├── .gitignore ├── CONTRIBUTORS.md ├── LICENSE ├── README.md ├── aslam_cv_calibration ├── CMakeLists.txt ├── Doxyfile.in ├── include │ └── aslam │ │ └── calibration │ │ ├── focallength-initializers.h │ │ ├── helpers.h │ │ ├── internal │ │ └── focallength-initializers-traits-inl.h │ │ ├── target-algorithms.h │ │ ├── target-aprilgrid.h │ │ ├── target-base.h │ │ └── target-observation.h ├── package.xml ├── python │ └── create-target-pdf.py ├── src │ ├── focallength-initializers.cc │ ├── target-algorithms.cc │ ├── target-aprilgrid.cc │ └── target-base.cc └── test │ ├── test-init-intrinsics.cc │ └── test-target-observation.cc ├── aslam_cv_cameras ├── CMakeLists.txt ├── Doxyfile.in ├── include │ └── aslam │ │ └── cameras │ │ ├── camera-3d-lidar-inl.h │ │ ├── camera-3d-lidar.h │ │ ├── camera-factory.h │ │ ├── camera-inl.h │ │ ├── camera-pinhole-inl.h │ │ ├── camera-pinhole.h │ │ ├── camera-unified-projection.h │ │ ├── camera.h │ │ ├── distortion-equidistant.h │ │ ├── distortion-fisheye-inl.h │ │ ├── distortion-fisheye.h │ │ ├── distortion-inl.h │ │ ├── distortion-null.h │ │ ├── distortion-radtan.h │ │ ├── distortion.h │ │ ├── ncamera.h │ │ └── random-camera-generator.h ├── package.xml ├── src │ ├── camera-3d-lidar.cc │ ├── camera-factory.cc │ ├── camera-pinhole.cc │ ├── camera-unified-projection.cc │ ├── camera.cc │ ├── distortion-equidistant.cc │ ├── distortion-fisheye.cc │ ├── distortion-radtan.cc │ ├── distortion.cc │ ├── ncamera.cc │ └── random-camera-generator.cc └── test │ ├── test-camera-3d-lidar.cc │ ├── test-cameras.cc │ ├── test-distortions.cc │ └── test-ncamera.cc ├── aslam_cv_common ├── CMakeLists.txt ├── Doxyfile.in ├── cmake │ ├── detect_simd.cmake │ ├── export_flags.cmake │ └── setup_openmp.cmake ├── include │ └── aslam │ │ └── common │ │ ├── channel-declaration.h │ │ ├── channel-definitions.h │ │ ├── channel-external-declaration.h │ │ ├── channel-serialization.h │ │ ├── channel.h │ │ ├── covariance-helpers.h │ │ ├── crtp-clone.h │ │ ├── descriptor-utils.h │ │ ├── eigen-hash.h │ │ ├── entrypoint.h │ │ ├── feature-descriptor-ref-inl.h │ │ ├── feature-descriptor-ref.h │ │ ├── hamming-inl.h │ │ ├── hamming.h │ │ ├── hash-id.h │ │ ├── internal │ │ └── unique-id.h │ │ ├── macros.h │ │ ├── memory.h │ │ ├── meta.h │ │ ├── neon-helpers.h │ │ ├── numdiff-jacobian-tester.h │ │ ├── occupancy-grid-inl.h │ │ ├── occupancy-grid.h │ │ ├── opencv-predicates.h │ │ ├── pose-types.h │ │ ├── predicates.h │ │ ├── reader-first-reader-writer-lock.h │ │ ├── reader-writer-lock.h │ │ ├── sensor.h │ │ ├── statistics │ │ ├── accumulator.h │ │ └── statistics.h │ │ ├── stl-helpers-inl.h │ │ ├── stl-helpers.h │ │ ├── thread-pool.h │ │ ├── time.h │ │ ├── timer.h │ │ ├── types.h │ │ ├── undistort-helpers.h │ │ ├── unique-id.h │ │ ├── yaml-file-serialization.h │ │ ├── yaml-serialization-eigen.h │ │ └── yaml-serialization.h ├── package.xml ├── proto │ └── aslam │ │ └── common │ │ └── id.proto ├── src │ ├── channel-serialization.cc │ ├── channel.cc │ ├── covariance-helpers.cc │ ├── hash-id.cc │ ├── internal │ │ └── unique-id.cc │ ├── reader-first-reader-writer-lock.cc │ ├── reader-writer-lock.cc │ ├── sensor.cc │ ├── statistics.cc │ ├── thread-pool.cc │ └── timer.cc └── test │ ├── reader_writer_lock_test.cc │ ├── reader_writer_mutex_fixture.h │ ├── reader_writer_mutex_fixture_inl.h │ ├── test-channel-serialization.cc │ ├── test-channels.cc │ ├── test-covariance-helpers.cc │ ├── test-descriptor-utils.cc │ ├── test-eigen-yaml-serialization.cc │ ├── test-hash-id.cc │ ├── test-occupancy-grid.cc │ ├── test-stl-helpers.cc │ ├── test-thread-pool.cc │ └── test-time.cc ├── aslam_cv_detector ├── CMakeLists.txt ├── Doxyfile.in ├── include │ ├── aslam │ │ └── detectors │ │ │ ├── line-segment-detector.h │ │ │ └── line.h │ ├── kaze │ │ ├── KAZE.h │ │ ├── KAZEConfig.h │ │ ├── fed.h │ │ ├── nldiffusion_functions.h │ │ └── utils.h │ └── lsd │ │ └── lsd-opencv.h ├── package.xml └── src │ ├── kaze │ ├── KAZE.cpp │ ├── LICENSE │ ├── fed.cpp │ ├── nldiffusion_functions.cpp │ └── utils.cpp │ ├── line-segment-detector.cc │ └── lsd │ └── lsd-opencv.cc ├── aslam_cv_frames ├── CMakeLists.txt ├── Doxyfile.in ├── include │ └── aslam │ │ └── frames │ │ ├── feature-track-inl.h │ │ ├── feature-track.h │ │ ├── keypoint-identifier.h │ │ ├── visual-frame.h │ │ └── visual-nframe.h ├── package.xml ├── src │ ├── visual-frame.cc │ └── visual-nframe.cc └── test │ ├── test-visual-frame.cc │ └── test-visual-nframe.cc ├── aslam_cv_geometric_vision ├── CMakeLists.txt ├── Doxyfile.in ├── include │ └── aslam │ │ └── geometric-vision │ │ ├── match-outlier-rejection-twopt.h │ │ └── pnp-pose-estimator.h ├── package.xml ├── src │ ├── match-outlier-rejection-twopt.cc │ └── pnp-pose-estimator.cc └── test │ └── test_pnp_pose_estimator_test.cc ├── aslam_cv_matcher ├── CMakeLists.txt ├── Doxyfile.in ├── include │ └── aslam │ │ └── matcher │ │ ├── gyro-two-frame-matcher.h │ │ ├── match-helpers.h │ │ └── match.h ├── package.xml └── src │ ├── gyro-two-frame-matcher.cc │ └── match-helpers.cc ├── aslam_cv_pipeline ├── CMakeLists.txt ├── Doxyfile.in ├── include │ └── aslam │ │ └── pipeline │ │ ├── test │ │ └── convert-maps-legacy.h │ │ ├── undistorter-mapped-inl.h │ │ ├── undistorter-mapped.h │ │ ├── undistorter.h │ │ ├── visual-npipeline.h │ │ ├── visual-pipeline-brisk.h │ │ ├── visual-pipeline-freak.h │ │ ├── visual-pipeline-null.h │ │ └── visual-pipeline.h ├── package.xml ├── src │ ├── test │ │ └── convert-maps-legacy.cc │ ├── undistorter-mapped.cc │ ├── undistorter.cc │ ├── visual-npipeline.cc │ ├── visual-pipeline-brisk.cc │ ├── visual-pipeline-freak.cc │ ├── visual-pipeline-null.cc │ └── visual-pipeline.cc └── test │ ├── test-undistorters.cc │ └── test-visual-npipeline.cc ├── aslam_cv_tracker ├── CMakeLists.txt ├── Doxyfile.in ├── include │ └── aslam │ │ └── tracker │ │ ├── feature-tracker-gyro.h │ │ ├── feature-tracker.h │ │ ├── track-manager.h │ │ └── tracking-helpers.h ├── package.xml ├── src │ ├── 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