├── .gitignore ├── CMakeLists.txt ├── Eg01_UseEigen ├── CMakeLists.txt └── main.cpp ├── Eg02_UseGeometry ├── CMakeLists.txt └── main.cpp ├── Eg03_UseSophus ├── CMakeLists.txt └── main.cpp ├── Eg04_JoinMap ├── CMakeLists.txt └── main.cpp ├── Eg05_UseCeres ├── CMakeLists.txt └── main.cpp ├── Eg06_UseG2O ├── CMakeLists.txt └── main.cpp ├── Eg07_FeatureDetectMatch ├── CMakeLists.txt └── main.cpp ├── Eg08_PoseEstimation2D2D ├── CMakeLists.txt └── main.cpp ├── Eg09_PoseEstimation3D2D ├── CMakeLists.txt └── main.cpp ├── Eg10_PoseEstimation3D3D ├── CMakeLists.txt └── main.cpp ├── Eg11_Triangulation ├── CMakeLists.txt └── main.cpp ├── Eg15_BagOfWords ├── CMakeLists.txt └── main.cpp ├── LICENSE ├── README.md ├── Sphere ├── CMakeLists.txt ├── Sphere01_CeresQuaternion │ ├── CMakeLists.txt │ ├── G2OReader.h │ ├── PoseGraph3DErrorTerm.h │ ├── main.cpp │ └── types.h ├── Sphere02_CeresQuaternion │ ├── CMakeLists.txt │ ├── G2OReader.h │ ├── PoseGraph3DErrorTerm.h │ ├── main.cpp │ └── types.h ├── Sphere03_CeresSO3 │ ├── CMakeLists.txt │ ├── G2OReader.h │ ├── PoseGraph3DErrorTerm.h │ ├── SO3Parameterization.h │ ├── main.cpp │ └── types.h ├── Sphere04_CeresSO3 │ ├── CMakeLists.txt │ ├── G2OReader.h │ ├── PoseGraph3DErrorTerm.h │ ├── SO3Parameterization.h │ ├── main.cpp │ └── types.h ├── Sphere05_CeresSE3 │ ├── CMakeLists.txt │ ├── G2OReader.h │ ├── PoseGraph3DErrorTerm.h │ ├── SE3Parameterization.h │ ├── main.cpp │ └── types.h ├── Sphere06_CeresPoseParameterization │ ├── CMakeLists.txt │ ├── G2OReader.h │ ├── PoseGraph3DErrorTerm.h │ ├── PoseParameterization.h │ ├── main.cpp │ └── types.h └── plot_sphere.py ├── cmake ├── FindCSparse.cmake ├── FindCholmod.cmake └── FindG2O.cmake ├── common └── Common.hpp ├── data ├── bow_images │ ├── 1.png │ ├── 10.png │ ├── 2.png │ ├── 3.png │ ├── 4.png │ ├── 5.png │ ├── 6.png │ ├── 7.png │ ├── 8.png │ └── 9.png ├── depth_images │ ├── color │ │ ├── 1.png │ │ ├── 2.png │ │ ├── 3.png │ │ ├── 4.png │ │ └── 5.png │ ├── depth │ │ ├── 1.pgm │ │ ├── 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