├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cmake └── FindTBB.cmake ├── database └── euroc │ └── .gitignore ├── include └── calibration │ ├── backend │ ├── BackendParams.h │ ├── BatchSegmentDatabase.h │ ├── DatabaseThread.h │ ├── DoglegOptimizerImplCustom.h │ ├── ISAM2Custom.h │ ├── IncrementalSegmentDatabase.h │ ├── Segment.h │ ├── SegmentAccumulator.h │ ├── SegmentConstruction.h │ ├── SegmentDatabase.h │ ├── SegmentId.h │ ├── graph_utils.h │ ├── partition.h │ └── triangulation.h │ ├── camera_models │ ├── Pinhole.h │ ├── PinholeKB.h │ ├── PinholeModel.h │ ├── PinholeRadtan.h │ └── camera_model_factory.h │ ├── data_reader │ ├── DataReader.h │ ├── EurocReader.h │ └── dataset_factory.h │ ├── factors │ ├── PriorFactorTranslation.h │ ├── TriangulationFactorCustom.h │ ├── epipolar │ │ ├── EpipolarFactor.h │ │ └── GenEpiFactor.h │ └── projection │ │ └── ExtrinsicsProjectionFactor.h │ ├── frontend │ ├── Camera.h │ ├── FeatureDatabase.h │ ├── FeatureMatcher.h │ ├── FeatureTracker.h │ ├── Frame.h │ ├── Frontend.h │ ├── FrontendParams.h │ ├── OutlierRejecter.h │ ├── RotationPredictor.h │ ├── keyframe_selection │ │ ├── EntropyKeyframeSelecter.h │ │ ├── FeatureKeyframeSelecter.h │ │ ├── KeyframeSelecter.h │ │ └── MotionKeyframeSelecter.h │ └── keypoints.h │ ├── stereo │ ├── stereo_calib.h │ ├── stereo_matching.h │ └── stereo_params.h │ └── utils │ ├── Sampler.h │ ├── SimParams.h │ ├── basic_types.h │ ├── boost_serialization.h │ ├── eigen_types.h │ ├── gtsam_utils.h │ ├── info_metrics.h │ ├── lin_alg_utils.h │ └── serialization.h ├── logs └── .gitignore ├── params ├── backend.yaml ├── frontend.yaml ├── sim.yaml └── stereo │ └── euroc.yaml ├── scripts └── clear_database.py └── src ├── backend ├── BackendParams.cpp ├── BatchSegmentDatabase.cpp ├── CMakeLists.txt ├── DatabaseThread.cpp ├── ISAM2Custom.cpp ├── IncrementalSegmentDatabase.cpp ├── Segment.cpp ├── SegmentAccumulator.cpp ├── SegmentConstruction.cpp ├── SegmentDatabase.cpp ├── SegmentId.cpp ├── graph_utils.cpp ├── partition.cpp └── triangulation.cpp ├── calibrate.cpp ├── camera_models ├── CMakeLists.txt ├── Pinhole.cpp ├── PinholeKB.cpp ├── PinholeModel.cpp ├── PinholeRadtan.cpp └── camera_model_factory.cpp ├── data_reader ├── CMakeLists.txt ├── DataReader.cpp ├── EurocReader.cpp └── dataset_factory.cpp ├── frontend ├── CMakeLists.txt ├── Camera.cpp ├── FeatureDatabase.cpp ├── FeatureMatcher.cpp ├── FeatureTracker.cpp ├── Frame.cpp ├── Frontend.cpp ├── FrontendParams.cpp ├── OutlierRejecter.cpp ├── keyframe_selection │ ├── EntropyKeyframeSelecter.cpp │ ├── FeatureKeyframeSelecter.cpp │ ├── KeyframeSelecter.cpp │ └── MotionKeyframeSelecter.cpp └── keypoints.cpp ├── stereo ├── CMakeLists.txt ├── stereo_calib.cpp ├── stereo_matching.cpp └── stereo_params.cpp └── utils ├── CMakeLists.txt ├── SimParams.cpp ├── info_metrics.cpp ├── lin_alg_utils.cpp └── serialization.cpp /.gitignore: -------------------------------------------------------------------------------- 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