├── .gitignore ├── .mailmap ├── CMakeLists.txt ├── COPYRIGHT ├── README ├── TODO ├── User.make ├── data ├── estimation.cfg.example ├── imageSample.ppm ├── scripts │ ├── README │ ├── average_files.rb │ ├── calib_inertial.m │ ├── compute_scalefactor.rb │ ├── compute_scalefactor_time.rb │ ├── convert_MTI_genom_2_rtslam.sh │ ├── convert_mocap_2_pose.m │ ├── legend.png │ ├── montecarlo_loop.sh │ ├── montecarlo_ssh.sh │ ├── plot_biases_acc.gp │ ├── plot_biases_ang.gp │ ├── plot_scalefactor.gp │ ├── plot_slamtruth_error_6x1.gp │ ├── plot_slamtruth_error_6xn.gp │ ├── plot_slamtruth_nees_1xn.gp │ ├── plot_slamtruth_nees_6xn.gp │ ├── plot_slamtruth_traj_6x1.gp │ ├── plot_traj2d_slam_gps.sh │ ├── plot_traj3d_gps.gp │ ├── plot_traj3d_slam.gp │ ├── prepare_mocap.rb │ ├── video_raw.sh │ └── video_rendered.sh └── setup.cfg.example ├── demo_suite └── demo_slam.cpp ├── doc ├── Presentation RTSLAM 10-03-09.txt ├── developmentPlan.doxy ├── figures │ ├── SLAM_flowchart.pdf │ ├── familyTree.dia │ ├── familyTree_small.dia │ └── organization-uml.xmi ├── images │ ├── Gaussian.png │ ├── GaussianSparse.png │ ├── familyTree.png │ ├── familyTree_full.png │ ├── organization-uml.png │ ├── parentalLinks.png │ ├── slam.png │ ├── smartPtr.png │ ├── tesselationExample.png │ └── tesselationGrid.png ├── implementation.doxy ├── jacobians.doxy ├── parentalLinks.doxy ├── philosophy.doxy ├── quaternion.doxy ├── rtslam.doxy └── simulation.doxy ├── include ├── rtslam.i ├── rtslam │ ├── activeSearch.hpp │ ├── activeSegmentSearch.hpp │ ├── ahpTools.hpp │ ├── ahplTools.hpp │ ├── appearanceAbstract.hpp │ ├── appearanceImage.hpp │ ├── appearanceSegment.hpp │ ├── dataManagerAbstract.hpp │ ├── dataManagerActiveSearch.hpp │ ├── dataManagerActiveSearch.impl.hpp │ ├── dataManagerOnePointRansac.hpp │ ├── dataManagerOnePointRansac.impl.hpp │ ├── descriptorAbstract.hpp │ ├── descriptorImagePoint.hpp │ ├── descriptorImageSeg.hpp │ ├── descriptorSeg.hpp │ ├── display.hpp │ ├── display_example.hpp │ ├── display_gdhe.hpp │ ├── display_qt.hpp │ ├── expectation.hpp │ ├── exporterAbstract.hpp │ ├── exporterSocket.hpp │ ├── featureAbstract.hpp │ ├── featurePoint.hpp │ ├── featureSegment.hpp │ ├── gaussian.hpp │ ├── hardwareEstimatorAbstract.hpp │ ├── hardwareEstimatorInertialAdhocSimulator.hpp │ ├── hardwareEstimatorMti.hpp │ ├── hardwareEstimatorOdo.hpp │ ├── hardwareSensorAbstract.hpp │ ├── hardwareSensorAdhocSimulator.hpp │ ├── hardwareSensorCamera.hpp │ ├── hardwareSensorCameraFirewire.hpp │ ├── hardwareSensorCameraUeye.hpp │ ├── hardwareSensorGpsGenom.hpp │ ├── hardwareSensorMocap.hpp │ ├── imageTools.hpp │ ├── innovation.hpp │ ├── kalmanFilter.hpp │ ├── kalmanTools.hpp │ ├── landmarkAbstract.hpp │ ├── landmarkAnchoredHomogeneousPoint.hpp │ ├── landmarkAnchoredHomogeneousPointsLine.hpp │ ├── landmarkEuclideanPoint.hpp │ ├── landmarkFactory.hpp │ ├── mapAbstract.hpp │ ├── mapManager.hpp │ ├── mapObject.hpp │ ├── measurement.hpp │ ├── objectAbstract.hpp │ ├── observationAbstract.hpp │ ├── observationFactory.hpp │ ├── observationMakers.hpp │ ├── observationPinHoleAnchoredHomogeneous.hpp │ ├── observationPinHoleAnchoredHomogeneousPointsLine.hpp │ ├── observationPinHoleEuclideanPoint.hpp │ ├── parents.hpp │ ├── perturbation.hpp │ ├── pinholeTools.hpp │ ├── quatTools.hpp │ ├── quickHarrisDetector.hpp │ ├── rawAbstract.hpp │ ├── rawImage.hpp │ ├── rawProcessors.hpp │ ├── rawSegProcessors.hpp │ ├── robotAbstract.hpp │ ├── robotCenteredConstantVelocity.hpp │ ├── robotConstantVelocity.hpp │ ├── robotInertial.hpp │ ├── robotOdometry.hpp │ ├── rtSlam.hpp │ ├── rtslamException.hpp │ ├── sensorAbsloc.hpp │ ├── sensorAbstract.hpp │ ├── sensorImageParameters.hpp │ ├── sensorManager.hpp │ ├── sensorPinhole.hpp │ ├── simuData.hpp │ ├── simuRawProcessors.hpp │ ├── simulator.hpp │ ├── simulatorObjects.hpp │ ├── visibilityMap.hpp │ └── worldAbstract.hpp ├── rtslamException.i └── rtslamTools.i ├── macro └── rtslam.rb ├── rtslam-codestyle.xml ├── src ├── activeSearch.cpp ├── activeSegmentSearch.cpp ├── ahplTools.cpp ├── appearanceAbstract.cpp ├── appearanceImage.cpp ├── descriptorAbstract.cpp ├── descriptorImagePoint.cpp ├── descriptorImageSeg.cpp ├── descriptorSeg.cpp ├── display.cpp ├── display_gdhe.cpp ├── display_qt.cpp ├── expectation.cpp ├── featureAbstract.cpp ├── featurePoint.cpp ├── featureSegment.cpp ├── gaussian.cpp ├── hardwareEstimatorMti.cpp ├── hardwareEstimatorOdo.cpp ├── hardwareSensorCamera.cpp ├── hardwareSensorCameraFirewire.cpp ├── hardwareSensorCameraUeye.cpp ├── hardwareSensorGpsGenom.cpp ├── hardwareSensorMocap.cpp ├── innovation.cpp ├── kalmanFilter.cpp ├── landmarkAbstract.cpp ├── landmarkAnchoredHomogeneousPoint.cpp ├── landmarkAnchoredHomogeneousPointsLine.cpp ├── landmarkEuclideanPoint.cpp ├── mapAbstract.cpp ├── mapManager.cpp ├── mapObject.cpp ├── measurement.cpp ├── objectAbstract.cpp ├── observationAbstract.cpp ├── observationPinHoleAnchoredHomogeneous.cpp ├── observationPinHoleAnchoredHomogeneousPointsLine.cpp ├── observationPinHoleEuclideanPoint.cpp ├── perturbation.cpp ├── quatTools.cpp ├── quickHarrisDetector.cpp ├── rawAbstract.cpp ├── rawImage.cpp ├── robotAbstract.cpp ├── robotCenteredConstantVelocity.cpp ├── robotConstantVelocity.cpp ├── robotInertial.cpp ├── robotOdometry.cpp ├── rtSlam.cpp ├── rtslamException.cpp ├── ruby │ └── extconf.rb ├── sensorAbstract.cpp ├── sensorPinhole.cpp ├── visibilityMap.cpp └── worldAbstract.cpp └── test_suite ├── test_acsearch.cpp ├── test_ahp.cpp ├── test_ahpl.cpp ├── test_display.cpp ├── test_euclidean.cpp ├── test_filter.cpp ├── test_gaussian.cpp ├── test_inertial.cpp ├── test_landmark.cpp ├── test_main.cpp ├── test_obsPHEuc.cpp ├── test_obspa.cpp ├── test_pinhole.cpp ├── test_quaternion.cpp ├── test_raw.cpp ├── test_robotOdo.cpp ├── test_robotcentered.cpp ├── test_senPH.cpp ├── test_simu.cpp └── test_suite_rtslam.cpp /.gitignore: -------------------------------------------------------------------------------- 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