├── .gitignore ├── .travis.yml ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cmake ├── Dependencies.cmake ├── External │ ├── gflags.cmake │ └── glog.cmake ├── Modules │ ├── FindCeres.cmake │ ├── FindEigen3.cmake │ ├── FindFlann.cmake │ ├── FindGflags.cmake │ └── FindGlog.cmake └── Utils.cmake ├── documentation ├── .Doxyfile ├── CMakeLists.txt └── publish_documentation.sh ├── exec ├── CMakeLists.txt └── visual_odometry_offline │ ├── main.cpp │ └── visual_odometry_test.mp4 ├── external ├── CMakeLists.txt └── gtest │ ├── CHANGES │ ├── CMakeLists.txt │ ├── CONTRIBUTORS │ ├── LICENSE │ ├── Makefile.am │ ├── Makefile.in │ ├── README │ ├── aclocal.m4 │ ├── build-aux │ ├── config.guess │ ├── config.h.in │ ├── config.sub │ ├── depcomp │ ├── install-sh │ ├── ltmain.sh │ └── missing │ ├── cmake │ └── internal_utils.cmake │ ├── codegear │ ├── gtest.cbproj │ ├── gtest.groupproj │ ├── gtest_all.cc │ ├── gtest_link.cc │ ├── gtest_main.cbproj │ └── gtest_unittest.cbproj │ ├── configure │ ├── configure.ac │ ├── fused-src │ └── gtest │ │ ├── gtest-all.cc │ │ ├── gtest.h │ │ └── gtest_main.cc │ ├── include │ └── gtest │ │ ├── gtest-death-test.h │ │ ├── gtest-message.h │ │ ├── gtest-param-test.h │ │ ├── gtest-param-test.h.pump │ │ ├── gtest-printers.h │ │ ├── gtest-spi.h │ │ ├── gtest-test-part.h │ │ ├── gtest-typed-test.h │ │ ├── gtest.h │ │ ├── gtest_pred_impl.h │ │ ├── gtest_prod.h │ │ └── internal │ │ ├── gtest-death-test-internal.h │ │ ├── gtest-filepath.h │ │ ├── gtest-internal.h │ │ ├── gtest-linked_ptr.h │ │ ├── gtest-param-util-generated.h │ │ ├── gtest-param-util-generated.h.pump │ │ ├── gtest-param-util.h │ │ ├── gtest-port.h │ │ ├── gtest-string.h │ │ ├── gtest-tuple.h │ │ ├── gtest-tuple.h.pump │ │ ├── gtest-type-util.h │ │ └── gtest-type-util.h.pump │ ├── m4 │ ├── acx_pthread.m4 │ ├── gtest.m4 │ ├── libtool.m4 │ ├── ltoptions.m4 │ ├── ltsugar.m4 │ ├── ltversion.m4 │ └── lt~obsolete.m4 │ ├── make │ └── Makefile │ ├── msvc │ ├── gtest-md.sln │ ├── gtest-md.vcproj │ ├── gtest.sln │ ├── gtest.vcproj │ ├── gtest_main-md.vcproj │ ├── gtest_main.vcproj │ ├── gtest_prod_test-md.vcproj │ ├── gtest_prod_test.vcproj │ ├── gtest_unittest-md.vcproj │ └── gtest_unittest.vcproj │ ├── samples │ ├── prime_tables.h │ ├── sample1.cc │ ├── sample1.h │ ├── sample10_unittest.cc │ ├── sample1_unittest.cc │ ├── sample2.cc │ ├── sample2.h │ ├── sample2_unittest.cc │ ├── sample3-inl.h │ ├── sample3_unittest.cc │ ├── sample4.cc │ ├── sample4.h │ ├── sample4_unittest.cc │ ├── sample5_unittest.cc │ ├── sample6_unittest.cc │ ├── sample7_unittest.cc │ ├── sample8_unittest.cc │ └── sample9_unittest.cc │ ├── scripts │ ├── fuse_gtest_files.py │ ├── gen_gtest_pred_impl.py │ ├── gtest-config.in │ ├── pump.py │ └── test │ │ └── Makefile │ ├── src │ ├── gtest-all.cc │ ├── gtest-death-test.cc │ ├── gtest-filepath.cc │ ├── gtest-internal-inl.h │ ├── gtest-port.cc │ ├── gtest-printers.cc │ ├── gtest-test-part.cc │ ├── gtest-typed-test.cc │ ├── gtest.cc │ └── gtest_main.cc │ ├── test │ ├── gtest-death-test_ex_test.cc │ ├── gtest-death-test_test.cc │ ├── gtest-filepath_test.cc │ ├── gtest-linked_ptr_test.cc │ ├── gtest-listener_test.cc │ ├── gtest-message_test.cc │ ├── gtest-options_test.cc │ ├── gtest-param-test2_test.cc │ ├── gtest-param-test_test.cc │ ├── gtest-param-test_test.h │ ├── gtest-port_test.cc │ ├── gtest-printers_test.cc │ ├── gtest-test-part_test.cc │ ├── gtest-tuple_test.cc │ ├── gtest-typed-test2_test.cc │ ├── gtest-typed-test_test.cc │ ├── gtest-typed-test_test.h │ ├── gtest-unittest-api_test.cc │ ├── gtest_all_test.cc │ ├── gtest_break_on_failure_unittest.py │ ├── gtest_break_on_failure_unittest_.cc │ ├── gtest_catch_exceptions_test.py │ ├── gtest_catch_exceptions_test_.cc │ ├── gtest_color_test.py │ ├── gtest_color_test_.cc │ ├── gtest_env_var_test.py │ ├── gtest_env_var_test_.cc │ ├── gtest_environment_test.cc │ ├── gtest_filter_unittest.py │ ├── gtest_filter_unittest_.cc │ ├── gtest_help_test.py │ ├── gtest_help_test_.cc │ ├── gtest_list_tests_unittest.py │ ├── gtest_list_tests_unittest_.cc │ ├── gtest_main_unittest.cc │ ├── gtest_no_test_unittest.cc │ ├── gtest_output_test.py │ ├── gtest_output_test_.cc │ ├── gtest_output_test_golden_lin.txt │ ├── gtest_pred_impl_unittest.cc │ ├── gtest_prod_test.cc │ ├── gtest_repeat_test.cc │ ├── gtest_shuffle_test.py │ ├── gtest_shuffle_test_.cc │ ├── gtest_sole_header_test.cc │ ├── gtest_stress_test.cc │ ├── gtest_test_utils.py │ ├── gtest_throw_on_failure_ex_test.cc │ ├── gtest_throw_on_failure_test.py │ ├── gtest_throw_on_failure_test_.cc │ ├── gtest_uninitialized_test.py │ ├── gtest_uninitialized_test_.cc │ ├── gtest_unittest.cc │ ├── gtest_xml_outfile1_test_.cc │ ├── gtest_xml_outfile2_test_.cc │ ├── gtest_xml_outfiles_test.py │ ├── gtest_xml_output_unittest.py │ ├── gtest_xml_output_unittest_.cc │ ├── gtest_xml_test_utils.py │ ├── production.cc │ └── production.h │ └── xcode │ ├── Config │ ├── DebugProject.xcconfig │ ├── FrameworkTarget.xcconfig │ ├── General.xcconfig │ ├── ReleaseProject.xcconfig │ ├── StaticLibraryTarget.xcconfig │ └── TestTarget.xcconfig │ ├── Resources │ └── Info.plist │ ├── Samples │ └── FrameworkSample │ │ ├── Info.plist │ │ ├── WidgetFramework.xcodeproj │ │ └── project.pbxproj │ │ ├── runtests.sh │ │ ├── widget.cc │ │ ├── widget.h │ │ └── widget_test.cc │ ├── Scripts │ ├── runtests.sh │ └── versiongenerate.py │ └── gtest.xcodeproj │ └── project.pbxproj ├── src ├── cpp │ ├── LICENSE │ ├── camera │ │ ├── camera.cpp │ │ ├── camera.h │ │ ├── camera_extrinsics.cpp │ │ ├── camera_extrinsics.h │ │ ├── camera_intrinsics.cpp │ │ └── camera_intrinsics.h │ ├── file │ │ ├── csv_reader.cpp │ │ ├── csv_reader.h │ │ ├── csv_writer.cpp │ │ └── csv_writer.h │ ├── geometry │ │ ├── covariance_3d.cpp │ │ ├── covariance_3d.h │ │ ├── eight_point_algorithm_solver.cpp │ │ ├── eight_point_algorithm_solver.h │ │ ├── essential_matrix_solver.cpp │ │ ├── essential_matrix_solver.h │ │ ├── fundamental_matrix_solver.cpp │ │ ├── fundamental_matrix_solver.h │ │ ├── fundamental_matrix_solver_options.h │ │ ├── normalization.cpp │ │ ├── normalization.h │ │ ├── point_3d.cpp │ │ ├── point_3d.h │ │ ├── pose_estimator_2d3d.cpp │ │ ├── pose_estimator_2d3d.h │ │ ├── reprojection_error.cpp │ │ ├── reprojection_error.h │ │ ├── rotation.cpp │ │ ├── rotation.h │ │ ├── triangulation.cpp │ │ └── triangulation.h │ ├── image │ │ ├── drawing_utils.cpp │ │ ├── drawing_utils.h │ │ ├── image.cpp │ │ └── image.h │ ├── matching │ │ ├── descriptor_extractor.cpp │ │ ├── descriptor_extractor.h │ │ ├── distance_metric.cpp │ │ ├── distance_metric.h │ │ ├── feature.h │ │ ├── feature_match.h │ │ ├── feature_matcher.cpp │ │ ├── feature_matcher.h │ │ ├── feature_matcher_options.h │ │ ├── keypoint_detector.cpp │ │ ├── keypoint_detector.h │ │ ├── naive_matcher_2d2d.cpp │ │ ├── naive_matcher_2d2d.h │ │ ├── naive_matcher_2d3d.cpp │ │ ├── naive_matcher_2d3d.h │ │ └── pairwise_image_match.h │ ├── math │ │ ├── random_generator.cpp │ │ └── random_generator.h │ ├── optimization │ │ └── cost_functors.h │ ├── pose │ │ ├── pose.cpp │ │ └── pose.h │ ├── ransac │ │ ├── fundamental_matrix_ransac_problem.cpp │ │ ├── fundamental_matrix_ransac_problem.h │ │ ├── pnp_ransac_problem.cpp │ │ ├── pnp_ransac_problem.h │ │ ├── ransac.h │ │ ├── ransac_options.h │ │ └── ransac_problem.h │ ├── sfm │ │ ├── bundle_adjuster.cpp │ │ ├── bundle_adjuster.h │ │ ├── bundle_adjustment_options.h │ │ ├── flann_descriptor_kdtree.cpp │ │ ├── flann_descriptor_kdtree.h │ │ ├── view.cpp │ │ └── view.h │ ├── slam │ │ ├── keyframe_visual_odometry.cpp │ │ ├── keyframe_visual_odometry.h │ │ ├── landmark.cpp │ │ ├── landmark.h │ │ ├── observation.cpp │ │ ├── observation.h │ │ ├── visual_odometry_annotator.cpp │ │ ├── visual_odometry_annotator.h │ │ └── visual_odometry_options.h │ ├── strings │ │ ├── join.h │ │ ├── join_filepath.h │ │ ├── todo │ │ │ ├── add_extension.h │ │ │ ├── create_timestamped_filename.h │ │ │ ├── extensions_equivalent.h │ │ │ ├── filenames_equivalent.h │ │ │ ├── find_all_of.h │ │ │ ├── find_first_of.h │ │ │ ├── find_last_of.h │ │ │ ├── get_dir.h │ │ │ ├── get_extension.h │ │ │ ├── get_filename.h │ │ │ ├── get_filename_no_extension.h │ │ │ ├── get_path.h │ │ │ ├── get_root_dir.h │ │ │ ├── has_extension.h │ │ │ ├── has_prefix.h │ │ │ ├── has_suffix.h │ │ │ ├── is_absolute_path.h │ │ │ ├── is_alphabetic.h │ │ │ ├── is_ascii.h │ │ │ ├── is_control.h │ │ │ ├── is_lower.h │ │ │ ├── is_number.h │ │ │ ├── is_upper.h │ │ │ ├── paths_equivalent.h │ │ │ ├── prepend_slash.h │ │ │ ├── remove_all.h │ │ │ ├── remove_extension.h │ │ │ ├── remove_first_of.h │ │ │ ├── remove_last_of.h │ │ │ ├── remove_prefix.h │ │ │ ├── remove_suffix.h │ │ │ ├── repeat.h │ │ │ ├── replace_all.h │ │ │ ├── replace_extension.h │ │ │ ├── reverse.h │ │ │ ├── string_utils.h │ │ │ ├── to_lower.h │ │ │ ├── to_upper.h │ │ │ ├── tokenize_file_string.h │ │ │ └── trim_white_space.h │ │ └── tokenize.h │ └── util │ │ ├── disallow_copy_and_assign.h │ │ ├── progress_bar.cpp │ │ ├── progress_bar.h │ │ ├── status.h │ │ ├── timer.cpp │ │ ├── timer.h │ │ └── types.h └── matlab │ ├── LoadMap.m │ ├── LoadTrajectory.m │ └── VisualizeOdometry.m └── test ├── CMakeLists.txt ├── test_bundle_adjustment.cpp ├── test_camera.cpp ├── test_csv.cpp ├── test_data ├── campanile_view1.jpg ├── campanile_view2.jpg ├── lenna.png ├── lion1.jpg ├── lion2.jpg └── test_csv.csv ├── test_distance_metric.cpp ├── test_essential_matrix_solver.cpp ├── test_features.cpp ├── test_flann_descriptor_kdtree.cpp ├── test_fundamental_matrix_solvers.cpp ├── test_image.cpp ├── test_landmark.cpp ├── test_main.cpp ├── test_naive_matcher_2d2d.cpp ├── test_naive_matcher_2d3d.cpp ├── test_observation.cpp ├── test_pose.cpp ├── test_pose_estimator_2d3d.cpp ├── test_random.cpp ├── test_ransac_2d3d.cpp ├── test_ransac_fundamental_matrix.cpp ├── test_rotation.cpp ├── test_simple_noiseless_sfm.cpp ├── test_triangulation.cpp └── test_view.cpp /.gitignore: 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