├── CMakeLists.txt ├── INFO_CUDA_INSTALLATION.txt ├── LICENSE.txt ├── README.md ├── ThirdParty ├── DBoW2 │ ├── CMakeLists.txt │ ├── DBoW2 │ │ ├── include │ │ │ └── DBoW2 │ │ │ │ ├── BowVector.h │ │ │ │ ├── DBoW2.h │ │ │ │ ├── FBrief.h │ │ │ │ ├── FClass.h │ │ │ │ ├── FORB.h │ │ │ │ ├── FSurf64.h │ │ │ │ ├── FeatureVector.h │ │ │ │ ├── QueryResults.h │ │ │ │ ├── ScoringObject.h │ │ │ │ ├── TemplatedDatabase.h │ │ │ │ └── TemplatedVocabulary.h │ │ └── src │ │ │ ├── BowVector.cpp │ │ │ ├── DBoW2.cmake.in │ │ │ ├── FBrief.cpp │ │ │ ├── FORB.cpp │ │ │ ├── FSurf64.cpp │ │ │ ├── FeatureVector.cpp │ │ │ ├── QueryResults.cpp │ │ │ └── ScoringObject.cpp │ ├── DUtils │ │ ├── include │ │ │ └── DUtils │ │ │ │ ├── BinaryFile.h │ │ │ │ ├── ConfigFile.h │ │ │ │ ├── DException.h │ │ │ │ ├── DUtils.h │ │ │ │ ├── DebugFunctions.h │ │ │ │ ├── FileFunctions.h │ │ │ │ ├── FileModes.h │ │ │ │ ├── LUT.h │ │ │ │ ├── LineFile.h │ │ │ │ ├── Math.hpp │ │ │ │ ├── Profiler.h │ │ │ │ ├── Random.h │ │ │ │ ├── STL.h │ │ │ │ ├── StringFunctions.h │ │ │ │ ├── TimeManager.h │ │ │ │ ├── Timestamp.h │ │ │ │ └── dirent_win.h │ │ └── src │ │ │ ├── BinaryFile.cpp │ │ │ ├── ConfigFile.cpp │ │ │ ├── DebugFunctions.cpp │ │ │ ├── FileFunctions.cpp │ │ │ ├── LUT.cpp │ │ │ ├── LineFile.cpp │ │ │ ├── Profiler.cpp │ │ │ ├── Random.cpp │ │ │ ├── StringFunctions.cpp │ │ │ ├── TimeManager.cpp │ │ │ └── Timestamp.cpp │ ├── LICENSE.txt │ └── README.md ├── build_all_dirs.sh ├── build_dir.sh ├── g2o-master │ ├── .travis.yml │ ├── CHANGES_DAniel │ ├── CMakeLists.txt │ ├── EXTERNAL │ │ ├── CMakeLists.txt │ │ ├── ceres │ │ │ ├── LICENSE │ │ │ ├── autodiff.h │ │ │ ├── eigen.h │ │ │ ├── fixed_array.h │ │ │ ├── fpclassify.h │ │ │ ├── jet.h │ │ │ ├── macros.h │ │ │ ├── manual_constructor.h │ │ │ └── variadic_evaluate.h │ │ ├── csparse │ │ │ ├── CMakeLists.txt │ │ │ ├── License.txt │ │ │ ├── README.txt │ │ │ ├── cs.h │ │ │ ├── cs_add.c │ │ │ ├── cs_amd.c │ │ │ ├── cs_api.h │ │ │ ├── cs_chol.c │ │ │ ├── cs_cholsol.c │ │ │ ├── cs_compress.c │ │ │ ├── cs_counts.c │ │ │ ├── cs_cumsum.c │ │ │ ├── cs_dfs.c │ │ │ ├── cs_dmperm.c │ │ │ ├── cs_droptol.c │ │ │ ├── cs_dropzeros.c │ │ │ ├── cs_dupl.c │ │ │ ├── cs_entry.c │ │ │ ├── cs_ereach.c │ │ │ ├── cs_etree.c │ │ │ ├── cs_fkeep.c │ │ │ ├── cs_gaxpy.c │ │ │ ├── cs_happly.c │ │ │ ├── cs_house.c │ │ │ ├── cs_ipvec.c │ │ │ ├── cs_leaf.c │ │ │ ├── cs_load.c │ │ │ ├── cs_lsolve.c │ │ │ ├── cs_ltsolve.c │ │ │ ├── cs_lu.c │ │ │ ├── cs_lusol.c │ │ │ ├── cs_malloc.c │ │ │ ├── cs_maxtrans.c │ │ │ ├── cs_multiply.c │ │ │ ├── cs_norm.c │ │ │ ├── cs_permute.c │ │ │ ├── cs_pinv.c │ │ │ ├── cs_post.c │ │ │ ├── cs_print.c │ │ │ ├── cs_pvec.c │ │ │ ├── cs_qr.c │ │ │ ├── cs_qrsol.c │ │ │ ├── cs_randperm.c │ │ │ ├── cs_reach.c │ │ │ ├── cs_scatter.c │ │ │ ├── cs_scc.c │ │ │ ├── cs_schol.c │ │ │ ├── cs_spsolve.c │ │ │ ├── cs_sqr.c │ │ │ ├── cs_symperm.c │ │ │ ├── cs_tdfs.c │ │ │ ├── cs_transpose.c │ │ │ ├── cs_updown.c │ │ │ ├── cs_usolve.c │ │ │ ├── cs_util.c │ │ │ ├── cs_utsolve.c │ │ │ └── lesser.txt │ │ └── freeglut │ │ │ ├── CMakeLists.txt │ │ │ ├── COPYING │ │ │ ├── freeglut_font.cpp │ │ │ ├── freeglut_minimal.h │ │ │ ├── freeglut_stroke_mono_roman.cpp │ │ │ └── freeglut_stroke_roman.cpp │ ├── Makefile │ ├── README │ ├── cmake_modules │ │ ├── FindBLAS.cmake │ │ ├── FindCSparse.cmake │ │ ├── FindCholmod.cmake │ │ ├── FindEigen3.cmake │ │ ├── FindG2O.cmake │ │ ├── FindLAPACK.cmake │ │ ├── FindQGLViewer.cmake │ │ └── FindSuiteSparse.cmake │ ├── config.h.in │ ├── doc │ │ ├── Makefile │ │ ├── README_IF_IT_WAS_WORKING_AND_IT_DOES_NOT.txt │ │ ├── doxygen │ │ │ ├── doxy.config │ │ │ └── readme.txt │ │ ├── g2o.pdf │ │ ├── g2o.tex │ │ ├── license-bsd.txt │ │ ├── license-gpl.txt │ │ ├── license-lgpl.txt │ │ ├── pics │ │ │ ├── classes.eps │ │ │ ├── classes.fig │ │ │ ├── classes.svg │ │ │ ├── hgraph.eps │ │ │ ├── hgraph.fig │ │ │ ├── slam.eps │ │ │ ├── slam.fig │ │ │ ├── viewer.eps │ │ │ └── viewer.png │ │ └── robots.bib │ ├── g2o │ │ ├── CMakeLists.txt │ │ ├── core │ │ │ ├── CMakeLists.txt │ │ │ ├── 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 │ │ │ ├── g2o_core_api.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 │ │ │ ├── sparse_optimizer_terminate_action.cpp │ │ │ └── sparse_optimizer_terminate_action.h │ │ ├── solvers │ │ │ ├── CMakeLists.txt │ │ │ ├── cholmod │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── linear_solver_cholmod.h │ │ │ │ └── solver_cholmod.cpp │ │ │ ├── csparse │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── csparse_helper.cpp │ │ │ │ ├── csparse_helper.h │ │ │ │ ├── g2o_csparse_api.h │ │ │ │ ├── g2o_csparse_extension_api.h │ │ │ │ ├── linear_solver_csparse.h │ │ │ │ └── solver_csparse.cpp │ │ │ ├── dense │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── linear_solver_dense.h │ │ │ │ └── solver_dense.cpp │ │ │ ├── eigen │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── linear_solver_eigen.h │ │ │ │ └── solver_eigen.cpp │ │ │ ├── pcg │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── linear_solver_pcg.h │ │ │ │ ├── linear_solver_pcg.hpp │ │ │ │ └── solver_pcg.cpp │ │ │ ├── slam2d_linear │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── g2o_slam2d_linear_api.h │ │ │ │ ├── slam2d_linear.cpp │ │ │ │ ├── solver_slam2d_linear.cpp │ │ │ │ └── solver_slam2d_linear.h │ │ │ └── structure_only │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── structure_only.cpp │ │ │ │ └── structure_only_solver.h │ │ ├── stuff │ │ │ ├── CMakeLists.txt │ │ │ ├── color_macros.h │ │ │ ├── command_args.cpp │ │ │ ├── command_args.h │ │ │ ├── filesys_tools.cpp │ │ │ ├── filesys_tools.h │ │ │ ├── g2o_stuff_api.h │ │ │ ├── macros.h │ │ │ ├── misc.h │ │ │ ├── opengl_primitives.cpp │ │ │ ├── opengl_primitives.h │ │ │ ├── opengl_wrapper.h │ │ │ ├── os_specific.c │ │ │ ├── os_specific.h │ │ │ ├── property.cpp │ │ │ ├── property.h │ │ │ ├── sampler.cpp │ │ │ ├── sampler.h │ │ │ ├── scoped_pointer.h │ │ │ ├── sparse_helper.cpp │ │ │ ├── sparse_helper.h │ │ │ ├── string_tools.cpp │ │ │ ├── string_tools.h │ │ │ ├── tictoc.cpp │ │ │ ├── tictoc.h │ │ │ ├── timeutil.cpp │ │ │ ├── timeutil.h │ │ │ └── unscented.h │ │ ├── types │ │ │ ├── CMakeLists.txt │ │ │ ├── data │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── data_queue.cpp │ │ │ │ ├── data_queue.h │ │ │ │ ├── g2o_types_data_api.h │ │ │ │ ├── laser_parameters.cpp │ │ │ │ ├── laser_parameters.h │ │ │ │ ├── raw_laser.cpp │ │ │ │ ├── raw_laser.h │ │ │ │ ├── robot_data.cpp │ │ │ │ ├── robot_data.h │ │ │ │ ├── robot_laser.cpp │ │ │ │ ├── robot_laser.h │ │ │ │ ├── types_data.cpp │ │ │ │ ├── types_data.h │ │ │ │ ├── vertex_ellipse.cpp │ │ │ │ ├── vertex_ellipse.h │ │ │ │ ├── vertex_tag.cpp │ │ │ │ └── vertex_tag.h │ │ │ ├── deprecated │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── slam3d │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── edge_se3_offset.cpp │ │ │ │ │ ├── edge_se3_offset.h │ │ │ │ │ ├── edge_se3_pointxyz.cpp │ │ │ │ │ ├── edge_se3_pointxyz.h │ │ │ │ │ ├── edge_se3_pointxyz_depth.cpp │ │ │ │ │ ├── edge_se3_pointxyz_depth.h │ │ │ │ │ ├── edge_se3_pointxyz_disparity.cpp │ │ │ │ │ ├── edge_se3_pointxyz_disparity.h │ │ │ │ │ ├── edge_se3_prior.cpp │ │ │ │ │ ├── edge_se3_prior.h │ │ │ │ │ ├── edge_se3_quat.cpp │ │ │ │ │ ├── edge_se3_quat.h │ │ │ │ │ ├── g2o_deprecated_types_slam3d_api.h │ │ │ │ │ ├── parameter_camera.cpp │ │ │ │ │ ├── parameter_camera.h │ │ │ │ │ ├── parameter_se3_offset.cpp │ │ │ │ │ ├── parameter_se3_offset.h │ │ │ │ │ ├── se3quat_gradients.cpp │ │ │ │ │ ├── se3quat_gradients.h │ │ │ │ │ ├── types_slam3d.cpp │ │ │ │ │ ├── types_slam3d.h │ │ │ │ │ ├── vertex_pointxyz.cpp │ │ │ │ │ ├── vertex_pointxyz.h │ │ │ │ │ ├── vertex_se3_quat.cpp │ │ │ │ │ └── vertex_se3_quat.h │ │ │ ├── icp │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── g2o_types_icp_api.h │ │ │ │ ├── types_icp.cpp │ │ │ │ └── types_icp.h │ │ │ ├── sba │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── g2o_types_sba_api.h │ │ │ │ ├── sbacam.h │ │ │ │ ├── types_sba.cpp │ │ │ │ ├── types_sba.h │ │ │ │ ├── types_six_dof_expmap.cpp │ │ │ │ └── types_six_dof_expmap.h │ │ │ ├── sclam2d │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── edge_se2_odom_differential_calib.cpp │ │ │ │ ├── edge_se2_odom_differential_calib.h │ │ │ │ ├── edge_se2_sensor_calib.cpp │ │ │ │ ├── edge_se2_sensor_calib.h │ │ │ │ ├── g2o_types_sclam2d_api.h │ │ │ │ ├── odometry_measurement.cpp │ │ │ │ ├── odometry_measurement.h │ │ │ │ ├── types_sclam2d.cpp │ │ │ │ ├── types_sclam2d.h │ │ │ │ ├── vertex_odom_differential_params.cpp │ │ │ │ └── vertex_odom_differential_params.h │ │ │ ├── sim3 │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── sim3.h │ │ │ │ ├── types_seven_dof_expmap.cpp │ │ │ │ └── types_seven_dof_expmap.h │ │ │ ├── slam2d │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── edge_pointxy.cpp │ │ │ │ ├── edge_pointxy.h │ │ │ │ ├── edge_se2.cpp │ │ │ │ ├── edge_se2.h │ │ │ │ ├── edge_se2_lotsofxy.cpp │ │ │ │ ├── edge_se2_lotsofxy.h │ │ │ │ ├── edge_se2_offset.cpp │ │ │ │ ├── edge_se2_offset.h │ │ │ │ ├── edge_se2_pointxy.cpp │ │ │ │ ├── edge_se2_pointxy.h │ │ │ │ ├── edge_se2_pointxy_bearing.cpp │ │ │ │ ├── edge_se2_pointxy_bearing.h │ │ │ │ ├── edge_se2_pointxy_calib.cpp │ │ │ │ ├── edge_se2_pointxy_calib.h │ │ │ │ ├── edge_se2_pointxy_offset.cpp │ │ │ │ ├── edge_se2_pointxy_offset.h │ │ │ │ ├── edge_se2_prior.cpp │ │ │ │ ├── edge_se2_prior.h │ │ │ │ ├── edge_se2_twopointsxy.cpp │ │ │ │ ├── edge_se2_twopointsxy.h │ │ │ │ ├── edge_se2_xyprior.cpp │ │ │ │ ├── edge_se2_xyprior.h │ │ │ │ ├── g2o_types_slam2d_api.h │ │ │ │ ├── parameter_se2_offset.cpp │ │ │ │ ├── parameter_se2_offset.h │ │ │ │ ├── se2.h │ │ │ │ ├── types_slam2d.cpp │ │ │ │ ├── types_slam2d.h │ │ │ │ ├── vertex_point_xy.cpp │ │ │ │ ├── vertex_point_xy.h │ │ │ │ ├── vertex_se2.cpp │ │ │ │ └── vertex_se2.h │ │ │ ├── slam2d_addons │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── edge_line2d.cpp │ │ │ │ ├── edge_line2d.h │ │ │ │ ├── edge_line2d_pointxy.cpp │ │ │ │ ├── edge_line2d_pointxy.h │ │ │ │ ├── edge_se2_line2d.cpp │ │ │ │ ├── edge_se2_line2d.h │ │ │ │ ├── edge_se2_segment2d.cpp │ │ │ │ ├── edge_se2_segment2d.h │ │ │ │ ├── edge_se2_segment2d_line.cpp │ │ │ │ ├── edge_se2_segment2d_line.h │ │ │ │ ├── edge_se2_segment2d_pointLine.cpp │ │ │ │ ├── edge_se2_segment2d_pointLine.h │ │ │ │ ├── g2o_types_slam2d_addons_api.h │ │ │ │ ├── line_2d.h │ │ │ │ ├── types_slam2d_addons.cpp │ │ │ │ ├── types_slam2d_addons.h │ │ │ │ ├── vertex_line2d.cpp │ │ │ │ ├── vertex_line2d.h │ │ │ │ ├── vertex_segment2d.cpp │ │ │ │ └── vertex_segment2d.h │ │ │ ├── slam3d │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── dquat2mat.cpp │ │ │ │ ├── dquat2mat.h │ │ │ │ ├── dquat2mat.wxm │ │ │ │ ├── dquat2mat_maxima_generated.cpp │ │ │ │ ├── edge_pointxyz.cpp │ │ │ │ ├── edge_pointxyz.h │ │ │ │ ├── edge_se3.cpp │ │ │ │ ├── edge_se3.h │ │ │ │ ├── edge_se3_lotsofxyz.cpp │ │ │ │ ├── edge_se3_lotsofxyz.h │ │ │ │ ├── edge_se3_offset.cpp │ │ │ │ ├── edge_se3_offset.h │ │ │ │ ├── edge_se3_pointxyz.cpp │ │ │ │ ├── edge_se3_pointxyz.h │ │ │ │ ├── edge_se3_pointxyz_depth.cpp │ │ │ │ ├── edge_se3_pointxyz_depth.h │ │ │ │ ├── edge_se3_pointxyz_disparity.cpp │ │ │ │ ├── edge_se3_pointxyz_disparity.h │ │ │ │ ├── edge_se3_pointxyz_projection.cpp │ │ │ │ ├── edge_se3_pointxyz_projection.h │ │ │ │ ├── edge_se3_prior.cpp │ │ │ │ ├── edge_se3_prior.h │ │ │ │ ├── g2o_types_slam3d_api.h │ │ │ │ ├── isometry3d_gradients.cpp │ │ │ │ ├── isometry3d_gradients.h │ │ │ │ ├── isometry3d_mappings.cpp │ │ │ │ ├── isometry3d_mappings.h │ │ │ │ ├── parameter_camera.cpp │ │ │ │ ├── parameter_camera.h │ │ │ │ ├── parameter_se3_offset.cpp │ │ │ │ ├── parameter_se3_offset.h │ │ │ │ ├── parameter_stereo_camera.cpp │ │ │ │ ├── parameter_stereo_camera.h │ │ │ │ ├── se3_ops.h │ │ │ │ ├── se3_ops.hpp │ │ │ │ ├── se3quat.h │ │ │ │ ├── test_isometry3d_mappings.cpp │ │ │ │ ├── test_mat2quat_jacobian.cpp │ │ │ │ ├── test_slam3d_jacobian.cpp │ │ │ │ ├── types_slam3d.cpp │ │ │ │ ├── types_slam3d.h │ │ │ │ ├── vertex_pointxyz.cpp │ │ │ │ ├── vertex_pointxyz.h │ │ │ │ ├── vertex_se3.cpp │ │ │ │ └── vertex_se3.h │ │ │ └── slam3d_addons │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── edge_line3d.cpp │ │ │ │ ├── edge_line3d.h │ │ │ │ ├── edge_plane.cpp │ │ │ │ ├── edge_plane.h │ │ │ │ ├── edge_se3_calib.cpp │ │ │ │ ├── edge_se3_calib.h │ │ │ │ ├── edge_se3_euler.cpp │ │ │ │ ├── edge_se3_euler.h │ │ │ │ ├── edge_se3_line.cpp │ │ │ │ ├── edge_se3_line.h │ │ │ │ ├── edge_se3_plane_calib.cpp │ │ │ │ ├── edge_se3_plane_calib.h │ │ │ │ ├── g2o_types_slam3d_addons_api.h │ │ │ │ ├── line3d.cpp │ │ │ │ ├── line3d.h │ │ │ │ ├── line3d_test.cpp │ │ │ │ ├── plane3d.h │ │ │ │ ├── types_slam3d_addons.cpp │ │ │ │ ├── types_slam3d_addons.h │ │ │ │ ├── vertex_line3d.cpp │ │ │ │ ├── vertex_line3d.h │ │ │ │ ├── vertex_plane.cpp │ │ │ │ ├── vertex_plane.h │ │ │ │ ├── vertex_se3_euler.cpp │ │ │ │ └── vertex_se3_euler.h │ │ └── what_is_in_these_directories.txt │ └── script │ │ ├── install-deps-linux.sh │ │ └── install-deps-osx.sh ├── pcl_gpu_containers │ ├── CMakeLists.txt │ ├── cmake_modules │ │ ├── CudaComputeTargetFlags.cmake │ │ ├── FindEigen.cmake │ │ ├── FindFLANN.cmake │ │ ├── FindFZAPI.cmake │ │ ├── FindG2O.cmake │ │ ├── FindGLEW.cmake │ │ ├── FindGTSAM.cmake │ │ ├── FindMPI.cmake │ │ ├── FindOpenNI.cmake │ │ ├── FindPXCAPI.cmake │ │ ├── FindPcap.cmake │ │ ├── FindQVTK.cmake │ │ ├── FindQhull.cmake │ │ ├── FindSphinx.cmake │ │ ├── FindSuiteSparse.cmake │ │ ├── Findlibusb-1.0.cmake │ │ ├── NSIS.template.in │ │ ├── pcl_find_cuda.cmake │ │ ├── pcl_find_qt5.cmake │ │ └── pcl_find_sse.cmake │ ├── include │ │ ├── device_array.h │ │ ├── device_memory.h │ │ ├── impl │ │ │ ├── device_array.hpp │ │ │ ├── device_memory.hpp │ │ │ └── safe_call.hpp │ │ ├── initialization.h │ │ ├── kernel_containers.h │ │ └── pcl_exports.h │ └── src │ │ ├── device_memory.cpp │ │ ├── error.cpp │ │ └── initialization.cpp └── prueba.sh ├── cmake_modules ├── CudaComputeTargetFlags.cmake ├── FindEigen.cmake ├── FindFLANN.cmake ├── FindFZAPI.cmake ├── FindG2O.cmake ├── FindGLEW.cmake ├── FindGTSAM.cmake ├── FindMPI.cmake ├── FindOpenNI.cmake ├── FindPXCAPI.cmake ├── FindPcap.cmake ├── FindQVTK.cmake ├── FindQhull.cmake ├── FindSphinx.cmake ├── FindSuiteSparse.cmake ├── Findlibusb-1.0.cmake ├── NSIS.template.in ├── pcl_find_cuda.cmake ├── pcl_find_qt5.cmake └── pcl_find_sse.cmake ├── config_data ├── calibration_AsusDaniel.ini ├── calibration_custom.ini ├── calibration_custom_nodepthcorr.ini ├── calibration_factory.ini ├── calibration_freiburg1.ini ├── calibration_freiburg2.ini ├── calibration_freiburg3.ini ├── calibration_syntheticHanda.ini └── visodoRGBDconfig.ini ├── data └── ORBvoc.yml.zip ├── include ├── PnP_manager.h ├── cloud_segmenter.h ├── feature_extractor.h ├── float3_operations.h ├── graph_segmenter.h ├── keyframe.h ├── keyframe_align.h ├── keyframe_manager.h ├── loop_closer.h ├── pose_graph_manager.h ├── sampler.h ├── settings.h ├── types.h ├── util_funcs.h ├── visodo.h └── visualization_manager.h ├── src ├── PnP_manager.cpp ├── cloud_segmenter.cpp ├── cuda │ ├── device.hpp │ ├── estimate_VO.cu │ ├── filters.cu │ ├── image_generator.cu │ ├── maps.cu │ ├── misc.cu │ ├── pyrdown.cu │ ├── sigmaFuncs.cu │ ├── undistortion.cu │ ├── utils.hpp │ └── warping_registration.cu ├── feature_extractor.cpp ├── graph_segmenter.cpp ├── internal.h ├── keyframe.cpp ├── keyframe_align.cpp ├── keyframe_manager.cpp ├── loop_closer.cpp ├── pose_graph_manager.cpp ├── sampler.cpp ├── settings.cpp ├── util_funcs.cpp ├── visodo.cpp └── visualization_manager.cpp └── tools ├── CMakeLists.txt ├── RGBID_SLAMapp.cpp ├── evaluation.cpp ├── evaluation.h ├── openni_grabber_viewer_save_images_buffered.cpp └── openni_rgb_depth_ir_shot.cpp /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dorian3d/RGBiD-SLAM/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /INFO_CUDA_INSTALLATION.txt: -------------------------------------------------------------------------------- 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