├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cmake └── Modules │ ├── FindCG.cmake │ ├── FindGLEW.cmake │ └── FindVisualSLAM.cmake ├── cmake_uninstall.cmake.in └── src ├── app ├── SL_CoSLAM.cpp ├── SL_CoSLAM.h ├── SL_CoSLAMBA.cpp ├── SL_CoSLAMBA.h ├── SL_CoSLAMRobustBA.cpp ├── SL_CoSLAMRobustBA.h ├── SL_GlobParam.cpp ├── SL_GlobParam.h ├── SL_InitMap.cpp ├── SL_InitMap.h ├── SL_InterCamPoseEstimator.cpp ├── SL_InterCamPoseEstimator.h ├── SL_MergeCameraGroup.cpp ├── SL_MergeCameraGroup.h ├── SL_NewMapPointsInterCam.cpp ├── SL_NewMapPointsInterCam.h ├── SL_SingleSLAM.cpp └── SL_SingleSLAM.h ├── gui ├── CoSLAMThread.cpp ├── CoSLAMThread.h ├── GLHelper.cpp ├── GLHelper.h ├── GLImagePane.cpp ├── GLImagePane.h ├── GLImageWnd.cpp ├── GLImageWnd.h ├── GLScenePane.cpp ├── GLScenePane.h ├── GLScenePaneHelper.cpp ├── GLScenePaneHelper.h ├── GLSceneWnd.cpp ├── GLSceneWnd.h ├── GLTrackballPane.cpp ├── GLTrackballPane.h ├── MyApp.cpp ├── MyApp.h ├── trackball.cpp └── trackball.h ├── slam ├── SL_Camera.cpp ├── SL_Camera.h ├── SL_CameraGroup.h ├── SL_CoSLAMHelper.cpp ├── SL_CoSLAMHelper.h ├── SL_Define.h ├── SL_FeatureMatching.cpp ├── SL_FeatureMatching.h ├── SL_FeaturePoint.cpp ├── SL_FeaturePoint.h ├── SL_FeaturePoints.cpp ├── SL_FeaturePoints.h ├── SL_GlobalPoseEstimation.cpp ├── SL_GlobalPoseEstimation.h ├── SL_InitMapHelper.cpp ├── SL_InitMapHelper.h ├── SL_IntraCamPose.cpp ├── SL_IntraCamPose.h ├── SL_IntraCamPoseEstimator.cpp ├── SL_IntraCamPoseEstimator.h ├── SL_KeyPoseList.cpp ├── SL_KeyPoseList.h ├── SL_MapPoint.cpp ├── SL_MapPoint.h ├── SL_MapPointList.cpp ├── SL_MapPointList.h ├── SL_NCCBlock.cpp ├── SL_NCCBlock.h ├── SL_PtrVec.h ├── SL_SLAMHelper.cpp ├── SL_SLAMHelper.h ├── SL_SolvePnP.cpp └── SL_SolvePnP.h └── tracking ├── CGKLT ├── Shaders │ ├── OpticalFlow │ │ ├── tvl1_flow_relaxed_compute_UV.cg │ │ ├── tvl1_flow_relaxed_update_p.cg │ │ └── tvl1_flow_relaxed_update_uv.cg │ ├── flow_warp_image.cg │ ├── klt_detector_build_histpyr.cg │ ├── klt_detector_discriminator.cg │ ├── klt_detector_nonmax.cg │ ├── klt_detector_pass1.cg │ ├── klt_detector_pass2.cg │ ├── klt_detector_traverse_histpyr.cg │ ├── klt_tracker.cg │ ├── klt_tracker_with_gain.cg │ ├── pyramid_pass1h.cg │ ├── pyramid_pass1v.cg │ ├── pyramid_pass2.cg │ ├── pyramid_with_derivative_pass1h.cg │ ├── pyramid_with_derivative_pass1v.cg │ ├── pyramid_with_derivative_pass2.cg │ └── undistort_parametric.cg ├── v3d_exception.h ├── v3d_gpubase.cpp ├── v3d_gpubase.h ├── v3d_gpuflow.cpp ├── v3d_gpuflow.h ├── v3d_gpuklt.cpp ├── v3d_gpuklt.h ├── v3d_gpupyramid.cpp ├── v3d_gpupyramid.h ├── v3d_gpuundistort.cpp ├── v3d_gpuundistort.h ├── v3d_image.cpp ├── v3d_image.h ├── v3d_linear.h ├── v3d_linearbase.h ├── v3d_serialization.h ├── v3d_timer.h └── v3d_utilities.h ├── GPUKLT.cpp ├── GPUKLT.h ├── SL_Track2D.cpp ├── SL_Track2D.h └── test_klt_for_video.cpp /.gitignore: -------------------------------------------------------------------------------- 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