├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── Thirparty └── ORB_SLAM2 │ ├── CMakeLists.txt │ ├── Dependencies.md │ ├── Examples │ ├── Monocular │ │ ├── EuRoC.yaml │ │ ├── EuRoC_TimeStamps │ │ │ ├── MH01.txt │ │ │ ├── MH02.txt │ │ │ ├── MH03.txt │ │ │ ├── MH04.txt │ │ │ ├── MH05.txt │ │ │ ├── MH05_2.txt │ │ │ ├── V101.txt │ │ │ ├── V102.txt │ │ │ ├── V102_2.txt │ │ │ ├── V103.txt │ │ │ ├── V103_2.txt │ │ │ ├── V103_3.txt │ │ │ ├── V201.txt │ │ │ ├── V202.txt │ │ │ ├── V202_2.txt │ │ │ └── V203.txt │ │ ├── KITTI00-02.yaml │ │ ├── KITTI03.yaml │ │ ├── KITTI04-12.yaml │ │ ├── TUM1.yaml │ │ ├── TUM2.yaml │ │ ├── TUM3.yaml │ │ ├── mono_euroc.cc │ │ ├── mono_kitti.cc │ │ └── mono_tum.cc │ ├── RGB-D │ │ ├── TUM1.yaml │ │ ├── TUM2.yaml │ │ ├── TUM3.yaml │ │ ├── associations │ │ │ ├── fr1_desk.txt │ │ │ ├── fr1_desk2.txt │ │ │ ├── fr1_room.txt │ │ │ ├── fr1_xyz.txt │ │ │ ├── fr2_desk.txt │ │ │ ├── fr2_xyz.txt │ │ │ ├── fr3_nstr_tex_near.txt │ │ │ ├── fr3_office.txt │ │ │ ├── fr3_office_val.txt │ │ │ ├── fr3_str_tex_far.txt │ │ │ └── fr3_str_tex_near.txt │ │ └── rgbd_tum.cc │ ├── ROS │ │ └── ORB_SLAM2 │ │ │ ├── Asus.yaml │ │ │ ├── CMakeLists.txt │ │ │ ├── manifest.xml │ │ │ └── src │ │ │ ├── AR │ │ │ ├── ViewerAR.cc │ │ │ ├── ViewerAR.h │ │ │ └── ros_mono_ar.cc │ │ │ ├── ros_mono.cc │ │ │ ├── ros_rgbd.cc │ │ │ └── ros_stereo.cc │ └── Stereo │ │ ├── EuRoC.yaml │ │ ├── EuRoC_TimeStamps │ │ ├── MH01.txt │ │ ├── MH02.txt │ │ ├── MH03.txt │ │ ├── MH04.txt │ │ ├── MH05.txt │ │ ├── V101.txt │ │ ├── V102.txt │ │ ├── V103.txt │ │ ├── V201.txt │ │ ├── V202.txt │ │ └── V203.txt │ │ ├── KITTI00-02.yaml │ │ ├── KITTI03.yaml │ │ ├── KITTI04-12.yaml │ │ ├── stereo_euroc.cc │ │ └── stereo_kitti.cc │ ├── LICENSE.txt │ ├── License-gpl.txt │ ├── README.md │ ├── Thirdparty │ ├── DBoW2 │ │ ├── CMakeLists.txt │ │ ├── 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 │ │ ├── LICENSE.txt │ │ └── README.txt │ └── g2o │ │ ├── CMakeLists.txt │ │ ├── README.txt │ │ ├── cmake_modules │ │ ├── FindBLAS.cmake │ │ ├── FindEigen3.cmake │ │ └── FindLAPACK.cmake │ │ ├── config.h.in │ │ ├── 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 │ │ │ ├── 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 │ │ └── license-bsd.txt │ ├── Vocabulary │ └── ORBvoc.txt.tar.gz │ ├── build.sh │ ├── build_ros.sh │ ├── cmake_modules │ └── FindEigen3.cmake │ ├── include │ ├── 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 │ ├── Map.cc │ ├── MapDrawer.cc │ ├── MapPoint.cc │ ├── ORBextractor.cc │ ├── ORBmatcher.cc │ ├── Optimizer.cc │ ├── PnPsolver.cc │ ├── Sim3Solver.cc │ ├── System.cc │ ├── Tracking.cc │ └── Viewer.cc ├── cmake_modules ├── FindEigen3.cmake ├── FindGflags.cmake └── FindGlog.cmake ├── data ├── MH_01_easy │ ├── KeyFrameTrajectory.txt │ ├── imu0 │ │ ├── data.csv │ │ └── sensor.yaml │ └── state_groundtruth_estimate0 │ │ ├── data.csv │ │ └── sensor.yaml ├── MH_02_easy │ ├── KeyFrameTrajectory.txt │ ├── imu0 │ │ ├── data.csv │ │ └── sensor.yaml │ └── state_groundtruth_estimate0 │ │ ├── data.csv │ │ └── sensor.yaml ├── MH_03_medium │ ├── KeyFrameTrajectory.txt │ ├── imu0 │ │ ├── data.csv │ │ └── sensor.yaml │ └── state_groundtruth_estimate0 │ │ ├── data.csv │ │ └── sensor.yaml ├── MH_04_difficult │ ├── KeyFrameTrajectory.txt │ ├── imu0 │ │ ├── data.csv │ │ └── sensor.yaml │ └── state_groundtruth_estimate0 │ │ ├── data.csv │ │ └── sensor.yaml ├── MH_05_difficult │ ├── KeyFrameTrajectory.txt │ ├── imu0 │ │ ├── data.csv │ │ └── sensor.yaml │ └── state_groundtruth_estimate0 │ │ ├── data.csv │ │ └── sensor.yaml ├── MH_05_difficult2 │ ├── KeyFrameTrajectory.txt │ ├── imu0 │ │ ├── data.csv │ │ └── sensor.yaml │ └── state_groundtruth_estimate0 │ │ ├── data.csv │ │ └── sensor.yaml ├── V1_01_easy │ ├── KeyFrameTrajectory.txt │ ├── imu0 │ │ ├── data.csv │ │ └── sensor.yaml │ └── state_groundtruth_estimate0 │ │ ├── data.csv │ │ └── sensor.yaml ├── V1_02_medium │ ├── KeyFrameTrajectory.txt │ ├── imu0 │ │ ├── data.csv │ │ └── sensor.yaml │ └── state_groundtruth_estimate0 │ │ ├── data.csv │ │ └── sensor.yaml ├── V1_02_medium2 │ ├── KeyFrameTrajectory.txt │ ├── imu0 │ │ ├── data.csv │ │ └── sensor.yaml │ └── state_groundtruth_estimate0 │ │ ├── data.csv │ │ └── sensor.yaml ├── V1_03_difficult │ ├── KeyFrameTrajectory.txt │ ├── imu0 │ │ ├── data.csv │ │ └── sensor.yaml │ └── state_groundtruth_estimate0 │ │ ├── data.csv │ │ └── sensor.yaml ├── V1_03_difficult2 │ ├── KeyFrameTrajectory.txt │ ├── imu0 │ │ ├── data.csv │ │ └── sensor.yaml │ └── state_groundtruth_estimate0 │ │ ├── data.csv │ │ └── sensor.yaml ├── V2_01_easy │ ├── KeyFrameTrajectory.txt │ ├── imu0 │ │ ├── data.csv │ │ └── sensor.yaml │ └── state_groundtruth_estimate0 │ │ ├── data.csv │ │ └── sensor.yaml ├── V2_02_medium │ ├── KeyFrameTrajectory.txt │ ├── imu0 │ │ ├── data.csv │ │ └── sensor.yaml │ └── state_groundtruth_estimate0 │ │ ├── data.csv │ │ └── sensor.yaml ├── V2_02_medium2 │ ├── KeyFrameTrajectory.txt │ ├── imu0 │ │ ├── data.csv │ │ └── sensor.yaml │ └── state_groundtruth_estimate0 │ │ ├── data.csv │ │ └── sensor.yaml ├── V2_03_difficult │ ├── KeyFrameTrajectory.txt │ ├── imu0 │ │ ├── data.csv │ │ └── sensor.yaml │ └── state_groundtruth_estimate0 │ │ ├── data.csv │ │ └── sensor.yaml └── experiments.zip ├── include ├── imu_ceres.h ├── imu_preintegration.h ├── io.h ├── methods.h ├── perfect_simulation.h ├── polynomial.h ├── simulation.h ├── so3.h └── util │ ├── alignment.h │ ├── args.h │ ├── csv.h │ ├── 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