├── .gitignore ├── CMakeLists.txt ├── COPYING ├── README.md ├── cmake-modules └── FindG2O.cmake ├── external ├── CMakeLists.txt ├── SiftGPU │ ├── History.txt │ ├── OpenGL_and_CUDA.txt │ ├── README.txt │ ├── data │ │ ├── 1600.jpg │ │ ├── 640-1.jpg │ │ ├── 640-2.jpg │ │ ├── 640-3.jpg │ │ ├── 640-4.jpg │ │ ├── 640-5.jpg │ │ ├── 800-1.jpg │ │ ├── 800-2.jpg │ │ ├── 800-3.jpg │ │ ├── 800-4.jpg │ │ ├── Thumbs.db │ │ ├── list640.txt │ │ └── listx.txt │ ├── demos │ │ ├── demo1.bat │ │ ├── demo2.bat │ │ ├── demo3.bat │ │ ├── evaluation-box.bat │ │ └── instructions.txt │ ├── doc │ │ ├── evaluation │ │ │ ├── box.pgm │ │ │ ├── box.siftgpu │ │ │ └── evaluation.jpg │ │ ├── manual.pdf │ │ ├── speed_v311.jpg │ │ ├── speed_v340_v2.jpg │ │ └── statistics.pdf │ ├── include │ │ ├── GL │ │ │ ├── glew.h │ │ │ ├── glut.h │ │ │ └── wglew.h │ │ └── IL │ │ │ ├── COPYING │ │ │ └── il.h │ ├── lib │ │ ├── DevIL.lib │ │ ├── DevIL64.lib │ │ ├── SIFTGPU.exp │ │ ├── SIFTGPU.lib │ │ ├── glew32.lib │ │ ├── glew32s.lib │ │ ├── glew64.lib │ │ ├── glew64s.lib │ │ ├── glut32.lib │ │ └── glut64.lib │ ├── license.txt │ ├── makefile │ ├── msvc │ │ ├── ServerSiftGPU │ │ │ ├── SiftGPU_Server.dsp │ │ │ └── SiftGPU_Server.vcxproj │ │ ├── SiftGPU.dsw │ │ ├── SiftGPU.sln │ │ ├── SiftGPU │ │ │ ├── SiftGPU.def │ │ │ ├── SiftGPU.dsp │ │ │ ├── SiftGPU.vcxproj │ │ │ └── SiftGPU_CUDA_Enabled.vcxproj │ │ ├── SiftGPU_CUDA_Enabled.sln │ │ └── TestWin │ │ │ ├── MultiThreadSIFT.dsp │ │ │ ├── MultiThreadSIFT.vcxproj │ │ │ ├── SimpleSIFT.dsp │ │ │ ├── SimpleSIFT.vcxproj │ │ │ ├── Speed.dsp │ │ │ ├── Speed.vcxproj │ │ │ ├── TestBase.dsp │ │ │ ├── TestBase.vcxproj │ │ │ ├── TestWin.dsp │ │ │ ├── TestWin.vcxproj │ │ │ ├── TestWinGlut.dsp │ │ │ └── TestWinGlut.vcxproj │ ├── speed_and_accuracy.txt │ └── src │ │ ├── ServerSiftGPU │ │ ├── ServerSiftGPU.cpp │ │ ├── ServerSiftGPU.h │ │ └── server.cpp │ │ ├── SiftGPU │ │ ├── CLTexImage.cpp │ │ ├── CLTexImage.h │ │ ├── CuTexImage.cpp │ │ ├── CuTexImage.h │ │ ├── FrameBufferObject.cpp │ │ ├── FrameBufferObject.h │ │ ├── GLTexImage.cpp │ │ ├── GLTexImage.h │ │ ├── GlobalUtil.cpp │ │ ├── GlobalUtil.h │ │ ├── LiteWindow.h │ │ ├── ProgramCG.cpp │ │ ├── ProgramCG.h │ │ ├── ProgramCL.cpp │ │ ├── ProgramCL.h │ │ ├── ProgramCU.cu │ │ ├── ProgramCU.h │ │ ├── ProgramGLSL.cpp │ │ ├── ProgramGLSL.h │ │ ├── ProgramGPU.cpp │ │ ├── ProgramGPU.h │ │ ├── PyramidCL.cpp │ │ ├── PyramidCL.h │ │ ├── PyramidCU.cpp │ │ ├── PyramidCU.h │ │ ├── PyramidGL.cpp │ │ ├── PyramidGL.h │ │ ├── ShaderMan.cpp │ │ ├── ShaderMan.h │ │ ├── SiftGPU.cpp │ │ ├── SiftGPU.h │ │ ├── SiftMatch.cpp │ │ ├── SiftMatch.h │ │ ├── SiftMatchCU.cpp │ │ ├── SiftMatchCU.h │ │ ├── SiftPyramid.cpp │ │ └── SiftPyramid.h │ │ └── TestWin │ │ ├── BasicTestWin.cpp │ │ ├── BasicTestWin.h │ │ ├── GLTestWnd.cpp │ │ ├── GLTestWnd.h │ │ ├── GLTransform.h │ │ ├── MultiThreadSIFT.cpp │ │ ├── SimpleSIFT.cpp │ │ ├── TestWinGlut.cpp │ │ ├── TestWinGlut.h │ │ └── speed.cpp └── gicp │ ├── LICENSE │ ├── Makefile │ ├── README │ ├── ann_1.1.2 │ ├── Copyright.txt │ ├── License.txt │ ├── MS_Win32 │ │ ├── Ann.sln │ │ ├── Makefile │ │ ├── ann2fig │ │ │ └── ann2fig.vcproj │ │ ├── dll │ │ │ └── dll.vcproj │ │ ├── sample │ │ │ └── sample.vcproj │ │ └── test │ │ │ └── test.vcproj │ ├── Make-config │ ├── Makefile │ ├── ReadMe.txt │ ├── ann2fig │ │ ├── Makefile │ │ └── ann2fig.cpp │ ├── doc │ │ └── ANNmanual.pdf │ ├── include │ │ └── ANN │ │ │ ├── ANN.h │ │ │ ├── ANNperf.h │ │ │ └── ANNx.h │ ├── sample │ │ ├── Makefile │ │ ├── ann_sample.cpp │ │ ├── data.pts │ │ ├── query.pts │ │ └── sample.save │ ├── src │ │ ├── ANN.cpp │ │ ├── Makefile │ │ ├── bd_fix_rad_search.cpp │ │ ├── bd_pr_search.cpp │ │ ├── bd_search.cpp │ │ ├── bd_tree.cpp │ │ ├── bd_tree.h │ │ ├── brute.cpp │ │ ├── kd_dump.cpp │ │ ├── kd_fix_rad_search.cpp │ │ ├── kd_fix_rad_search.h │ │ ├── kd_pr_search.cpp │ │ ├── kd_pr_search.h │ │ ├── kd_search.cpp │ │ ├── kd_search.h │ │ ├── kd_split.cpp │ │ ├── kd_split.h │ │ ├── kd_tree.cpp │ │ ├── kd_tree.h │ │ ├── kd_util.cpp │ │ ├── kd_util.h │ │ ├── perf.cpp │ │ ├── pr_queue.h │ │ └── pr_queue_k.h │ └── test │ │ ├── Makefile │ │ ├── ann_test.cpp │ │ ├── rand.cpp │ │ ├── rand.h │ │ ├── test1-data.pts │ │ ├── test1-query.pts │ │ ├── test1.in │ │ ├── test1.save │ │ ├── test2-data.pts │ │ ├── test2-query.pts │ │ ├── test2.in │ │ └── test2.save │ ├── bfgs_funcs.cpp │ ├── gicp.cpp │ ├── gicp.h │ ├── optimize.cpp │ ├── optimize.h │ ├── scan.cpp │ ├── scan.h │ ├── scan2ascii.cpp │ ├── test_gicp.cpp │ ├── transform.cpp │ └── transform.h ├── install.sh ├── launch ├── fast_visual_odometry.launch ├── fast_visual_odometry.rviz ├── headless.launch ├── openni+rgbdslam.launch ├── qvga-kinect+rgbdslam.launch └── rgbdslam.launch ├── log.conf ├── mainpage.dox ├── media ├── rgbdslamv2_empty.jpg ├── rgbdslamv2_fr2desk.jpg ├── rgbdslamv2_fr2desk_navi.jpg └── rgbdslamv2_fr2desk_octomap.jpg ├── package.xml ├── rgbd_benchmark ├── associate.py ├── associate_module.pyx ├── benchmark_evaluation.sh ├── download_benchmark_data.urls ├── download_benchmark_files.sh ├── evaluate_ate.py ├── evaluate_ate_module.pyx ├── generate_color_octomap_from_estimate.sh ├── generate_pointcloud_from_rgbd_bag.py ├── generate_pointcloud_from_rgbd_bag_module.pyx ├── log_eval.conf ├── settings_for_evaluation.launch ├── spreadsheet_template.ods └── summarize_evaluation.sh ├── rosdep.yaml ├── rosdoc.yaml ├── src ├── ColorOctomapServer.cpp ├── ColorOctomapServer.h ├── bagloader.cpp ├── bagloader.h ├── covariance_estimation.cpp ├── covariance_estimation.h ├── edge.h ├── feature_adjuster.cpp ├── feature_adjuster.h ├── features.cpp ├── features.h ├── gicp-fallback.cpp ├── gicp-fallback.h ├── glviewer.cpp ├── glviewer.h ├── glviewer2.cpp ├── graph_manager.cpp ├── graph_manager.h ├── graph_manager2.cpp ├── graph_mgr_io.cpp ├── graph_mgr_odom.cpp ├── header.cpp ├── header.h ├── icp.cpp ├── icp.h ├── landmark.cpp ├── landmark.h ├── loop_closing.cpp ├── main.cpp ├── matching_result.cpp ├── matching_result.h ├── misc.cpp ├── misc.h ├── misc2.h ├── 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