.awk │ │ │ │ ├── pnglibconf.dfa │ │ │ │ ├── pnglibconf.h.prebuilt │ │ │ │ ├── pnglibconf.mak │ │ │ │ ├── pngwin.rc │ │ │ │ ├── prefix.c │ │ │ │ ├── smakefile.ppc │ │ │ │ ├── sym.c │ │ │ │ ├── symbols.c │ │ │ │ ├── symbols.def │ │ │ │ ├── test.cmake.in │ │ │ │ └── vers.c │ │ │ ├── test-driver │ │ │ └── tests │ │ │ │ ├── pngimage-full │ │ │ │ ├── pngimage-quick │ │ │ │ ├── pngstest │ │ │ │ ├── pngstest-1.8 │ │ │ │ ├── pngstest-1.8-alpha │ │ │ │ ├── pngstest-linear │ │ │ │ ├── pngstest-linear-alpha │ │ │ │ ├── pngstest-none │ │ │ │ ├── pngstest-none-alpha │ │ │ │ ├── pngstest-sRGB │ │ │ │ ├── pngstest-sRGB-alpha │ │ │ │ ├── pngtest │ │ │ │ ├── pngtest-badpngs │ │ │ │ ├── pngunknown-IDAT │ │ │ │ ├── pngunknown-discard │ │ │ │ ├── pngunknown-if-safe │ │ │ │ ├── pngunknown-sAPI │ │ │ │ ├── pngunknown-sTER │ │ │ │ ├── pngunknown-save │ │ │ │ ├── pngunknown-vpAg │ │ │ │ ├── pngvalid-gamma-16-to-8 │ │ │ │ ├── pngvalid-gamma-alpha-mode │ │ │ │ ├── pngvalid-gamma-background │ │ │ │ ├── pngvalid-gamma-expand16-alpha-mode │ │ │ │ ├── pngvalid-gamma-expand16-background │ │ │ │ ├── pngvalid-gamma-expand16-transform │ │ │ │ ├── pngvalid-gamma-sbit │ │ │ │ ├── pngvalid-gamma-threshold │ │ │ │ ├── pngvalid-gamma-transform │ │ │ │ ├── pngvalid-progressive-interlace-standard │ │ │ │ ├── pngvalid-progressive-size │ │ │ │ ├── pngvalid-progressive-standard │ │ │ │ ├── pngvalid-standard │ │ │ │ └── pngvalid-transform │ │ │ ├── loguru │ │ │ ├── loguru.cpp │ │ │ └── loguru.hpp │ │ │ ├── rapidjson │ │ │ ├── allocators.h │ │ │ ├── cursorstreamwrapper.h │ │ │ ├── document.h │ │ │ ├── encodedstream.h │ │ │ ├── encodings.h │ │ │ ├── error │ │ │ │ ├── en.h │ │ │ │ └── error.h │ │ │ ├── filereadstream.h │ │ │ ├── filewritestream.h │ │ │ ├── fwd.h │ │ │ ├── internal │ │ │ │ ├── biginteger.h │ │ │ │ ├── diyfp.h │ │ │ │ ├── dtoa.h │ │ │ │ ├── ieee754.h │ │ │ │ ├── itoa.h │ │ │ │ ├── meta.h │ │ │ │ ├── pow10.h │ │ │ │ ├── regex.h │ │ │ │ ├── stack.h │ │ │ │ ├── strfunc.h │ │ │ │ ├── strtod.h │ │ │ │ └── swap.h │ │ │ ├── istreamwrapper.h │ │ │ ├── memorybuffer.h │ │ │ ├── memorystream.h │ │ │ ├── msinttypes │ │ │ │ ├── inttypes.h │ │ │ │ └── stdint.h │ │ │ ├── ostreamwrapper.h │ │ │ ├── pointer.h │ │ │ ├── prettywriter.h │ │ │ ├── rapidjson.h │ │ │ ├── reader.h │ │ │ ├── schema.h │ │ │ ├── stream.h │ │ │ ├── stringbuffer.h │ │ │ └── writer.h │ │ │ ├── sophus │ │ │ ├── .clang-format │ │ │ ├── .gitignore │ │ │ ├── .travis.yml │ │ │ ├── CMakeLists.txt │ │ │ ├── LICENSE.txt │ │ │ ├── README.rst │ │ │ ├── SophusConfig.cmake.in │ │ │ ├── appveyor.yml │ │ │ ├── cmake_modules │ │ │ │ └── FindEigen3.cmake │ │ │ ├── run_format.sh │ │ │ ├── sophus │ │ │ │ ├── average.hpp │ │ │ │ ├── common.hpp │ │ │ │ ├── example_ensure_handler.cpp │ │ │ │ ├── geometry.hpp │ │ │ │ ├── interpolate.hpp │ │ │ │ ├── interpolate_details.hpp │ │ │ │ ├── rxso3.hpp │ │ │ │ ├── se2.hpp │ │ │ │ ├── se3.hpp │ │ │ │ ├── sim3.hpp │ │ │ │ ├── so2.hpp │ │ │ │ ├── so3.hpp │ │ │ │ ├── test_macros.hpp │ │ │ │ └── types.hpp │ │ │ └── test │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── ceres │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── local_parameterization_se3.hpp │ │ │ │ └── test_ceres_se3.cpp │ │ │ │ └── core │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── test_common.cpp │ │ │ │ ├── test_geometry.cpp │ │ │ │ ├── test_rxso3.cpp │ │ │ │ ├── test_se2.cpp │ │ │ │ ├── test_se3.cpp │ │ │ │ ├── test_sim3.cpp │ │ │ │ ├── test_so2.cpp │ │ │ │ ├── test_so3.cpp │ │ │ │ └── tests.hpp │ │ │ └── tinyxml2 │ │ │ ├── tinyxml2.cpp │ │ │ └── tinyxml2.h │ ├── mainpage.dox │ ├── package.xml │ ├── python │ │ └── aslam_cv │ │ │ └── __init__.py │ ├── setup.py │ └── src │ │ ├── CameraGeometries.cpp │ │ ├── CameraGeometry.cpp │ │ ├── CameraProjections.cpp │ │ ├── CameraShutters.cpp │ │ ├── CameraSystem.cpp │ │ ├── CameraSystemClasses.cpp │ │ ├── Descriptors.cpp │ │ ├── Frame.cpp │ │ ├── FrameBuilder.cpp │ │ ├── Frontend.cpp │ │ ├── GridCalibration.cpp │ │ ├── ImageContainer.cpp │ │ ├── ImageSynchronizer.cpp │ │ ├── Landmark.cpp │ │ ├── MatchingAlgorithms.cpp │ │ ├── MultiFrame.cpp │ │ ├── MultiFrameFactory.cpp │ │ ├── NCameras.cpp │ │ ├── OmniUndistorter.cpp │ │ ├── PinholeUndistorter.cpp │ │ ├── Time.cpp │ │ ├── Undistorters.cpp │ │ ├── module.cpp │ │ └── tartancalibworker_.cpp ├── aslam_cv_serialization │ ├── .gitignore │ ├── CMakeLists.txt │ ├── autogen_cameras.cmake │ ├── autogen_frames.cmake │ ├── gen_files.py │ ├── include │ │ └── aslam │ │ │ ├── FrameBaseSerialization.hpp │ │ │ ├── LinkCvSerialization.hpp │ │ │ ├── aslam_cv_serialization.hpp │ │ │ └── cameras │ │ │ └── CameraBaseSerialization.hpp │ ├── mainpage.dox │ ├── package.xml │ ├── src │ │ ├── FrameBaseSerialization.cpp │ │ ├── FrameSerialization.hpp │ │ ├── LinkCvSerialization.cpp │ │ └── autogen │ │ │ ├── Camera-DepthCameraGeometry.cpp │ │ │ ├── Camera-DistortedDepthCameraGeometry.cpp │ │ │ ├── Camera-DistortedOmniCameraGeometry.cpp │ │ │ ├── Camera-DistortedOmniRsCameraGeometry.cpp │ │ │ ├── Camera-DistortedPinholeCameraGeometry.cpp │ │ │ ├── Camera-DistortedPinholeRsCameraGeometry.cpp │ │ │ ├── Camera-DoubleSphereCameraGeometry.cpp │ │ │ ├── Camera-EquidistantDistortedDepthCameraGeometry.cpp │ │ │ ├── Camera-EquidistantDistortedOmniCameraGeometry.cpp │ │ │ ├── Camera-EquidistantDistortedOmniRsCameraGeometry.cpp │ │ │ ├── Camera-EquidistantDistortedPinholeCameraGeometry.cpp │ │ │ ├── Camera-EquidistantDistortedPinholeRsCameraGeometry.cpp │ │ │ ├── Camera-ExtendedUnifiedCameraGeometry.cpp │ │ │ ├── Camera-FovDistortedPinholeCameraGeometry.cpp │ │ │ ├── Camera-MaskedDistortedOmniCameraGeometry.cpp │ │ │ ├── Camera-MaskedDistortedOmniRsCameraGeometry.cpp │ │ │ ├── Camera-MaskedDistortedPinholeCameraGeometry.cpp │ │ │ ├── Camera-MaskedDistortedPinholeRsCameraGeometry.cpp │ │ │ ├── Camera-MaskedEquidistantDistortedOmniCameraGeometry.cpp │ │ │ ├── Camera-MaskedEquidistantDistortedOmniRsCameraGeometry.cpp │ │ │ ├── Camera-MaskedEquidistantDistortedPinholeCameraGeometry.cpp │ │ │ ├── Camera-MaskedEquidistantDistortedPinholeRsCameraGeometry.cpp │ │ │ ├── Camera-MaskedOmniCameraGeometry.cpp │ │ │ ├── Camera-MaskedOmniRsCameraGeometry.cpp │ │ │ ├── Camera-MaskedPinholeCameraGeometry.cpp │ │ │ ├── Camera-MaskedPinholeRsCameraGeometry.cpp │ │ │ ├── Camera-OmniCameraGeometry.cpp │ │ │ ├── Camera-OmniRsCameraGeometry.cpp │ │ │ ├── Camera-PinholeCameraGeometry.cpp │ │ │ ├── Camera-PinholeRsCameraGeometry.cpp │ │ │ ├── Frame-DepthCameraGeometry.cpp │ │ │ ├── Frame-DistortedDepthCameraGeometry.cpp │ │ │ ├── Frame-DistortedOmniCameraGeometry.cpp │ │ │ ├── Frame-DistortedOmniRsCameraGeometry.cpp │ │ │ ├── Frame-DistortedPinholeCameraGeometry.cpp │ │ │ ├── Frame-DistortedPinholeRsCameraGeometry.cpp │ │ │ ├── Frame-DoubleSphereCameraGeometry.cpp │ │ │ ├── Frame-EquidistantDistortedDepthCameraGeometry.cpp │ │ │ ├── Frame-EquidistantDistortedOmniCameraGeometry.cpp │ │ │ ├── Frame-EquidistantDistortedOmniRsCameraGeometry.cpp │ │ │ ├── Frame-EquidistantDistortedPinholeCameraGeometry.cpp │ │ │ ├── Frame-EquidistantDistortedPinholeRsCameraGeometry.cpp │ │ │ ├── Frame-ExtendedUnifiedCameraGeometry.cpp │ │ │ ├── Frame-FovDistortedPinholeCameraGeometry.cpp │ │ │ ├── Frame-MaskedDistortedOmniCameraGeometry.cpp │ │ │ ├── Frame-MaskedDistortedOmniRsCameraGeometry.cpp │ │ │ ├── Frame-MaskedDistortedPinholeCameraGeometry.cpp │ │ │ ├── Frame-MaskedDistortedPinholeRsCameraGeometry.cpp │ │ │ ├── Frame-MaskedEquidistantDistortedOmniCameraGeometry.cpp │ │ │ ├── Frame-MaskedEquidistantDistortedOmniRsCameraGeometry.cpp │ │ │ ├── Frame-MaskedEquidistantDistortedPinholeCameraGeometry.cpp │ │ │ ├── Frame-MaskedEquidistantDistortedPinholeRsCameraGeometry.cpp │ │ │ ├── Frame-MaskedOmniCameraGeometry.cpp │ │ │ ├── Frame-MaskedOmniRsCameraGeometry.cpp │ │ │ ├── Frame-MaskedPinholeCameraGeometry.cpp │ │ │ ├── Frame-MaskedPinholeRsCameraGeometry.cpp │ │ │ ├── Frame-OmniCameraGeometry.cpp │ │ │ ├── Frame-OmniRsCameraGeometry.cpp │ │ │ ├── Frame-PinholeCameraGeometry.cpp │ │ │ └── Frame-PinholeRsCameraGeometry.cpp │ └── test │ │ ├── testMultiFrame.cpp │ │ └── test_main.cpp ├── aslam_imgproc │ ├── CMakeLists.txt │ ├── include │ │ └── aslam │ │ │ ├── NullUndistorter.hpp │ │ │ ├── OmniUndistorter.hpp │ │ │ ├── PinholeUndistorter.hpp │ │ │ ├── UndistorterBase.hpp │ │ │ ├── calculateOverlappingFov.hpp │ │ │ └── implementation │ │ │ ├── NullUndistorter.hpp │ │ │ ├── OmniUndistorter.hpp │ │ │ ├── PinholeUndistorter.hpp │ │ │ ├── aslamcv_helper.hpp │ │ │ └── calculateOverlappingFov.hpp │ ├── package.xml │ ├── setup.py │ ├── src │ │ ├── UndistorterBase.cpp │ │ └── calculateOverlappingFov.cpp │ └── test │ │ └── testUndistorter.cpp ├── aslam_time │ ├── CMakeLists.txt │ ├── include │ │ └── aslam │ │ │ ├── Duration.hpp │ │ │ ├── Time.hpp │ │ │ └── implementation │ │ │ ├── Duration.hpp │ │ │ └── Time.hpp │ ├── package.xml │ └── src │ │ ├── duration.cpp │ │ └── time.cpp └── tartan_calib │ ├── CMakeLists copy.txt │ ├── CMakeLists.txt │ ├── before_tartan.bin │ ├── generic_input.bin │ ├── include │ └── aslam │ │ ├── TartanCalibWorker.hpp │ │ ├── catkin_ws.code-workspace │ │ ├── implementation │ │ ├── Datasetwriterhelper.hpp │ │ ├── TartanCalibWorker.hpp │ │ ├── symmetry_fit.h │ │ ├── symmetry_refinement.h │ │ ├── tartan_refinement.h │ │ └── terminal.txt │ │ └── matplotlibcpp.h │ ├── libvis.zip │ ├── log.pkl │ ├── log.txt │ ├── package.xml │ └── setup.py ├── aslam_incremental_calibration ├── incremental_calibration │ ├── CMakeLists.txt │ ├── conf │ │ └── config.xml │ ├── include │ │ └── aslam │ │ │ └── calibration │ │ │ ├── algorithms │ │ │ ├── linalg.h │ │ │ ├── marginalize.h │ │ │ ├── matrixOperations.h │ │ │ ├── matrixOperations.tpp │ │ │ ├── permute.h │ │ │ └── permute.tpp │ │ │ ├── base │ │ │ ├── Condition.h │ │ │ ├── Mutex.h │ │ │ ├── Serializable.h │ │ │ ├── Singleton.h │ │ │ ├── Singleton.tpp │ │ │ ├── Thread.h │ │ │ ├── Threads.h │ │ │ ├── Timer.h │ │ │ └── Timestamp.h │ │ │ ├── core │ │ │ ├── IncrementalEstimator.h │ │ │ ├── IncrementalOptimizationProblem.h │ │ │ ├── LinearSolver.h │ │ │ ├── LinearSolverOptions.h │ │ │ └── OptimizationProblem.h │ │ │ ├── data-structures │ │ │ ├── Grid.h │ │ │ ├── Grid.tpp │ │ │ ├── VectorDesignVariable.h │ │ │ └── VectorDesignVariable.tpp │ │ │ ├── exceptions │ │ │ ├── BadArgumentException.h │ │ │ ├── BadArgumentException.tpp │ │ │ ├── Exception.h │ │ │ ├── InvalidOperationException.h │ │ │ ├── NullPointerException.h │ │ │ ├── OutOfBoundException.h │ │ │ ├── OutOfBoundException.tpp │ │ │ ├── SystemException.h │ │ │ ├── ThreadsManagerException.h │ │ │ └── ThreadsManagerException.tpp │ │ │ ├── functions │ │ │ ├── ContinuousFunction.h │ │ │ ├── ContinuousFunction1v.h │ │ │ ├── ContinuousFunction1v.tpp │ │ │ ├── ContinuousFunctionMv.h │ │ │ ├── ContinuousFunctionMv.tpp │ │ │ ├── DigammaFunction.h │ │ │ ├── DigammaFunction.tpp │ │ │ ├── DiscreteFunction.h │ │ │ ├── DiscreteFunction1v.h │ │ │ ├── DiscreteFunction1v.tpp │ │ │ ├── DiscreteFunctionMv.h │ │ │ ├── DiscreteFunctionMv.tpp │ │ │ ├── Function.h │ │ │ ├── Function.tpp │ │ │ ├── IncompleteGammaPFunction.h │ │ │ ├── IncompleteGammaQFunction.h │ │ │ ├── LogFactorialFunction.h │ │ │ ├── LogGammaFunction.h │ │ │ └── LogGammaFunction.tpp │ │ │ ├── geometry │ │ │ ├── Transformation.h │ │ │ ├── Transformation2d.h │ │ │ ├── Transformation2d.tpp │ │ │ ├── Transformation3d.h │ │ │ └── Transformation3d.tpp │ │ │ ├── statistics │ │ │ ├── ChiSquareDistribution.h │ │ │ ├── ContinuousDistribution.h │ │ │ ├── ContinuousDistribution1v.h │ │ │ ├── ContinuousDistribution1v.tpp │ │ │ ├── ContinuousDistributionMv.h │ │ │ ├── ContinuousDistributionMv.tpp │ │ │ ├── DiscreteDistribution.h │ │ │ ├── DiscreteDistribution1v.h │ │ │ ├── DiscreteDistribution1v.tpp │ │ │ ├── DiscreteDistributionMv.h │ │ │ ├── DiscreteDistributionMv.tpp │ │ │ ├── Distribution.h │ │ │ ├── Distribution.tpp │ │ │ ├── EstimatorML.h │ │ │ ├── EstimatorMLNormal1v.h │ │ │ ├── EstimatorMLNormalMv.h │ │ │ ├── EstimatorMLNormalMv.tpp │ │ │ ├── GammaDistribution.h │ │ │ ├── GammaDistribution.tpp │ │ │ ├── Histogram.h │ │ │ ├── Histogram1v.h │ │ │ ├── Histogram1v.tpp │ │ │ ├── HistogramMv.h │ │ │ ├── HistogramMv.tpp │ │ │ ├── NormalDistribution.h │ │ │ ├── NormalDistribution1v.h │ │ │ ├── NormalDistributionMv.h │ │ │ ├── NormalDistributionMv.tpp │ │ │ ├── Randomizer.h │ │ │ ├── Randomizer.tpp │ │ │ ├── SampleDistribution.h │ │ │ ├── SampleDistribution.tpp │ │ │ ├── UniformDistribution.h │ │ │ ├── UniformDistribution1v.h │ │ │ ├── UniformDistribution1v.tpp │ │ │ ├── UniformDistributionMv.h │ │ │ └── UniformDistributionMv.tpp │ │ │ ├── tpl │ │ │ ├── And.h │ │ │ ├── Boolean.h │ │ │ ├── Equals.h │ │ │ ├── If.h │ │ │ ├── IfThenElse.h │ │ │ ├── IsInteger.h │ │ │ ├── IsNumeric.h │ │ │ ├── IsReal.h │ │ │ ├── IsVoid.h │ │ │ ├── Not.h │ │ │ └── Or.h │ │ │ └── utils │ │ │ ├── OuterProduct.h │ │ │ ├── OuterProduct.tpp │ │ │ ├── SizeTSupport.h │ │ │ └── SsizeTSupport.h │ ├── package.xml │ ├── src │ │ ├── algorithms │ │ │ ├── linalg.cpp │ │ │ └── marginalize.cpp │ │ ├── base │ │ │ ├── Condition.cpp │ │ │ ├── Mutex.cpp │ │ │ ├── Serializable.cpp │ │ │ ├── Thread.cpp │ │ │ ├── Threads.cpp │ │ │ ├── Timer.cpp │ │ │ └── Timestamp.cpp │ │ ├── core │ │ │ ├── IncrementalEstimator.cpp │ │ │ ├── IncrementalOptimizationProblem.cpp │ │ │ ├── LinearSolver.cpp │ │ │ ├── LinearSolverOptions.cpp │ │ │ └── OptimizationProblem.cpp │ │ ├── exceptions │ │ │ ├── Exception.cpp │ │ │ ├── InvalidOperationException.cpp │ │ │ ├── NullPointerException.cpp │ │ │ └── SystemException.cpp │ │ ├── functions │ │ │ ├── IncompleteGammaPFunction.cpp │ │ │ ├── IncompleteGammaQFunction.cpp │ │ │ ├── LogFactorialFunction.cpp │ │ │ └── LogGammaFunction.cpp │ │ └── statistics │ │ │ ├── ChiSquareDistribution.cpp │ │ │ ├── EstimatorMLNormal1v.cpp │ │ │ └── NormalDistribution1v.cpp │ └── test │ │ ├── AlgorithmsTest.cpp │ │ ├── IncrementalOptimizationProblemTest.cpp │ │ ├── LinearSolverTest.cpp │ │ ├── OptimizationProblemTest.cpp │ │ ├── VectorDesignVariableTest.cpp │ │ └── test_main.cpp └── incremental_calibration_python │ ├── CMakeLists.txt │ ├── include │ └── module.cpp │ ├── package.xml │ ├── setup.py │ └── src │ ├── IncrementalEstimator.cpp │ ├── LinearSolver.cpp │ ├── OptimizationProblem.cpp │ ├── VisionDataAssociation.cpp │ ├── incremental_calibration │ └── __init__.py │ └── module.cpp ├── aslam_nonparametric_estimation ├── aslam_splines │ ├── .gitignore │ ├── CMakeLists.txt │ ├── include │ │ └── aslam │ │ │ ├── backend │ │ │ ├── BSplineMotionError.hpp │ │ │ ├── BSplineMotionErrorFactory.hpp │ │ │ ├── QuadraticIntegralError.hpp │ │ │ ├── SimpleSplineError.hpp │ │ │ └── implementation │ │ │ │ ├── BSplineMotionError.hpp │ │ │ │ ├── BSplineMotionErrorFactory.hpp │ │ │ │ └── SimpleSplineError.hpp │ │ │ └── splines │ │ │ ├── BSplineDesignVariable.hpp │ │ │ ├── BSplineExpressions.hpp │ │ │ ├── BSplinePoseDesignVariable.hpp │ │ │ ├── EuclideanBSplineDesignVariable.hpp │ │ │ └── implementation │ │ │ ├── BSplineDesignVariable.hpp │ │ │ └── BSplineExpressions.hpp │ ├── package.xml │ ├── src │ │ ├── BSplineExpressions.cpp │ │ ├── BSplinePoseDesignVariable.cpp │ │ └── EuclideanBSplineDesignVariable.cpp │ └── test │ │ ├── TestBSplineExpressions.cpp │ │ ├── TestErrors.cpp │ │ ├── TestOPTBSpline.cpp │ │ └── test_main.cpp ├── aslam_splines_python │ ├── CMakeLists.txt │ ├── package.xml │ ├── python │ │ └── aslam_splines │ │ │ └── __init__.py │ ├── setup.py │ ├── src │ │ ├── BSplineMotionError.cpp │ │ ├── SimpleSplineError.cpp │ │ └── spline_module.cpp │ └── test │ │ ├── OptBSpline.py │ │ └── QuadraticIntegralError.py ├── bsplines │ ├── .gitignore │ ├── .texlipse │ ├── CMakeLists.txt │ ├── doc │ │ ├── doxygen.config.in │ │ ├── footer.html │ │ └── header.html │ ├── include │ │ └── bsplines │ │ │ ├── BSpline.hpp │ │ │ └── BSplinePose.hpp │ ├── interp_rotation │ │ ├── cummulativeTestPlots.py │ │ ├── cumulative.py │ │ ├── diffManifoldBSplines │ │ │ └── __init__.py │ │ ├── diffManifolds │ │ │ └── __init__.py │ │ ├── invariance.py │ │ ├── invariance2.py │ │ ├── jacobians.py │ │ ├── quaternions │ │ │ └── __init__.py │ │ ├── testManifoldBSplines.py │ │ ├── testThreeManifold.py │ │ └── threeManifoldVisual │ │ │ └── __init__.py │ ├── latex │ │ └── orientation │ │ │ ├── .gitignore │ │ │ ├── figs │ │ │ ├── asl.pdf │ │ │ ├── asl_black.pdf │ │ │ ├── asl_black_logo.pdf │ │ │ └── eth_logo_black.pdf │ │ │ ├── notation-math-defs.tex │ │ │ ├── orientation.tex │ │ │ └── thesis.bib │ ├── mainpage.dox │ ├── package.xml │ ├── src │ │ ├── BSpline.cpp │ │ ├── BSplinePose.cpp │ │ └── DiffManifoldBSpline.cpp │ └── test │ │ ├── BSplinePoseTests.cpp │ │ ├── DiffManifoldBSplineTests.cpp │ │ ├── DiffManifoldBSplineTests.hpp │ │ ├── EuclideanBSplineTests.cpp │ │ ├── NodeDistributedCacheTests.cpp │ │ ├── NumericIntegratorTests.cpp │ │ ├── RotationalKinematicsTests.cpp │ │ ├── SplineTests.cpp │ │ ├── UnitQuaternionBSplineTests.cpp │ │ └── test_main.cpp └── bsplines_python │ ├── .gitignore │ ├── CMakeLists.txt │ ├── package.xml │ ├── python │ └── bsplines │ │ ├── __init__.py │ │ └── plotPoseSpline.py │ ├── setup.py │ ├── src │ ├── BSplinePosePython.cpp │ ├── BSplinePython.cpp │ └── SplinePython.cpp │ └── test │ ├── BSplinePoseTests.py │ ├── BSplineTests.py │ ├── DiffManifoldBSpline.py │ ├── DiffManifoldBSplineFittingExperiments.py │ ├── SplineTests.py │ └── UnitTests.py ├── aslam_offline_calibration ├── ethz_apriltag2 │ ├── CMakeLists.txt │ ├── include │ │ └── apriltags │ │ │ ├── Edge.h │ │ │ ├── FloatImage.h │ │ │ ├── GLine2D.h │ │ │ ├── GLineSegment2D.h │ │ │ ├── Gaussian.h │ │ │ ├── GrayModel.h │ │ │ ├── Gridder.h │ │ │ ├── Homography33.h │ │ │ ├── MathUtil.h │ │ │ ├── Quad.h │ │ │ ├── Segment.h │ │ │ ├── Tag16h5.h │ │ │ ├── Tag16h5_other.h │ │ │ ├── Tag25h7.h │ │ │ ├── Tag25h9.h │ │ │ ├── Tag36h11.h │ │ │ ├── Tag36h11_other.h │ │ │ ├── Tag36h9.h │ │ │ ├── TagDetection.h │ │ │ ├── TagDetector.h │ │ │ ├── TagFamily.h │ │ │ ├── UnionFindSimple.h │ │ │ ├── XYWeight.h │ │ │ └── pch.h │ ├── package.xml │ └── src │ │ ├── Edge.cc │ │ ├── FloatImage.cc │ │ ├── GLine2D.cc │ │ ├── GLineSegment2D.cc │ │ ├── Gaussian.cc │ │ ├── GrayModel.cc │ │ ├── Homography33.cc │ │ ├── MathUtil.cc │ │ ├── Quad.cc │ │ ├── Segment.cc │ │ ├── TagDetection.cc │ │ ├── TagDetector.cc │ │ ├── TagFamily.cc │ │ ├── UnionFindSimple.cc │ │ └── example │ │ ├── CMakeLists.txt │ │ ├── Serial.cpp │ │ ├── Serial.h │ │ ├── apriltags_demo.cpp │ │ ├── arduino_tags │ │ └── arduino_tags.ino │ │ └── imu.cpp └── kalibr │ ├── CMakeLists.txt │ ├── include │ └── kalibr_errorterms │ │ ├── AccelerometerError.hpp │ │ ├── EuclideanError.hpp │ │ └── GyroscopeError.hpp │ ├── package.xml │ ├── python │ ├── exporters │ │ ├── auxiliary_files │ │ │ ├── aslam_footer.txt │ │ │ ├── msf_footer.txt │ │ │ ├── msf_header.txt │ │ │ ├── msf_mid.txt │ │ │ ├── rovio_footer.txt │ │ │ └── rovio_header.txt │ │ ├── kalibr_maplab_config │ │ ├── kalibr_msf_config │ │ ├── kalibr_okvis_config │ │ └── kalibr_rovio_config │ ├── kalibr_bagcreater │ ├── kalibr_bagextractor │ ├── kalibr_calibrate_cameras │ ├── kalibr_calibrate_imu_camera │ ├── kalibr_calibrate_rs_cameras │ ├── kalibr_camera_calibration │ │ ├── CameraCalibrator.py │ │ ├── CameraIntializers.py │ │ ├── MulticamGraph.py │ │ ├── ObsDb.py │ │ └── __init__.py │ ├── kalibr_camera_focus │ ├── kalibr_camera_validator │ ├── kalibr_common │ │ ├── ConfigReader.py │ │ ├── ImageDatasetReader.py │ │ ├── ImuDatasetReader.py │ │ ├── TargetExtractor.py │ │ └── __init__.py │ ├── kalibr_create_target_pdf │ ├── kalibr_errorterms │ │ └── __init__.py │ ├── kalibr_imu_camera_calibration │ │ ├── IccCalibrator.py │ │ ├── IccPlots.py │ │ ├── IccSensors.py │ │ ├── IccUtil.py │ │ └── __init__.py │ ├── kalibr_rs_camera_calibration │ │ ├── ReprojectionErrorKnotSequenceUpdateStrategy.py │ │ ├── RsCalibrator.py │ │ ├── RsPlot.py │ │ └── __init__.py │ ├── kalibr_visualize_calibration │ ├── kalibr_visualize_distortion │ ├── tartan_analyze │ ├── tartan_annotate │ ├── tartan_calibrate │ ├── tartan_logging │ │ ├── TartanLogging.py │ │ └── __init__.py │ ├── tartan_polars │ ├── tartan_polars_table │ └── tartan_visualize │ ├── setup.py │ ├── src │ ├── AccelerometerError.cpp │ ├── EuclideanError.cpp │ ├── GyroscopeError.cpp │ └── module.cpp │ └── test │ ├── TestErrorTerms.cpp │ └── test_main.cpp ├── aslam_optimizer ├── aslam_backend │ ├── CMakeLists.txt │ ├── include │ │ └── aslam │ │ │ ├── Exceptions.hpp │ │ │ └── backend │ │ │ ├── BlockCholeskyLinearSolverOptions.h │ │ │ ├── BlockCholeskyLinearSystemSolver.hpp │ │ │ ├── Cholmod.hpp │ │ │ ├── CompressedColumnJacobianTransposeBuilder.hpp │ │ │ ├── CompressedColumnMatrix.hpp │ │ │ ├── CompressedRowJacobianBuilder.hpp │ │ │ ├── DenseMatrix.hpp │ │ │ ├── DenseQRLinearSolverOptions.h │ │ │ ├── DenseQrLinearSystemSolver.hpp │ │ │ ├── DesignVariable.hpp │ │ │ ├── DesignVariableAdapter.hpp │ │ │ ├── DogLegTrustRegionPolicy.hpp │ │ │ ├── ErrorTerm.hpp │ │ │ ├── ErrorTermDs.hpp │ │ │ ├── GaussNewtonTrustRegionPolicy.hpp │ │ │ ├── JacobianBuilder.hpp │ │ │ ├── JacobianContainer.hpp │ │ │ ├── LevenbergMarquardtTrustRegionPolicy.hpp │ │ │ ├── LinearSystemSolver.hpp │ │ │ ├── MEstimatorPolicies.hpp │ │ │ ├── MarginalizationPriorErrorTerm.hpp │ │ │ ├── Marginalizer.hpp │ │ │ ├── Matrix.hpp │ │ │ ├── OptimizationProblem.hpp │ │ │ ├── OptimizationProblemBase.hpp │ │ │ ├── Optimizer.hpp │ │ │ ├── Optimizer2.hpp │ │ │ ├── Optimizer2.tpp │ │ │ ├── Optimizer2Options.hpp │ │ │ ├── OptimizerOptions.hpp │ │ │ ├── SimpleOptimizationProblem.hpp │ │ │ ├── SparseBlockMatrixWrapper.hpp │ │ │ ├── SparseCholeskyLinearSolverOptions.h │ │ │ ├── SparseCholeskyLinearSystemSolver.hpp │ │ │ ├── SparseQRLinearSolverOptions.h │ │ │ ├── SparseQrLinearSystemSolver.hpp │ │ │ ├── TrustRegionPolicy.hpp │ │ │ ├── backend.hpp │ │ │ ├── implementation │ │ │ ├── Cholmod.hpp │ │ │ ├── CompressedColumnJacobianTransposeBuilder.hpp │ │ │ ├── CompressedColumnMatrix.hpp │ │ │ ├── DesignVariableAdapter.hpp │ │ │ └── ErrorTerm.hpp │ │ │ ├── sparse_matrix_functions.hpp │ │ │ └── test │ │ │ └── ErrorTermTestHarness.hpp │ ├── mainpage.dox │ ├── notes.txt │ ├── package.xml │ ├── src │ │ ├── BlockCholeskyLinearSolverOptions.cpp │ │ ├── BlockCholeskyLinearSystemSolver.cpp │ │ ├── DenseMatrix.cpp │ │ ├── DenseQRLinearSolverOptions.cpp │ │ ├── DenseQrLinearSystemSolver.cpp │ │ ├── DesignVariable.cpp │ │ ├── DogLegTrustRegionPolicy.cpp │ │ ├── ErrorTerm.cpp │ │ ├── ErrorTermDs.cpp │ │ ├── GaussNewtonTrustRegionPolicy.cpp │ │ ├── JacobianBuilder.cpp │ │ ├── JacobianContainer.cpp │ │ ├── LevenbergMarquardtTrustRegionPolicy.cpp │ │ ├── LinearSystemSolver.cpp │ │ ├── MEstimatorPolicies.cpp │ │ ├── MarginalizationPriorErrorTerm.cpp │ │ ├── Marginalizer.cpp │ │ ├── Matrix.cpp │ │ ├── OptimizationProblem.cpp │ │ ├── OptimizationProblemBase.cpp │ │ ├── Optimizer.cpp │ │ ├── Optimizer2.cpp │ │ ├── QrSolution.hpp │ │ ├── SimpleOptimizationProblem.cpp │ │ ├── SparseBlockMatrixWrapper.cpp │ │ ├── SparseCholeskyLinearSolverOptions.cpp │ │ ├── SparseCholeskyLinearSystemSolver.cpp │ │ ├── SparseQRLinearSolverOptions.cpp │ │ ├── SparseQrLinearSystemSolver.cpp │ │ ├── TrustRegionPolicy.cpp │ │ └── sparse_matrix_functions.cpp │ └── test │ │ ├── CompressedColumnMatrixTest.cpp │ │ ├── DenseMatrixTest.cpp │ │ ├── DummyDesignVariable.hpp │ │ ├── ErrorTermTests.cpp │ │ ├── JacobianContainer.cpp │ │ ├── LinearSolverTests.cpp │ │ ├── MatrixTestHarness.cpp │ │ ├── MatrixTestHarness.hpp │ │ ├── SampleDvAndError.hpp │ │ ├── SparseMatrixTest.cpp │ │ ├── TestOptimizationProblem.cpp │ │ ├── TestOptimizer.cpp │ │ ├── test_main.cpp │ │ └── test_sparse_matrix_functions.cpp ├── aslam_backend_expressions │ ├── CMakeLists.txt │ ├── include │ │ └── aslam │ │ │ └── backend │ │ │ ├── BasisMatrixFunctor.hpp │ │ │ ├── DesignVariableGenericVector.hpp │ │ │ ├── DesignVariableMappedVector.hpp │ │ │ ├── DesignVariableMinimalDifferenceExpression.hpp │ │ │ ├── DesignVariableUnitQuaternion.hpp │ │ │ ├── DesignVariableVector.hpp │ │ │ ├── Differential.hpp │ │ │ ├── ErrorTermEuclidean.hpp │ │ │ ├── ErrorTermTransformation.hpp │ │ │ ├── EuclideanDirection.hpp │ │ │ ├── EuclideanExpression.hpp │ │ │ ├── EuclideanExpressionNode.hpp │ │ │ ├── EuclideanPoint.hpp │ │ │ ├── ExpressionErrorTerm.hpp │ │ │ ├── FixedPointNumber.hpp │ │ │ ├── GenericMatrixExpression.hpp │ │ │ ├── GenericMatrixExpressionNode.hpp │ │ │ ├── GenericScalar.hpp │ │ │ ├── GenericScalarExpression.hpp │ │ │ ├── GenericScalarExpressionNode.hpp │ │ │ ├── HomogeneousExpression.hpp │ │ │ ├── HomogeneousExpressionNode.hpp │ │ │ ├── HomogeneousPoint.hpp │ │ │ ├── MapTransformation.hpp │ │ │ ├── MappedEuclideanPoint.hpp │ │ │ ├── MappedHomogeneousPoint.hpp │ │ │ ├── MappedRotationQuaternion.hpp │ │ │ ├── MatrixBasic.hpp │ │ │ ├── MatrixExpression.hpp │ │ │ ├── MatrixExpressionNode.hpp │ │ │ ├── MatrixTransformation.hpp │ │ │ ├── QuaternionExpression.hpp │ │ │ ├── RotationExpression.hpp │ │ │ ├── RotationExpressionNode.hpp │ │ │ ├── RotationQuaternion.hpp │ │ │ ├── Scalar.hpp │ │ │ ├── ScalarExpression.hpp │ │ │ ├── ScalarExpressionNode.hpp │ │ │ ├── TransformationBasic.hpp │ │ │ ├── TransformationExpression.hpp │ │ │ ├── TransformationExpressionNode.hpp │ │ │ ├── Vector2RotationQuaternionExpressionAdapter.hpp │ │ │ ├── VectorExpression.hpp │ │ │ ├── VectorExpressionNode.hpp │ │ │ ├── VectorExpressionToGenericMatrixTraits.hpp │ │ │ ├── implementation │ │ │ ├── DesignVariableMappedVector.hpp │ │ │ ├── DesignVariableVector.hpp │ │ │ ├── GenericMatrixExpression.hpp │ │ │ ├── GenericScalar.hpp │ │ │ ├── GenericScalarExpression.hpp │ │ │ ├── GenericScalarExpressionNode.hpp │ │ │ ├── QuaternionExpression.hpp │ │ │ ├── VectorExpression.hpp │ │ │ └── VectorExpressionNode.hpp │ │ │ └── test │ │ │ ├── DesignVariableTests.hpp │ │ │ ├── ExpressionTests.hpp │ │ │ ├── GenericScalarExpressionTests.hpp │ │ │ ├── RotationExpressionTests.hpp │ │ │ └── RotationQuaternionAsVectorExpressionNode.hpp │ ├── notes.txt │ ├── package.xml │ ├── src │ │ ├── ErrorTermEuclidean.cpp │ │ ├── ErrorTermTransformation.cpp │ │ ├── EuclideanDirection.cpp │ │ ├── EuclideanExpression.cpp │ │ ├── EuclideanExpressionNode.cpp │ │ ├── EuclideanPoint.cpp │ │ ├── HomogeneousExpression.cpp │ │ ├── HomogeneousExpressionNode.cpp │ │ ├── HomogeneousPoint.cpp │ │ ├── MapTransformation.cpp │ │ ├── MappedEuclideanPoint.cpp │ │ ├── MappedHomogeneousPoint.cpp │ │ ├── MappedRotationQuaternion.cpp │ │ ├── MatrixBasic.cpp │ │ ├── MatrixExpression.cpp │ │ ├── MatrixExpressionNode.cpp │ │ ├── MatrixTransformation.cpp │ │ ├── RotationExpression.cpp │ │ ├── RotationExpressionNode.cpp │ │ ├── RotationQuaternion.cpp │ │ ├── Scalar.cpp │ │ ├── ScalarExpression.cpp │ │ ├── ScalarExpressionNode.cpp │ │ ├── TransformationBasic.cpp │ │ ├── TransformationExpression.cpp │ │ ├── TransformationExpressionNode.cpp │ │ └── Vector2RotationQuaternionExpressionAdapter.cpp │ └── test │ │ ├── CameraDesignVariable.cpp │ │ ├── ErrorTest_Euclidean.cpp │ │ ├── ErrorTest_Transformation.cpp │ │ ├── FixedPointNumberTest.cpp │ │ ├── GenericMatrixExpression.cpp │ │ ├── GenericScalarExpressionTest.cpp │ │ ├── HomogeneousExpression.cpp │ │ ├── MatrixAndEuclideanExpression.cpp │ │ ├── QuaternionExpression.cpp │ │ ├── RotationExpression.cpp │ │ ├── ScalarExpression.cpp │ │ └── test_main.cpp ├── aslam_backend_python │ ├── CMakeLists.txt │ ├── include │ │ └── aslam │ │ │ └── python │ │ │ ├── ExportAPrioriInformationError.hpp │ │ │ ├── ExportBackendExpressions.hpp │ │ │ ├── ExportDesignVariableAdapter.hpp │ │ │ └── ExportFrame.hpp │ ├── package.xml │ ├── python │ │ └── aslam_backend │ │ │ └── __init__.py │ ├── setup.py │ └── src │ │ ├── BSplineMotionError.cpp │ │ ├── Backend.cpp │ │ ├── BackendDesignVariables.cpp │ │ ├── BackendExpressions.cpp │ │ ├── CompressedColumnMatrix.cpp │ │ ├── Descriptors.cpp │ │ ├── DesignVariable.cpp │ │ ├── ErrorTerm.cpp │ │ ├── ErrorTermTransformation.cpp │ │ ├── Frontend.cpp │ │ ├── JacobianContainer.cpp │ │ ├── LinearSystemSolver.cpp │ │ ├── MEstimators.cpp │ │ ├── OptimizationProblem.cpp │ │ ├── Optimizer.cpp │ │ ├── OptimizerOptions.cpp │ │ ├── SparseBlockMatrix.cpp │ │ ├── Time.cpp │ │ ├── TrustRegionPolicies.cpp │ │ └── module.cpp └── sparse_block_matrix │ ├── CMakeLists.txt │ ├── cmake │ ├── FindSuiteSparse.cmake │ └── sparse_block_matrix-extras.cmake.in │ ├── include │ └── sparse_block_matrix │ │ ├── implementation │ │ ├── linear_solver_pcg.hpp │ │ ├── sparse_block_matrix.hpp │ │ └── sparse_helper.h │ │ ├── linear_solver.h │ │ ├── linear_solver_cholmod.h │ │ ├── linear_solver_csparse.h │ │ ├── linear_solver_dense.h │ │ ├── linear_solver_pcg.h │ │ ├── linear_solver_spqr.h │ │ ├── marginal_covariance_cholesky.h │ │ ├── matrix_structure.h │ │ ├── sparse_block_matrix.h │ │ └── sparse_helper.h │ ├── package.xml │ ├── src │ ├── marginal_covariance_cholesky.cpp │ ├── matrix_structure.cpp │ ├── solver_cholmod.cpp │ ├── solver_csparse.cpp │ ├── solver_dense.cpp │ ├── solver_pcg.cpp │ ├── sparse_block_matrix │ │ ├── .gitignore │ │ └── __init__.py │ └── sparse_helper.cpp │ └── test │ ├── sbm_gtest.hpp │ ├── solver_tests.cpp │ ├── sparse_block_matrix_tests.cpp │ └── test_main.cpp ├── catkin_simple ├── .gitignore ├── CMakeLists.txt ├── README.md ├── cmake │ └── catkin_simple-extras.cmake.em ├── package.xml └── test │ └── scenarios │ └── hello_world │ ├── .gitignore │ ├── bar │ ├── include │ │ └── bar │ │ │ └── hello.h │ ├── msg │ │ └── HeaderString.msg │ ├── package.xml │ └── src │ │ └── hello.cpp │ ├── baz │ ├── include │ │ └── baz │ │ │ └── world.h │ └── 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