├── .gitignore ├── .idea ├── .name ├── compiler.xml ├── copyright │ └── profiles_settings.xml ├── gradle.xml ├── misc.xml ├── modules.xml ├── runConfigurations.xml └── vcs.xml ├── README.md ├── README.md~ ├── app ├── .gitignore ├── build.gradle ├── proguard-rules.pro └── src │ ├── androidTest │ └── java │ │ └── com │ │ └── example │ │ └── castoryan │ │ └── orb │ │ └── ApplicationTest.java │ ├── main │ ├── AndroidManifest.xml │ ├── java │ │ └── com │ │ │ └── example │ │ │ └── castoryan │ │ │ └── orb │ │ │ ├── MainActivity.java │ │ │ ├── MyNDK.class │ │ │ └── MyNDK.java │ ├── jni │ │ ├── Android.mk │ │ ├── Application.mk │ │ ├── ORB_SLAM2 │ │ │ ├── include │ │ │ │ ├── Converter.h │ │ │ │ ├── Converter.h~ │ │ │ │ ├── Frame.h │ │ │ │ ├── FrameDrawer.h │ │ │ │ ├── Initializer.h │ │ │ │ ├── KeyFrame.h │ │ │ │ ├── KeyFrameDatabase.h │ │ │ │ ├── LocalMapping.h │ │ │ │ ├── LoopClosing.h │ │ │ │ ├── Map.h │ │ │ │ ├── MapDrawer.h │ │ │ │ ├── MapPoint.h │ │ │ │ ├── ORBVocabulary.h │ │ │ │ ├── ORBextractor.h │ │ │ │ ├── ORBmatcher.h │ │ │ │ ├── Optimizer.h │ │ │ │ ├── PnPsolver.h │ │ │ │ ├── Sim3Solver.h │ │ │ │ ├── System.h │ │ │ │ ├── Tracking.h │ │ │ │ └── Viewer.h │ │ │ └── src │ │ │ │ ├── Converter.cc │ │ │ │ ├── Frame.cc │ │ │ │ ├── FrameDrawer.cc │ │ │ │ ├── Initializer.cc │ │ │ │ ├── KeyFrame.cc │ │ │ │ ├── KeyFrameDatabase.cc │ │ │ │ ├── LocalMapping.cc │ │ │ │ ├── LoopClosing.cc │ │ │ │ ├── Makefile │ │ │ │ ├── Map.cc │ │ │ │ ├── MapDrawer.cc │ │ │ │ ├── MapPoint.cc │ │ │ │ ├── ORBextractor.cc │ │ │ │ ├── ORBmatcher.cc │ │ │ │ ├── Optimizer.cc │ │ │ │ ├── PnPsolver.cc │ │ │ │ ├── Sim3Solver.cc │ │ │ │ ├── System.cc │ │ │ │ ├── Tracking.cc │ │ │ │ └── Viewer.cc │ │ ├── Thirdparty │ │ │ ├── DBoW2 │ │ │ │ ├── DBoW2 │ │ │ │ │ ├── BowVector.cpp │ │ │ │ │ ├── BowVector.h │ │ │ │ │ ├── FClass.h │ │ │ │ │ ├── FORB.cpp │ │ │ │ │ ├── FORB.h │ │ │ │ │ ├── FeatureVector.cpp │ │ │ │ │ ├── FeatureVector.h │ │ │ │ │ ├── ScoringObject.cpp │ │ │ │ │ ├── ScoringObject.h │ │ │ │ │ └── TemplatedVocabulary.h │ │ │ │ └── DUtils │ │ │ │ │ ├── Random.cpp │ │ │ │ │ ├── Random.h │ │ │ │ │ ├── Timestamp.cpp │ │ │ │ │ └── Timestamp.h │ │ │ └── g2o │ │ │ │ ├── config.h │ │ │ │ └── g2o │ │ │ │ ├── core │ │ │ │ ├── base_binary_edge.h │ │ │ │ ├── base_binary_edge.hpp │ │ │ │ ├── base_edge.h │ │ │ │ ├── base_multi_edge.h │ │ │ │ ├── base_multi_edge.hpp │ │ │ │ ├── base_unary_edge.h │ │ │ │ ├── base_unary_edge.hpp │ │ │ │ ├── base_vertex.h │ │ │ │ ├── base_vertex.hpp │ │ │ │ ├── batch_stats.cpp │ │ │ │ ├── batch_stats.h │ │ │ │ ├── block_solver.h │ │ │ │ ├── block_solver.hpp │ │ │ │ ├── cache.cpp │ │ │ │ ├── cache.h │ │ │ │ ├── creators.h │ │ │ │ ├── eigen_types.h │ │ │ │ ├── estimate_propagator.cpp │ │ │ │ ├── estimate_propagator.h │ │ │ │ ├── factory.cpp │ │ │ │ ├── factory.h │ │ │ │ ├── hyper_dijkstra.cpp │ │ │ │ ├── hyper_dijkstra.h │ │ │ │ ├── hyper_graph.cpp │ │ │ │ ├── hyper_graph.h │ │ │ │ ├── hyper_graph_action.cpp │ │ │ │ ├── hyper_graph_action.h │ │ │ │ ├── jacobian_workspace.cpp │ │ │ │ ├── jacobian_workspace.h │ │ │ │ ├── linear_solver.h │ │ │ │ ├── marginal_covariance_cholesky.cpp │ │ │ │ ├── marginal_covariance_cholesky.h │ │ │ │ ├── matrix_operations.h │ │ │ │ ├── matrix_structure.cpp │ │ │ │ ├── matrix_structure.h │ │ │ │ ├── openmp_mutex.h │ │ │ │ ├── optimizable_graph.cpp │ │ │ │ ├── optimizable_graph.h │ │ │ │ ├── optimization_algorithm.cpp │ │ │ │ ├── optimization_algorithm.h │ │ │ │ ├── optimization_algorithm_dogleg.cpp │ │ │ │ ├── optimization_algorithm_dogleg.h │ │ │ │ ├── optimization_algorithm_factory.cpp │ │ │ │ ├── optimization_algorithm_factory.h │ │ │ │ ├── optimization_algorithm_gauss_newton.cpp │ │ │ │ ├── optimization_algorithm_gauss_newton.h │ │ │ │ ├── optimization_algorithm_levenberg.cpp │ │ │ │ ├── optimization_algorithm_levenberg.h │ │ │ │ ├── optimization_algorithm_property.h │ │ │ │ ├── optimization_algorithm_with_hessian.cpp │ │ │ │ ├── optimization_algorithm_with_hessian.h │ │ │ │ ├── parameter.cpp │ │ │ │ ├── parameter.h │ │ │ │ ├── parameter_container.cpp │ │ │ │ ├── parameter_container.h │ │ │ │ ├── robust_kernel.cpp │ │ │ │ ├── robust_kernel.h │ │ │ │ ├── robust_kernel_factory.cpp │ │ │ │ ├── robust_kernel_factory.h │ │ │ │ ├── robust_kernel_impl.cpp │ │ │ │ ├── robust_kernel_impl.h │ │ │ │ ├── solver.cpp │ │ │ │ ├── solver.h │ │ │ │ ├── sparse_block_matrix.h │ │ │ │ ├── sparse_block_matrix.hpp │ │ │ │ ├── sparse_block_matrix_ccs.h │ │ │ │ ├── sparse_block_matrix_diagonal.h │ │ │ │ ├── sparse_block_matrix_test.cpp │ │ │ │ ├── sparse_optimizer.cpp │ │ │ │ └── sparse_optimizer.h │ │ │ │ ├── solvers │ │ │ │ ├── linear_solver_dense.h │ │ │ │ └── linear_solver_eigen.h │ │ │ │ ├── stuff │ │ │ │ ├── color_macros.h │ │ │ │ ├── macros.h │ │ │ │ ├── macros.h~ │ │ │ │ ├── misc.h │ │ │ │ ├── os_specific.c │ │ │ │ ├── os_specific.h │ │ │ │ ├── property.cpp │ │ │ │ ├── property.h │ │ │ │ ├── string_tools.cpp │ │ │ │ ├── string_tools.h │ │ │ │ ├── timeutil.cpp │ │ │ │ └── timeutil.h │ │ │ │ └── types │ │ │ │ ├── se3_ops.h │ │ │ │ ├── se3_ops.hpp │ │ │ │ ├── se3quat.h │ │ │ │ ├── sim3.h │ │ │ │ ├── types_sba.cpp │ │ │ │ ├── types_sba.h │ │ │ │ ├── types_seven_dof_expmap.cpp │ │ │ │ ├── types_seven_dof_expmap.h │ │ │ │ ├── types_six_dof_expmap.cpp │ │ │ │ └── types_six_dof_expmap.h │ │ ├── com_example_castoryan_orb_MyNDK.h │ │ ├── include │ │ │ ├── Eigen │ │ │ │ ├── Array │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── Cholesky │ │ │ │ ├── CholmodSupport │ │ │ │ ├── Core │ │ │ │ ├── Dense │ │ │ │ ├── Eigen │ │ │ │ ├── Eigen2Support │ │ │ │ ├── Eigenvalues │ │ │ │ ├── Geometry │ │ │ │ ├── Householder │ │ │ │ ├── IterativeLinearSolvers │ │ │ │ ├── Jacobi │ │ │ │ ├── LU │ │ │ │ ├── LeastSquares │ │ │ │ ├── MetisSupport │ │ │ │ ├── OrderingMethods │ │ │ │ ├── PaStiXSupport │ │ │ │ ├── PardisoSupport │ │ │ │ ├── QR │ │ │ │ ├── QtAlignedMalloc │ │ │ │ ├── SPQRSupport │ │ │ │ ├── SVD │ │ │ │ ├── Sparse │ │ │ │ ├── SparseCholesky │ │ │ │ ├── SparseCore │ │ │ │ ├── SparseLU │ │ │ │ ├── SparseQR │ │ │ │ ├── StdDeque │ │ │ │ ├── StdList │ │ │ │ ├── StdVector │ │ │ │ ├── SuperLUSupport │ │ │ │ ├── UmfPackSupport │ │ │ │ └── src │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── Cholesky │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── LDLT.h │ │ │ │ │ ├── LLT.h │ │ │ │ │ └── LLT_MKL.h │ │ │ │ │ ├── CholmodSupport │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ └── CholmodSupport.h │ │ │ │ │ ├── Core │ │ │ │ │ ├── Array.h │ │ │ │ │ ├── ArrayBase.h │ │ │ │ │ ├── ArrayWrapper.h │ │ │ │ │ ├── Assign.h │ │ │ │ │ ├── Assign_MKL.h │ │ │ │ │ ├── BandMatrix.h │ │ │ │ │ ├── Block.h │ │ │ │ │ ├── BooleanRedux.h │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── CommaInitializer.h │ │ │ │ │ ├── CoreIterators.h │ │ │ │ │ ├── CwiseBinaryOp.h │ │ │ │ │ ├── CwiseNullaryOp.h │ │ │ │ │ ├── CwiseUnaryOp.h │ │ │ │ │ ├── CwiseUnaryView.h │ │ │ │ │ ├── DenseBase.h │ │ │ │ │ ├── DenseCoeffsBase.h │ │ │ │ │ ├── DenseStorage.h │ │ │ │ │ ├── Diagonal.h │ │ │ │ │ ├── DiagonalMatrix.h │ │ │ │ │ ├── DiagonalProduct.h │ │ │ │ │ ├── Dot.h │ │ │ │ │ ├── EigenBase.h │ │ │ │ │ ├── Flagged.h │ │ │ │ │ ├── ForceAlignedAccess.h │ │ │ │ │ ├── Functors.h │ │ │ │ │ ├── Fuzzy.h │ │ │ │ │ ├── GeneralProduct.h │ │ │ │ │ ├── GenericPacketMath.h │ │ │ │ │ ├── GlobalFunctions.h │ │ │ │ │ ├── IO.h │ │ │ │ │ ├── Map.h │ │ │ │ │ ├── MapBase.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ ├── Matrix.h │ │ │ │ │ ├── MatrixBase.h │ │ │ │ │ ├── NestByValue.h │ │ │ │ │ ├── NoAlias.h │ │ │ │ │ ├── NumTraits.h │ │ │ │ │ ├── PermutationMatrix.h │ │ │ │ │ ├── PlainObjectBase.h │ │ │ │ │ ├── ProductBase.h │ │ │ │ │ ├── Random.h │ │ │ │ │ ├── Redux.h │ │ │ │ │ ├── Ref.h │ │ │ │ │ ├── Replicate.h │ │ │ │ │ ├── ReturnByValue.h │ │ │ │ │ ├── Reverse.h │ │ │ │ │ ├── Select.h │ │ │ │ │ ├── SelfAdjointView.h │ │ │ │ │ ├── SelfCwiseBinaryOp.h │ │ │ │ │ ├── SolveTriangular.h │ │ │ │ │ ├── StableNorm.h │ │ │ │ │ ├── Stride.h │ │ │ │ │ ├── Swap.h │ │ │ │ │ ├── Transpose.h │ │ │ │ │ ├── Transpositions.h │ │ │ │ │ ├── TriangularMatrix.h │ │ │ │ │ ├── VectorBlock.h │ │ │ │ │ ├── VectorwiseOp.h │ │ │ │ │ ├── Visitor.h │ │ │ │ │ ├── arch │ │ │ │ │ │ ├── AltiVec │ │ │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ │ └── PacketMath.h │ │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ │ ├── Default │ │ │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ │ │ └── Settings.h │ │ │ │ │ │ ├── NEON │ │ │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ │ └── PacketMath.h │ │ │ │ │ │ └── SSE │ │ │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ │ └── PacketMath.h │ │ │ │ │ ├── products │ │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ │ ├── CoeffBasedProduct.h │ │ │ │ │ │ ├── GeneralBlockPanelKernel.h │ │ │ │ │ │ ├── GeneralMatrixMatrix.h │ │ │ │ │ │ ├── GeneralMatrixMatrixTriangular.h │ │ │ │ │ │ ├── GeneralMatrixMatrixTriangular_MKL.h │ │ │ │ │ │ ├── GeneralMatrixMatrix_MKL.h │ │ │ │ │ │ ├── GeneralMatrixVector.h │ │ │ │ │ │ ├── GeneralMatrixVector_MKL.h │ │ │ │ │ │ ├── Parallelizer.h │ │ │ │ │ │ ├── SelfadjointMatrixMatrix.h │ │ │ │ │ │ ├── SelfadjointMatrixMatrix_MKL.h │ │ │ │ │ │ ├── SelfadjointMatrixVector.h │ │ │ │ │ │ ├── SelfadjointMatrixVector_MKL.h │ │ │ │ │ │ ├── SelfadjointProduct.h │ │ │ │ │ │ ├── SelfadjointRank2Update.h │ │ │ │ │ │ ├── TriangularMatrixMatrix.h │ │ │ │ │ │ ├── TriangularMatrixMatrix_MKL.h │ │ │ │ │ │ ├── TriangularMatrixVector.h │ │ │ │ │ │ ├── TriangularMatrixVector_MKL.h │ │ │ │ │ │ ├── TriangularSolverMatrix.h │ │ │ │ │ │ ├── TriangularSolverMatrix_MKL.h │ │ │ │ │ │ └── TriangularSolverVector.h │ │ │ │ │ └── util │ │ │ │ │ │ ├── BlasUtil.h │ │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ │ ├── Constants.h │ │ │ │ │ │ ├── DisableStupidWarnings.h │ │ │ │ │ │ ├── ForwardDeclarations.h │ │ │ │ │ │ ├── MKL_support.h │ │ │ │ │ │ ├── Macros.h │ │ │ │ │ │ ├── Memory.h │ │ │ │ │ │ ├── Meta.h │ │ │ │ │ │ ├── NonMPL2.h │ │ │ │ │ │ ├── ReenableStupidWarnings.h │ │ │ │ │ │ ├── StaticAssert.h │ │ │ │ │ │ └── XprHelper.h │ │ │ │ │ ├── Eigen2Support │ │ │ │ │ ├── Block.h │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── Cwise.h │ │ │ │ │ ├── CwiseOperators.h │ │ │ │ │ ├── Geometry │ │ │ │ │ │ ├── AlignedBox.h │ │ │ │ │ │ ├── All.h │ │ │ │ │ │ ├── AngleAxis.h │ │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ │ ├── Hyperplane.h │ │ │ │ │ │ ├── ParametrizedLine.h │ │ │ │ │ │ ├── Quaternion.h │ │ │ │ │ │ ├── Rotation2D.h │ │ │ │ │ │ ├── RotationBase.h │ │ │ │ │ │ ├── Scaling.h │ │ │ │ │ │ ├── Transform.h │ │ │ │ │ │ └── Translation.h │ │ │ │ │ ├── LU.h │ │ │ │ │ ├── Lazy.h │ │ │ │ │ ├── LeastSquares.h │ │ │ │ │ ├── Macros.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ ├── Memory.h │ │ │ │ │ ├── Meta.h │ │ │ │ │ ├── Minor.h │ │ │ │ │ ├── QR.h │ │ │ │ │ ├── SVD.h │ │ │ │ │ ├── TriangularSolver.h │ │ │ │ │ └── VectorBlock.h │ │ │ │ │ ├── Eigenvalues │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── ComplexEigenSolver.h │ │ │ │ │ ├── ComplexSchur.h │ │ │ │ │ ├── ComplexSchur_MKL.h │ │ │ │ │ ├── EigenSolver.h │ │ │ │ │ ├── GeneralizedEigenSolver.h │ │ │ │ │ ├── GeneralizedSelfAdjointEigenSolver.h │ │ │ │ │ ├── HessenbergDecomposition.h │ │ │ │ │ ├── MatrixBaseEigenvalues.h │ │ │ │ │ ├── RealQZ.h │ │ │ │ │ ├── RealSchur.h │ │ │ │ │ ├── RealSchur_MKL.h │ │ │ │ │ ├── SelfAdjointEigenSolver.h │ │ │ │ │ ├── SelfAdjointEigenSolver_MKL.h │ │ │ │ │ └── Tridiagonalization.h │ │ │ │ │ ├── Geometry │ │ │ │ │ ├── AlignedBox.h │ │ │ │ │ ├── AngleAxis.h │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── EulerAngles.h │ │ │ │ │ ├── Homogeneous.h │ │ │ │ │ ├── Hyperplane.h │ │ │ │ │ ├── OrthoMethods.h │ │ │ │ │ ├── ParametrizedLine.h │ │ │ │ │ ├── Quaternion.h │ │ │ │ │ ├── Rotation2D.h │ │ │ │ │ ├── RotationBase.h │ │ │ │ │ ├── Scaling.h │ │ │ │ │ ├── Transform.h │ │ │ │ │ ├── Translation.h │ │ │ │ │ ├── Umeyama.h │ │ │ │ │ └── arch │ │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ │ └── Geometry_SSE.h │ │ │ │ │ ├── Householder │ │ │ │ │ ├── BlockHouseholder.h │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── Householder.h │ │ │ │ │ └── HouseholderSequence.h │ │ │ │ │ ├── IterativeLinearSolvers │ │ │ │ │ ├── BasicPreconditioners.h │ │ │ │ │ ├── BiCGSTAB.h │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── ConjugateGradient.h │ │ │ │ │ ├── IncompleteLUT.h │ │ │ │ │ └── IterativeSolverBase.h │ │ │ │ │ ├── Jacobi │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ └── Jacobi.h │ │ │ │ │ ├── LU │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── Determinant.h │ │ │ │ │ ├── FullPivLU.h │ │ │ │ │ ├── Inverse.h │ │ │ │ │ ├── PartialPivLU.h │ │ │ │ │ ├── PartialPivLU_MKL.h │ │ │ │ │ └── arch │ │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ │ └── Inverse_SSE.h │ │ │ │ │ ├── MetisSupport │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ └── MetisSupport.h │ │ │ │ │ ├── OrderingMethods │ │ │ │ │ ├── Amd.h │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── Eigen_Colamd.h │ │ │ │ │ └── Ordering.h │ │ │ │ │ ├── PaStiXSupport │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ └── PaStiXSupport.h │ │ │ │ │ ├── PardisoSupport │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ └── PardisoSupport.h │ │ │ │ │ ├── QR │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── ColPivHouseholderQR.h │ │ │ │ │ ├── ColPivHouseholderQR_MKL.h │ │ │ │ │ ├── FullPivHouseholderQR.h │ │ │ │ │ ├── HouseholderQR.h │ │ │ │ │ └── HouseholderQR_MKL.h │ │ │ │ │ ├── SPQRSupport │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ └── SuiteSparseQRSupport.h │ │ │ │ │ ├── SVD │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── JacobiSVD.h │ │ │ │ │ ├── JacobiSVD_MKL.h │ │ │ │ │ └── UpperBidiagonalization.h │ │ │ │ │ ├── SparseCholesky │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── SimplicialCholesky.h │ │ │ │ │ └── SimplicialCholesky_impl.h │ │ │ │ │ ├── SparseCore │ │ │ │ │ ├── AmbiVector.h │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── CompressedStorage.h │ │ │ │ │ ├── ConservativeSparseSparseProduct.h │ │ │ │ │ ├── MappedSparseMatrix.h │ │ │ │ │ ├── SparseBlock.h │ │ │ │ │ ├── SparseColEtree.h │ │ │ │ │ ├── SparseCwiseBinaryOp.h │ │ │ │ │ ├── SparseCwiseUnaryOp.h │ │ │ │ │ ├── SparseDenseProduct.h │ │ │ │ │ ├── SparseDiagonalProduct.h │ │ │ │ │ ├── SparseDot.h │ │ │ │ │ ├── SparseFuzzy.h │ │ │ │ │ ├── SparseMatrix.h │ │ │ │ │ ├── SparseMatrixBase.h │ │ │ │ │ ├── SparsePermutation.h │ │ │ │ │ ├── SparseProduct.h │ │ │ │ │ ├── SparseRedux.h │ │ │ │ │ ├── SparseSelfAdjointView.h │ │ │ │ │ ├── SparseSparseProductWithPruning.h │ │ │ │ │ ├── SparseTranspose.h │ │ │ │ │ ├── SparseTriangularView.h │ │ │ │ │ ├── SparseUtil.h │ │ │ │ │ ├── SparseVector.h │ │ │ │ │ ├── SparseView.h │ │ │ │ │ └── TriangularSolver.h │ │ │ │ │ ├── SparseLU │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── SparseLU.h │ │ │ │ │ ├── SparseLUImpl.h │ │ │ │ │ ├── SparseLU_Memory.h │ │ │ │ │ ├── SparseLU_Structs.h │ │ │ │ │ ├── SparseLU_SupernodalMatrix.h │ │ │ │ │ ├── SparseLU_Utils.h │ │ │ │ │ ├── SparseLU_column_bmod.h │ │ │ │ │ ├── SparseLU_column_dfs.h │ │ │ │ │ ├── SparseLU_copy_to_ucol.h │ │ │ │ │ ├── SparseLU_gemm_kernel.h │ │ │ │ │ ├── SparseLU_heap_relax_snode.h │ │ │ │ │ ├── SparseLU_kernel_bmod.h │ │ │ │ │ ├── SparseLU_panel_bmod.h │ │ │ │ │ ├── SparseLU_panel_dfs.h │ │ │ │ │ ├── SparseLU_pivotL.h │ │ │ │ │ ├── SparseLU_pruneL.h │ │ │ │ │ └── SparseLU_relax_snode.h │ │ │ │ │ ├── SparseQR │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ └── SparseQR.h │ │ │ │ │ ├── StlSupport │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── StdDeque.h │ │ │ │ │ ├── StdList.h │ │ │ │ │ ├── StdVector.h │ │ │ │ │ └── details.h │ │ │ │ │ ├── SuperLUSupport │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ └── SuperLUSupport.h │ │ │ │ │ ├── UmfPackSupport │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ └── UmfPackSupport.h │ │ │ │ │ ├── misc │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── Image.h │ │ │ │ │ ├── Kernel.h │ │ │ │ │ ├── Solve.h │ │ │ │ │ ├── SparseSolve.h │ │ │ │ │ └── blas.h │ │ │ │ │ └── plugins │ │ │ │ │ ├── ArrayCwiseBinaryOps.h │ │ │ │ │ ├── ArrayCwiseUnaryOps.h │ │ │ │ │ ├── BlockMethods.h │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── CommonCwiseBinaryOps.h │ │ │ │ │ ├── CommonCwiseUnaryOps.h │ │ │ │ │ ├── MatrixCwiseBinaryOps.h │ │ │ │ │ └── MatrixCwiseUnaryOps.h │ │ │ ├── cs.h~ │ │ │ ├── g2o │ │ │ │ ├── apps │ │ │ │ │ ├── g2o_cli │ │ │ │ │ │ ├── dl_wrapper.h │ │ │ │ │ │ ├── g2o_cli_api.h │ │ │ │ │ │ ├── g2o_common.h │ │ │ │ │ │ └── output_helper.h │ │ │ │ │ ├── g2o_hierarchical │ │ │ │ │ │ ├── backbone_tree_action.h │ │ │ │ │ │ ├── edge_creator.h │ │ │ │ │ │ ├── edge_labeler.h │ │ │ │ │ │ ├── edge_types_cost_function.h │ │ │ │ │ │ ├── g2o_hierarchical_api.h │ │ │ │ │ │ ├── simple_star_ops.h │ │ │ │ │ │ └── star.h │ │ │ │ │ ├── g2o_simulator │ │ │ │ │ │ ├── g2o_simulator_api.h │ │ │ │ │ │ ├── pointsensorparameters.h │ │ │ │ │ │ ├── sensor_line3d.h │ │ │ │ │ │ ├── sensor_odometry.h │ │ │ │ │ │ ├── sensor_odometry2d.h │ │ │ │ │ │ ├── sensor_odometry3d.h │ │ │ │ │ │ ├── sensor_pointxy.h │ │ │ │ │ │ ├── sensor_pointxy_bearing.h │ │ │ │ │ │ ├── sensor_pointxy_offset.h │ │ │ │ │ │ ├── sensor_pointxyz.h │ │ │ │ │ │ ├── sensor_pointxyz_depth.h │ │ │ │ │ │ ├── sensor_pointxyz_disparity.h │ │ │ │ │ │ ├── sensor_pose2d.h │ │ │ │ │ │ ├── sensor_pose3d.h │ │ │ │ │ │ ├── sensor_pose3d_offset.h │ │ │ │ │ │ ├── sensor_se3_prior.h │ │ │ │ │ │ ├── sensor_segment2d.h │ │ │ │ │ │ ├── sensor_segment2d_line.h │ │ │ │ │ │ ├── sensor_segment2d_pointline.h │ │ │ │ │ │ ├── simulator.h │ │ │ │ │ │ ├── simulator2d.h │ │ │ │ │ │ ├── simulator2d_base.h │ │ │ │ │ │ ├── simulator3d.h │ │ │ │ │ │ ├── simulator3d_base.h │ │ │ │ │ │ └── simutils.h │ │ │ │ │ └── g2o_viewer │ │ │ │ │ │ ├── g2o_qglviewer.h │ │ │ │ │ │ ├── g2o_viewer_api.h │ │ │ │ │ │ ├── gui_hyper_graph_action.h │ │ │ │ │ │ ├── main_window.h │ │ │ │ │ │ ├── properties_widget.h │ │ │ │ │ │ ├── run_g2o_viewer.h │ │ │ │ │ │ ├── stream_redirect.h │ │ │ │ │ │ ├── ui_base_main_window.h │ │ │ │ │ │ ├── ui_base_properties_widget.h │ │ │ │ │ │ └── viewer_properties_widget.h │ │ │ │ ├── config.h │ │ │ │ ├── core │ │ │ │ │ ├── base_binary_edge.h │ │ │ │ │ ├── base_binary_edge.hpp │ │ │ │ │ ├── base_edge.h │ │ │ │ │ ├── base_multi_edge.h │ │ │ │ │ ├── base_multi_edge.hpp │ │ │ │ │ ├── base_unary_edge.h │ │ │ │ │ ├── base_unary_edge.hpp │ │ │ │ │ ├── base_vertex.h │ │ │ │ │ ├── base_vertex.hpp │ │ │ │ │ ├── batch_stats.h │ │ │ │ │ ├── block_solver.h │ │ │ │ │ ├── block_solver.hpp │ │ │ │ │ ├── cache.h │ │ │ │ │ ├── creators.h │ │ │ │ │ ├── eigen_types.h │ │ │ │ │ ├── estimate_propagator.h │ │ │ │ │ ├── factory.h │ │ │ │ │ ├── g2o_core_api.h │ │ │ │ │ ├── hyper_dijkstra.h │ │ │ │ │ ├── hyper_graph.h │ │ │ │ │ ├── hyper_graph_action.h │ │ │ │ │ ├── jacobian_workspace.h │ │ │ │ │ ├── linear_solver.h │ │ │ │ │ ├── marginal_covariance_cholesky.h │ │ │ │ │ ├── matrix_operations.h │ │ │ │ │ ├── matrix_structure.h │ │ │ │ │ ├── openmp_mutex.h │ │ │ │ │ ├── optimizable_graph.h │ │ │ │ │ ├── optimization_algorithm.h │ │ │ │ │ ├── optimization_algorithm_dogleg.h │ │ │ │ │ ├── optimization_algorithm_factory.h │ │ │ │ │ ├── optimization_algorithm_gauss_newton.h │ │ │ │ │ ├── optimization_algorithm_levenberg.h │ │ │ │ │ ├── optimization_algorithm_property.h │ │ │ │ │ ├── optimization_algorithm_with_hessian.h │ │ │ │ │ ├── parameter.h │ │ │ │ │ ├── parameter_container.h │ │ │ │ │ ├── robust_kernel.h │ │ │ │ │ ├── robust_kernel_factory.h │ │ │ │ │ ├── robust_kernel_impl.h │ │ │ │ │ ├── solver.h │ │ │ │ │ ├── sparse_block_matrix.h │ │ │ │ │ ├── sparse_block_matrix.hpp │ │ │ │ │ ├── sparse_block_matrix_ccs.h │ │ │ │ │ ├── sparse_block_matrix_diagonal.h │ │ │ │ │ ├── sparse_optimizer.h │ │ │ │ │ └── sparse_optimizer_terminate_action.h │ │ │ │ ├── examples │ │ │ │ │ └── interactive_slam │ │ │ │ │ │ ├── g2o_incremental │ │ │ │ │ │ ├── g2o_incremental_api.h │ │ │ │ │ │ ├── graph_optimizer_sparse_incremental.h │ │ │ │ │ │ └── linear_solver_cholmod_online.h │ │ │ │ │ │ └── g2o_interactive │ │ │ │ │ │ ├── fast_output.h │ │ │ │ │ │ ├── g2o_interactive_api.h │ │ │ │ │ │ ├── g2o_slam_interface.h │ │ │ │ │ │ ├── graph_optimizer_sparse_online.h │ │ │ │ │ │ ├── types_slam2d_online.h │ │ │ │ │ │ └── types_slam3d_online.h │ │ │ │ ├── solvers │ │ │ │ │ ├── cholmod │ │ │ │ │ │ └── linear_solver_cholmod.h │ │ │ │ │ ├── csparse │ │ │ │ │ │ ├── csparse_helper.h │ │ │ │ │ │ ├── g2o_csparse_api.h │ │ │ │ │ │ ├── g2o_csparse_extension_api.h │ │ │ │ │ │ └── linear_solver_csparse.h │ │ │ │ │ ├── dense │ │ │ │ │ │ └── linear_solver_dense.h │ │ │ │ │ ├── eigen │ │ │ │ │ │ └── linear_solver_eigen.h │ │ │ │ │ ├── pcg │ │ │ │ │ │ ├── linear_solver_pcg.h │ │ │ │ │ │ └── linear_solver_pcg.hpp │ │ │ │ │ ├── slam2d_linear │ │ │ │ │ │ ├── g2o_slam2d_linear_api.h │ │ │ │ │ │ └── solver_slam2d_linear.h │ │ │ │ │ └── structure_only │ │ │ │ │ │ └── structure_only_solver.h │ │ │ │ ├── stuff │ │ │ │ │ ├── color_macros.h │ │ │ │ │ ├── command_args.h │ │ │ │ │ ├── filesys_tools.h │ │ │ │ │ ├── g2o_stuff_api.h │ │ │ │ │ ├── macros.h │ │ │ │ │ ├── misc.h │ │ │ │ │ ├── opengl_primitives.h │ │ │ │ │ ├── opengl_wrapper.h │ │ │ │ │ ├── os_specific.h │ │ │ │ │ ├── property.h │ │ │ │ │ ├── sampler.h │ │ │ │ │ ├── scoped_pointer.h │ │ │ │ │ ├── sparse_helper.h │ │ │ │ │ ├── string_tools.h │ │ │ │ │ ├── tictoc.h │ │ │ │ │ ├── timeutil.h │ │ │ │ │ └── unscented.h │ │ │ │ └── types │ │ │ │ │ ├── data │ │ │ │ │ ├── data_queue.h │ │ │ │ │ ├── g2o_types_data_api.h │ │ │ │ │ ├── laser_parameters.h │ │ │ │ │ ├── raw_laser.h │ │ │ │ │ ├── robot_data.h │ │ │ │ │ ├── robot_laser.h │ │ │ │ │ ├── types_data.h │ │ │ │ │ ├── vertex_ellipse.h │ │ │ │ │ └── vertex_tag.h │ │ │ │ │ ├── icp │ │ │ │ │ ├── g2o_types_icp_api.h │ │ │ │ │ └── types_icp.h │ │ │ │ │ ├── sba │ │ │ │ │ ├── g2o_types_sba_api.h │ │ │ │ │ ├── sbacam.h │ │ │ │ │ ├── types_sba.h │ │ │ │ │ └── types_six_dof_expmap.h │ │ │ │ │ ├── sclam2d │ │ │ │ │ ├── edge_se2_odom_differential_calib.h │ │ │ │ │ ├── edge_se2_sensor_calib.h │ │ │ │ │ ├── g2o_types_sclam2d_api.h │ │ │ │ │ ├── odometry_measurement.h │ │ │ │ │ ├── types_sclam2d.h │ │ │ │ │ └── vertex_odom_differential_params.h │ │ │ │ │ ├── sim3 │ │ │ │ │ ├── sim3.h │ │ │ │ │ └── types_seven_dof_expmap.h │ │ │ │ │ ├── slam2d │ │ │ │ │ ├── edge_pointxy.h │ │ │ │ │ ├── edge_se2.h │ │ │ │ │ ├── edge_se2_lotsofxy.h │ │ │ │ │ ├── edge_se2_offset.h │ │ │ │ │ ├── edge_se2_pointxy.h │ │ │ │ │ ├── edge_se2_pointxy_bearing.h │ │ │ │ │ ├── edge_se2_pointxy_calib.h │ │ │ │ │ ├── edge_se2_pointxy_offset.h │ │ │ │ │ ├── edge_se2_prior.h │ │ │ │ │ ├── edge_se2_twopointsxy.h │ │ │ │ │ ├── edge_se2_xyprior.h │ │ │ │ │ ├── g2o_types_slam2d_api.h │ │ │ │ │ ├── parameter_se2_offset.h │ │ │ │ │ ├── se2.h │ │ │ │ │ ├── types_slam2d.h │ │ │ │ │ ├── vertex_point_xy.h │ │ │ │ │ └── vertex_se2.h │ │ │ │ │ ├── slam2d_addons │ │ │ │ │ ├── edge_line2d.h │ │ │ │ │ ├── edge_line2d_pointxy.h │ │ │ │ │ ├── edge_se2_line2d.h │ │ │ │ │ ├── edge_se2_segment2d.h │ │ │ │ │ ├── edge_se2_segment2d_line.h │ │ │ │ │ ├── edge_se2_segment2d_pointLine.h │ │ │ │ │ ├── g2o_types_slam2d_addons_api.h │ │ │ │ │ ├── line_2d.h │ │ │ │ │ ├── types_slam2d_addons.h │ │ │ │ │ ├── vertex_line2d.h │ │ │ │ │ └── vertex_segment2d.h │ │ │ │ │ ├── slam3d │ │ │ │ │ ├── dquat2mat.h │ │ │ │ │ ├── edge_pointxyz.h │ │ │ │ │ ├── edge_se3.h │ │ │ │ │ ├── edge_se3_lotsofxyz.h │ │ │ │ │ ├── edge_se3_offset.h │ │ │ │ │ ├── edge_se3_pointxyz.h │ │ │ │ │ ├── edge_se3_pointxyz_depth.h │ │ │ │ │ ├── edge_se3_pointxyz_disparity.h │ │ │ │ │ ├── edge_se3_prior.h │ │ │ │ │ ├── g2o_types_slam3d_api.h │ │ │ │ │ ├── isometry3d_gradients.h │ │ │ │ │ ├── isometry3d_mappings.h │ │ │ │ │ ├── parameter_camera.h │ │ │ │ │ ├── parameter_se3_offset.h │ │ │ │ │ ├── parameter_stereo_camera.h │ │ │ │ │ ├── se3_ops.h │ │ │ │ │ ├── se3_ops.hpp │ │ │ │ │ ├── se3quat.h │ │ │ │ │ ├── types_slam3d.h │ │ │ │ │ ├── vertex_pointxyz.h │ │ │ │ │ └── vertex_se3.h │ │ │ │ │ └── slam3d_addons │ │ │ │ │ ├── edge_line3d.h │ │ │ │ │ ├── edge_plane.h │ │ │ │ │ ├── edge_se3_calib.h │ │ │ │ │ ├── edge_se3_euler.h │ │ │ │ │ ├── edge_se3_line.h │ │ │ │ │ ├── edge_se3_plane_calib.h │ │ │ │ │ ├── g2o_types_slam3d_addons_api.h │ │ │ │ │ ├── line3d.h │ │ │ │ │ ├── plane3d.h │ │ │ │ │ ├── types_slam3d_addons.h │ │ │ │ │ ├── vertex_line3d.h │ │ │ │ │ ├── vertex_plane.h │ │ │ │ │ └── vertex_se3_euler.h │ │ │ ├── opencv │ │ │ │ ├── cv.h │ │ │ │ ├── cv.hpp │ │ │ │ ├── cvaux.h │ │ │ │ ├── cvaux.hpp │ │ │ │ ├── cvwimage.h │ │ │ │ ├── cxcore.h │ │ │ │ ├── cxcore.hpp │ │ │ │ ├── cxeigen.hpp │ │ │ │ ├── cxmisc.h │ │ │ │ ├── highgui.h │ │ │ │ └── ml.h │ │ │ └── opencv2 │ │ │ │ ├── calib3d │ │ │ │ └── calib3d.hpp │ │ │ │ ├── contrib │ │ │ │ ├── contrib.hpp │ │ │ │ ├── detection_based_tracker.hpp │ │ │ │ ├── hybridtracker.hpp │ │ │ │ ├── openfabmap.hpp │ │ │ │ └── retina.hpp │ │ │ │ ├── core │ │ │ │ ├── affine.hpp │ │ │ │ ├── core.hpp │ │ │ │ ├── core_c.h │ │ │ │ ├── cuda_devptrs.hpp │ │ │ │ ├── devmem2d.hpp │ │ │ │ ├── eigen.hpp │ │ │ │ ├── gpumat.hpp │ │ │ │ ├── internal.hpp │ │ │ │ ├── mat.hpp │ │ │ │ ├── opengl_interop.hpp │ │ │ │ ├── opengl_interop_deprecated.hpp │ │ │ │ ├── operations.hpp │ │ │ │ ├── operations.hpp~ │ │ │ │ ├── types_c.h │ │ │ │ ├── version.hpp │ │ │ │ └── wimage.hpp │ │ │ │ ├── features2d │ │ │ │ └── features2d.hpp │ │ │ │ ├── flann │ │ │ │ ├── all_indices.h │ │ │ │ ├── allocator.h │ │ │ │ ├── any.h │ │ │ │ ├── autotuned_index.h │ │ │ │ ├── composite_index.h │ │ │ │ ├── config.h │ │ │ │ ├── defines.h │ │ │ │ ├── dist.h │ │ │ │ ├── dummy.h │ │ │ │ ├── dynamic_bitset.h │ │ │ │ ├── flann.hpp │ │ │ │ ├── flann_base.hpp │ │ │ │ ├── general.h │ │ │ │ ├── ground_truth.h │ │ │ │ ├── hdf5.h │ │ │ │ ├── heap.h │ │ │ │ ├── hierarchical_clustering_index.h │ │ │ │ ├── index_testing.h │ │ │ │ ├── kdtree_index.h │ │ │ │ ├── kdtree_single_index.h │ │ │ │ ├── kmeans_index.h │ │ │ │ ├── linear_index.h │ │ │ │ ├── logger.h │ │ │ │ ├── lsh_index.h │ │ │ │ ├── lsh_table.h │ │ │ │ ├── matrix.h │ │ │ │ ├── miniflann.hpp │ │ │ │ ├── nn_index.h │ │ │ │ ├── object_factory.h │ │ │ │ ├── params.h │ │ │ │ ├── random.h │ │ │ │ ├── result_set.h │ │ │ │ ├── sampling.h │ │ │ │ ├── saving.h │ │ │ │ ├── simplex_downhill.h │ │ │ │ └── timer.h │ │ │ │ ├── highgui │ │ │ │ ├── cap_ios.h │ │ │ │ ├── highgui.hpp │ │ │ │ ├── highgui_c.h │ │ │ │ └── ios.h │ │ │ │ ├── imgproc │ │ │ │ ├── imgproc.hpp │ │ │ │ ├── imgproc_c.h │ │ │ │ └── types_c.h │ │ │ │ ├── legacy │ │ │ │ ├── blobtrack.hpp │ │ │ │ ├── compat.hpp │ │ │ │ ├── legacy.hpp │ │ │ │ └── streams.hpp │ │ │ │ ├── ml │ │ │ │ └── ml.hpp │ │ │ │ ├── objdetect │ │ │ │ └── objdetect.hpp │ │ │ │ ├── ocl │ │ │ │ ├── matrix_operations.hpp │ │ │ │ └── ocl.hpp │ │ │ │ ├── opencv.hpp │ │ │ │ ├── opencv_modules.hpp │ │ │ │ ├── photo │ │ │ │ ├── photo.hpp │ │ │ │ └── photo_c.h │ │ │ │ ├── stitching │ │ │ │ ├── detail │ │ │ │ │ ├── autocalib.hpp │ │ │ │ │ ├── blenders.hpp │ │ │ │ │ ├── camera.hpp │ │ │ │ │ ├── exposure_compensate.hpp │ │ │ │ │ ├── matchers.hpp │ │ │ │ │ ├── motion_estimators.hpp │ │ │ │ │ ├── seam_finders.hpp │ │ │ │ │ ├── util.hpp │ │ │ │ │ ├── util_inl.hpp │ │ │ │ │ ├── warpers.hpp │ │ │ │ │ └── warpers_inl.hpp │ │ │ │ ├── stitcher.hpp │ │ │ │ └── warpers.hpp │ │ │ │ ├── superres │ │ │ │ ├── optical_flow.hpp │ │ │ │ └── superres.hpp │ │ │ │ ├── ts │ │ │ │ ├── gpu_perf.hpp │ │ │ │ ├── gpu_test.hpp │ │ │ │ ├── ts.hpp │ │ │ │ ├── ts_gtest.h │ │ │ │ └── ts_perf.hpp │ │ │ │ ├── video │ │ │ │ ├── background_segm.hpp │ │ │ │ ├── tracking.hpp │ │ │ │ └── video.hpp │ │ │ │ └── videostab │ │ │ │ ├── deblurring.hpp │ │ │ │ ├── fast_marching.hpp │ │ │ │ ├── fast_marching_inl.hpp │ │ │ │ ├── frame_source.hpp │ │ │ │ ├── global_motion.hpp │ │ │ │ ├── inpainting.hpp │ │ │ │ ├── log.hpp │ │ │ │ ├── motion_stabilizing.hpp │ │ │ │ ├── optical_flow.hpp │ │ │ │ ├── stabilizer.hpp │ │ │ │ └── videostab.hpp │ │ ├── lib │ │ │ └── opencv │ │ │ │ ├── 3rdparty │ │ │ │ ├── libIlmImf.a │ │ │ │ ├── liblibjasper.a │ │ │ │ ├── liblibjpeg.a │ │ │ │ ├── liblibpng.a │ │ │ │ ├── liblibtiff.a │ │ │ │ └── libtbb.a │ │ │ │ ├── libopencv_calib3d.a │ │ │ │ ├── libopencv_core.a │ │ │ │ ├── libopencv_features2d.a │ │ │ │ ├── libopencv_flann.a │ │ │ │ ├── libopencv_highgui.a │ │ │ │ └── libopencv_imgproc.a │ │ └── mono_camera.cpp │ └── res │ │ ├── layout │ │ └── activity_main.xml │ │ ├── mipmap-hdpi │ │ └── ic_launcher.png │ │ ├── mipmap-mdpi │ │ └── ic_launcher.png │ │ ├── mipmap-xhdpi │ │ └── ic_launcher.png │ │ ├── mipmap-xxhdpi │ │ └── ic_launcher.png │ │ ├── mipmap-xxxhdpi │ │ └── ic_launcher.png │ │ ├── values-w820dp │ │ └── dimens.xml │ │ └── values │ │ ├── colors.xml │ │ ├── dimens.xml │ │ ├── strings.xml │ │ └── styles.xml │ └── test │ └── java │ └── com │ └── example │ └── castoryan │ └── orb │ └── ExampleUnitTest.java ├── gradle.properties ├── gradle └── wrapper │ ├── gradle-wrapper.jar │ └── gradle-wrapper.properties ├── gradlew ├── gradlew.bat ├── import-summary.txt ├── openCVLibrary2411 ├── build.gradle ├── build │ ├── generated │ │ └── source │ │ │ ├── aidl │ │ │ ├── debug │ │ │ │ └── org │ │ │ │ │ └── opencv │ │ │ │ │ └── engine │ │ │ │ │ └── OpenCVEngineInterface.java │ │ │ └── release │ │ │ │ └── org │ │ │ │ └── opencv │ │ │ │ └── engine │ │ │ │ └── OpenCVEngineInterface.java │ │ │ ├── buildConfig │ │ │ ├── androidTest │ │ │ │ └── debug │ │ │ │ │ └── org │ │ │ │ │ └── opencv │ │ │ │ │ └── test │ │ │ │ │ └── BuildConfig.java │ │ │ ├── debug │ │ │ │ └── org │ │ │ │ │ └── opencv │ │ │ │ │ └── BuildConfig.java │ │ │ └── release │ │ │ │ └── org │ │ │ │ └── opencv │ │ │ │ └── BuildConfig.java │ │ │ └── r │ │ │ ├── androidTest │ │ │ └── debug │ │ │ │ └── org │ │ │ │ └── opencv │ │ │ │ ├── R.java │ │ │ │ └── test │ │ │ │ └── R.java │ │ │ ├── debug │ │ │ └── org │ │ │ │ └── opencv │ │ │ │ └── R.java │ │ │ └── release │ │ │ └── org │ │ │ └── opencv │ │ │ └── R.java │ ├── intermediates │ │ ├── blame │ │ │ └── res │ │ │ │ └── androidTest │ │ │ │ └── debug │ │ │ │ └── multi │ │ │ │ └── values.json │ │ ├── bundles │ │ │ ├── debug │ │ │ │ ├── AndroidManifest.xml │ │ │ │ ├── R.txt │ │ │ │ ├── aapt │ │ │ │ │ └── AndroidManifest.xml │ │ │ │ ├── classes.jar │ │ │ │ └── res │ │ │ │ │ └── values │ │ │ │ │ └── values.xml │ │ │ └── release │ │ │ │ ├── AndroidManifest.xml │ │ │ │ ├── R.txt │ │ │ │ ├── aapt │ │ │ │ └── AndroidManifest.xml │ │ │ │ ├── classes.jar │ │ │ │ └── res │ │ │ │ └── values │ │ │ │ └── values.xml │ │ ├── classes │ │ │ ├── debug │ │ │ │ └── org │ │ │ │ │ └── opencv │ │ │ │ │ ├── BuildConfig.class │ │ │ │ │ ├── R$attr.class │ │ │ │ │ ├── R$id.class │ │ │ │ │ ├── R$styleable.class │ │ │ │ │ ├── R.class │ │ │ │ │ ├── android │ │ │ │ │ ├── AsyncServiceHelper$1.class │ │ │ │ │ ├── AsyncServiceHelper$2.class │ │ │ │ │ ├── AsyncServiceHelper$3$1.class │ │ │ │ │ ├── AsyncServiceHelper$3$2.class │ │ │ │ │ ├── AsyncServiceHelper$3.class │ │ │ │ │ ├── AsyncServiceHelper.class │ │ │ │ │ ├── BaseLoaderCallback$1.class │ │ │ │ │ ├── BaseLoaderCallback$2.class │ │ │ │ │ ├── BaseLoaderCallback$3.class │ │ │ │ │ ├── BaseLoaderCallback$4.class │ │ │ │ │ ├── BaseLoaderCallback$5.class │ │ │ │ │ ├── BaseLoaderCallback$6.class │ │ │ │ │ ├── BaseLoaderCallback$7.class │ │ │ │ │ ├── BaseLoaderCallback.class │ │ │ │ │ ├── CameraBridgeViewBase$1.class │ │ │ │ │ ├── CameraBridgeViewBase$CvCameraViewFrame.class │ │ │ │ │ ├── CameraBridgeViewBase$CvCameraViewListener.class │ │ │ │ │ ├── CameraBridgeViewBase$CvCameraViewListener2.class │ │ │ │ │ ├── CameraBridgeViewBase$CvCameraViewListenerAdapter.class │ │ │ │ │ ├── CameraBridgeViewBase$ListItemAccessor.class │ │ │ │ │ ├── CameraBridgeViewBase.class │ │ │ │ │ ├── FpsMeter.class │ │ │ │ │ ├── InstallCallbackInterface.class │ │ │ │ │ ├── JavaCameraView$1.class │ │ │ │ │ ├── JavaCameraView$CameraWorker.class │ │ │ │ │ ├── JavaCameraView$JavaCameraFrame.class │ │ │ │ │ ├── JavaCameraView$JavaCameraSizeAccessor.class │ │ │ │ │ ├── JavaCameraView.class │ │ │ │ │ ├── LoaderCallbackInterface.class │ │ │ │ │ ├── NativeCameraView$1.class │ │ │ │ │ ├── NativeCameraView$CameraWorker.class │ │ │ │ │ ├── NativeCameraView$NativeCameraFrame.class │ │ │ │ │ ├── NativeCameraView$OpenCvSizeAccessor.class │ │ │ │ │ ├── NativeCameraView.class │ │ │ │ │ ├── OpenCVLoader.class │ │ │ │ │ ├── StaticHelper.class │ │ │ │ │ └── Utils.class │ │ │ │ │ ├── calib3d │ │ │ │ │ ├── Calib3d.class │ │ │ │ │ ├── StereoBM.class │ │ │ │ │ └── StereoSGBM.class │ │ │ │ │ ├── contrib │ │ │ │ │ ├── Contrib.class │ │ │ │ │ ├── FaceRecognizer.class │ │ │ │ │ └── StereoVar.class │ │ │ │ │ ├── core │ │ │ │ │ ├── Algorithm.class │ │ │ │ │ ├── Core$MinMaxLocResult.class │ │ │ │ │ ├── Core.class │ │ │ │ │ ├── CvException.class │ │ │ │ │ ├── CvType.class │ │ │ │ │ ├── Mat.class │ │ │ │ │ ├── MatOfByte.class │ │ │ │ │ ├── MatOfDMatch.class │ │ │ │ │ ├── MatOfDouble.class │ │ │ │ │ ├── MatOfFloat.class │ │ │ │ │ ├── MatOfFloat4.class │ │ │ │ │ ├── MatOfFloat6.class │ │ │ │ │ ├── MatOfInt.class │ │ │ │ │ ├── MatOfInt4.class │ │ │ │ │ ├── MatOfKeyPoint.class │ │ │ │ │ ├── MatOfPoint.class │ │ │ │ │ ├── MatOfPoint2f.class │ │ │ │ │ ├── MatOfPoint3.class │ │ │ │ │ ├── MatOfPoint3f.class │ │ │ │ │ ├── MatOfRect.class │ │ │ │ │ ├── Point.class │ │ │ │ │ ├── Point3.class │ │ │ │ │ ├── Range.class │ │ │ │ │ ├── Rect.class │ │ │ │ │ ├── RotatedRect.class │ │ │ │ │ ├── Scalar.class │ │ │ │ │ ├── Size.class │ │ │ │ │ └── TermCriteria.class │ │ │ │ │ ├── engine │ │ │ │ │ ├── OpenCVEngineInterface$Stub$Proxy.class │ │ │ │ │ ├── OpenCVEngineInterface$Stub.class │ │ │ │ │ └── OpenCVEngineInterface.class │ │ │ │ │ ├── features2d │ │ │ │ │ ├── DMatch.class │ │ │ │ │ ├── DescriptorExtractor.class │ │ │ │ │ ├── DescriptorMatcher.class │ │ │ │ │ ├── FeatureDetector.class │ │ │ │ │ ├── Features2d.class │ │ │ │ │ ├── GenericDescriptorMatcher.class │ │ │ │ │ └── KeyPoint.class │ │ │ │ │ ├── gpu │ │ │ │ │ ├── DeviceInfo.class │ │ │ │ │ ├── Gpu.class │ │ │ │ │ └── TargetArchs.class │ │ │ │ │ ├── highgui │ │ │ │ │ ├── Highgui.class │ │ │ │ │ └── VideoCapture.class │ │ │ │ │ ├── imgproc │ │ │ │ │ ├── CLAHE.class │ │ │ │ │ ├── Imgproc.class │ │ │ │ │ ├── Moments.class │ │ │ │ │ └── Subdiv2D.class │ │ │ │ │ ├── ml │ │ │ │ │ ├── CvANN_MLP.class │ │ │ │ │ ├── CvANN_MLP_TrainParams.class │ │ │ │ │ ├── CvBoost.class │ │ │ │ │ ├── CvBoostParams.class │ │ │ │ │ ├── CvDTree.class │ │ │ │ │ ├── CvDTreeParams.class │ │ │ │ │ ├── CvERTrees.class │ │ │ │ │ ├── CvGBTrees.class │ │ │ │ │ ├── CvGBTreesParams.class │ │ │ │ │ ├── CvKNearest.class │ │ │ │ │ ├── CvNormalBayesClassifier.class │ │ │ │ │ ├── CvParamGrid.class │ │ │ │ │ ├── CvRTParams.class │ │ │ │ │ ├── CvRTrees.class │ │ │ │ │ ├── CvSVM.class │ │ │ │ │ ├── CvSVMParams.class │ │ │ │ │ ├── CvStatModel.class │ │ │ │ │ ├── EM.class │ │ │ │ │ └── Ml.class │ │ │ │ │ ├── objdetect │ │ │ │ │ ├── CascadeClassifier.class │ │ │ │ │ ├── HOGDescriptor.class │ │ │ │ │ └── Objdetect.class │ │ │ │ │ ├── photo │ │ │ │ │ └── Photo.class │ │ │ │ │ ├── utils │ │ │ │ │ └── Converters.class │ │ │ │ │ └── video │ │ │ │ │ ├── BackgroundSubtractor.class │ │ │ │ │ ├── BackgroundSubtractorMOG.class │ │ │ │ │ ├── BackgroundSubtractorMOG2.class │ │ │ │ │ ├── KalmanFilter.class │ │ │ │ │ └── Video.class │ │ │ └── release │ │ │ │ └── org │ │ │ │ └── opencv │ │ │ │ ├── BuildConfig.class │ │ │ │ ├── R$attr.class │ │ │ │ ├── R$id.class │ │ │ │ ├── R$styleable.class │ │ │ │ ├── R.class │ │ │ │ ├── android │ │ │ │ ├── AsyncServiceHelper$1.class │ │ │ │ ├── AsyncServiceHelper$2.class │ │ │ │ ├── AsyncServiceHelper$3$1.class │ │ │ │ ├── AsyncServiceHelper$3$2.class │ │ │ │ ├── AsyncServiceHelper$3.class │ │ │ │ ├── AsyncServiceHelper.class │ │ │ │ ├── BaseLoaderCallback$1.class │ │ │ │ ├── BaseLoaderCallback$2.class │ │ │ │ ├── BaseLoaderCallback$3.class │ │ │ │ ├── BaseLoaderCallback$4.class │ │ │ │ ├── BaseLoaderCallback$5.class │ │ │ │ ├── BaseLoaderCallback$6.class │ │ │ │ ├── BaseLoaderCallback$7.class │ │ │ │ ├── BaseLoaderCallback.class │ │ │ │ ├── CameraBridgeViewBase$1.class │ │ │ │ ├── CameraBridgeViewBase$CvCameraViewFrame.class │ │ │ │ ├── CameraBridgeViewBase$CvCameraViewListener.class │ │ │ │ ├── CameraBridgeViewBase$CvCameraViewListener2.class │ │ │ │ ├── CameraBridgeViewBase$CvCameraViewListenerAdapter.class │ │ │ │ ├── CameraBridgeViewBase$ListItemAccessor.class │ │ │ │ ├── CameraBridgeViewBase.class │ │ │ │ ├── FpsMeter.class │ │ │ │ ├── InstallCallbackInterface.class │ │ │ │ ├── JavaCameraView$1.class │ │ │ │ ├── JavaCameraView$CameraWorker.class │ │ │ │ ├── JavaCameraView$JavaCameraFrame.class │ │ │ │ ├── JavaCameraView$JavaCameraSizeAccessor.class │ │ │ │ ├── JavaCameraView.class │ │ │ │ ├── LoaderCallbackInterface.class │ │ │ │ ├── NativeCameraView$1.class │ │ │ │ ├── NativeCameraView$CameraWorker.class │ │ │ │ ├── NativeCameraView$NativeCameraFrame.class │ │ │ │ ├── NativeCameraView$OpenCvSizeAccessor.class │ │ │ │ ├── NativeCameraView.class │ │ │ │ ├── OpenCVLoader.class │ │ │ │ ├── StaticHelper.class │ │ │ │ └── Utils.class │ │ │ │ ├── calib3d │ │ │ │ ├── Calib3d.class │ │ │ │ ├── StereoBM.class │ │ │ │ └── StereoSGBM.class │ │ │ │ ├── contrib │ │ │ │ ├── Contrib.class │ │ │ │ ├── FaceRecognizer.class │ │ │ │ └── StereoVar.class │ │ │ │ ├── core │ │ │ │ ├── Algorithm.class │ │ │ │ ├── Core$MinMaxLocResult.class │ │ │ │ ├── Core.class │ │ │ │ ├── CvException.class │ │ │ │ ├── CvType.class │ │ │ │ ├── Mat.class │ │ │ │ ├── MatOfByte.class │ │ │ │ ├── MatOfDMatch.class │ │ │ │ ├── MatOfDouble.class │ │ │ │ ├── MatOfFloat.class │ │ │ │ ├── MatOfFloat4.class │ │ │ │ ├── MatOfFloat6.class │ │ │ │ ├── MatOfInt.class │ │ │ │ ├── MatOfInt4.class │ │ │ │ ├── MatOfKeyPoint.class │ │ │ │ ├── MatOfPoint.class │ │ │ │ ├── MatOfPoint2f.class │ │ │ │ ├── MatOfPoint3.class │ │ │ │ ├── MatOfPoint3f.class │ │ │ │ ├── MatOfRect.class │ │ │ │ ├── Point.class │ │ │ │ ├── Point3.class │ │ │ │ ├── Range.class │ │ │ │ ├── Rect.class │ │ │ │ ├── RotatedRect.class │ │ │ │ ├── Scalar.class │ │ │ │ ├── Size.class │ │ │ │ └── TermCriteria.class │ │ │ │ ├── engine │ │ │ │ ├── OpenCVEngineInterface$Stub$Proxy.class │ │ │ │ ├── OpenCVEngineInterface$Stub.class │ │ │ │ └── OpenCVEngineInterface.class │ │ │ │ ├── features2d │ │ │ │ ├── DMatch.class │ │ │ │ ├── DescriptorExtractor.class │ │ │ │ ├── DescriptorMatcher.class │ │ │ │ ├── FeatureDetector.class │ │ │ │ ├── Features2d.class │ │ │ │ ├── GenericDescriptorMatcher.class │ │ │ │ └── KeyPoint.class │ │ │ │ ├── gpu │ │ │ │ ├── DeviceInfo.class │ │ │ │ ├── Gpu.class │ │ │ │ └── TargetArchs.class │ │ │ │ ├── highgui │ │ │ │ ├── Highgui.class │ │ │ │ └── VideoCapture.class │ │ │ │ ├── imgproc │ │ │ │ ├── CLAHE.class │ │ │ │ ├── Imgproc.class │ │ │ │ ├── Moments.class │ │ │ │ └── Subdiv2D.class │ │ │ │ ├── ml │ │ │ │ ├── CvANN_MLP.class │ │ │ │ ├── CvANN_MLP_TrainParams.class │ │ │ │ ├── CvBoost.class │ │ │ │ ├── CvBoostParams.class │ │ │ │ ├── CvDTree.class │ │ │ │ ├── CvDTreeParams.class │ │ │ │ ├── CvERTrees.class │ │ │ │ ├── CvGBTrees.class │ │ │ │ ├── CvGBTreesParams.class │ │ │ │ ├── CvKNearest.class │ │ │ │ ├── CvNormalBayesClassifier.class │ │ │ │ ├── CvParamGrid.class │ │ │ │ ├── CvRTParams.class │ │ │ │ ├── CvRTrees.class │ │ │ │ ├── CvSVM.class │ │ │ │ ├── CvSVMParams.class │ │ │ │ ├── CvStatModel.class │ │ │ │ ├── EM.class │ │ │ │ └── Ml.class │ │ │ │ ├── objdetect │ │ │ │ ├── CascadeClassifier.class │ │ │ │ ├── HOGDescriptor.class │ │ │ │ └── Objdetect.class │ │ │ │ ├── photo │ │ │ │ └── Photo.class │ │ │ │ ├── utils │ │ │ │ └── Converters.class │ │ │ │ └── video │ │ │ │ ├── BackgroundSubtractor.class │ │ │ │ ├── BackgroundSubtractorMOG.class │ │ │ │ ├── BackgroundSubtractorMOG2.class │ │ │ │ ├── KalmanFilter.class │ │ │ │ └── Video.class │ │ ├── incremental │ │ │ ├── compileDebugAidl │ │ │ │ └── dependency.store │ │ │ ├── compileDebugAndroidTestAidl │ │ │ │ └── dependency.store │ │ │ ├── compileReleaseAidl │ │ │ │ └── dependency.store │ │ │ ├── mergeDebugAndroidTestAssets │ │ │ │ └── merger.xml │ │ │ ├── mergeDebugAndroidTestResources │ │ │ │ └── merger.xml │ │ │ ├── mergeDebugAssets │ │ │ │ └── merger.xml │ │ │ ├── mergeDebugJniLibFolders │ │ │ │ └── merger.xml │ │ │ ├── mergeReleaseAssets │ │ │ │ └── merger.xml │ │ │ ├── mergeReleaseJniLibFolders │ │ │ │ └── merger.xml │ │ │ ├── packageDebugResources │ │ │ │ └── merger.xml │ │ │ └── packageReleaseResources │ │ │ │ └── merger.xml │ │ ├── manifest │ │ │ └── androidTest │ │ │ │ └── debug │ │ │ │ └── AndroidManifest.xml │ │ ├── res │ │ │ ├── merged │ │ │ │ └── androidTest │ │ │ │ │ └── debug │ │ │ │ │ └── values │ │ │ │ │ └── values.xml │ │ │ └── resources-debug-androidTest.ap_ │ │ └── symbols │ │ │ └── androidTest │ │ │ └── debug │ │ │ └── R.txt │ └── outputs │ │ └── aar │ │ ├── openCVLibrary2411-debug.aar │ │ └── openCVLibrary2411-release.aar ├── lint.xml └── src │ └── main │ ├── AndroidManifest.xml │ ├── aidl │ └── org │ │ └── opencv │ │ └── engine │ │ └── OpenCVEngineInterface.aidl │ ├── java │ └── org │ │ └── opencv │ │ ├── android │ │ ├── AsyncServiceHelper.java │ │ ├── BaseLoaderCallback.java │ │ ├── CameraBridgeViewBase.java │ │ ├── FpsMeter.java │ │ ├── InstallCallbackInterface.java │ │ ├── JavaCameraView.java │ │ ├── LoaderCallbackInterface.java │ │ ├── NativeCameraView.java │ │ ├── OpenCVLoader.java │ │ ├── StaticHelper.java │ │ └── Utils.java │ │ ├── calib3d │ │ ├── Calib3d.java │ │ ├── StereoBM.java │ │ └── StereoSGBM.java │ │ ├── contrib │ │ ├── Contrib.java │ │ ├── FaceRecognizer.java │ │ └── StereoVar.java │ │ ├── core │ │ ├── Algorithm.java │ │ ├── Core.java │ │ ├── CvException.java │ │ ├── CvType.java │ │ ├── Mat.java │ │ ├── MatOfByte.java │ │ ├── MatOfDMatch.java │ │ ├── MatOfDouble.java │ │ ├── MatOfFloat.java │ │ ├── MatOfFloat4.java │ │ ├── MatOfFloat6.java │ │ ├── MatOfInt.java │ │ ├── MatOfInt4.java │ │ ├── MatOfKeyPoint.java │ │ ├── MatOfPoint.java │ │ ├── MatOfPoint2f.java │ │ ├── MatOfPoint3.java │ │ ├── MatOfPoint3f.java │ │ ├── MatOfRect.java │ │ ├── Point.java │ │ ├── Point3.java │ │ ├── Range.java │ │ ├── Rect.java │ │ ├── RotatedRect.java │ │ ├── Scalar.java │ │ ├── Size.java │ │ └── TermCriteria.java │ │ ├── features2d │ │ ├── DMatch.java │ │ ├── DescriptorExtractor.java │ │ ├── DescriptorMatcher.java │ │ ├── FeatureDetector.java │ │ ├── Features2d.java │ │ ├── GenericDescriptorMatcher.java │ │ └── KeyPoint.java │ │ ├── gpu │ │ ├── DeviceInfo.java │ │ ├── Gpu.java │ │ └── TargetArchs.java │ │ ├── highgui │ │ ├── Highgui.java │ │ └── VideoCapture.java │ │ ├── imgproc │ │ ├── CLAHE.java │ │ ├── Imgproc.java │ │ ├── Moments.java │ │ └── Subdiv2D.java │ │ ├── ml │ │ ├── CvANN_MLP.java │ │ ├── CvANN_MLP_TrainParams.java │ │ ├── CvBoost.java │ │ ├── CvBoostParams.java │ │ ├── CvDTree.java │ │ ├── CvDTreeParams.java │ │ ├── CvERTrees.java │ │ ├── CvGBTrees.java │ │ ├── CvGBTreesParams.java │ │ ├── CvKNearest.java │ │ ├── CvNormalBayesClassifier.java │ │ ├── CvParamGrid.java │ │ ├── CvRTParams.java │ │ ├── CvRTrees.java │ │ ├── CvSVM.java │ │ ├── CvSVMParams.java │ │ ├── CvStatModel.java │ │ ├── EM.java │ │ └── Ml.java │ │ ├── objdetect │ │ ├── CascadeClassifier.java │ │ ├── HOGDescriptor.java │ │ └── Objdetect.java │ │ ├── photo │ │ └── Photo.java │ │ ├── utils │ │ └── Converters.java │ │ └── video │ │ ├── BackgroundSubtractor.java │ │ ├── BackgroundSubtractorMOG.java │ │ ├── BackgroundSubtractorMOG2.java │ │ ├── KalmanFilter.java │ │ └── Video.java │ └── res │ └── values │ └── attrs.xml └── settings.gradle 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