├── ORB_SLAM2_modified ├── CMakeLists.txt ├── Dependencies.md ├── Examples │ ├── Monocular │ │ ├── KITTI00-02.yaml │ │ ├── KITTI03.yaml │ │ ├── KITTI04-12.yaml │ │ ├── TUM1.yaml │ │ ├── TUM2.yaml │ │ ├── TUM3.yaml │ │ ├── mono_kitti │ │ ├── mono_kitti.cc │ │ ├── mono_tum │ │ └── 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_str_tex_far.txt │ │ │ └── fr3_str_tex_near.txt │ │ ├── rgbd_cc │ │ ├── rgbd_cc.cc │ │ ├── rgbd_tum │ │ ├── rgbd_tum.cc │ │ └── xtion.yaml │ ├── ROS │ │ └── ORB-SLAM2_DENSE │ │ │ ├── CMakeLists.txt │ │ │ ├── Mono │ │ │ ├── Pose_transform │ │ │ ├── RGBD │ │ │ ├── launch │ │ │ ├── Octomap.launch │ │ │ ├── move_base.launch │ │ │ └── transform.launch │ │ │ ├── manifest.xml │ │ │ ├── orb_octomap │ │ │ ├── params │ │ │ ├── base_local_planner_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ │ ├── src │ │ │ ├── Pose_transform.cc │ │ │ ├── octomap.cc │ │ │ ├── ros_mono.cc │ │ │ └── ros_rgbd.cc │ │ │ └── visual_octomap │ └── Stereo │ │ ├── KITTI00-02.yaml │ │ ├── KITTI03.yaml │ │ ├── KITTI04-12.yaml │ │ ├── stereo_kitti │ │ └── stereo_kitti.cc ├── LICENSE.txt ├── License-gpl.txt ├── ORB_SLAM2_modified.kdev4 ├── 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 ├── build.sh ├── cmake_modules │ ├── FindCholmod.cmake │ ├── FindEigen3.cmake │ └── FindG2O.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 │ └── pointcloudmapping.h ├── orb_slam2_dense │ ├── CMakeLists.txt │ ├── main.cpp │ ├── orb_slam2_dense.cpp │ ├── orb_slam2_dense.h │ └── orb_slam2_dense.kdev4 ├── run_now.sh └── 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 │ └── pointcloudmapping.cc ├── README.md └── g2o_with_orbslam2 ├── CMakeLists.txt ├── EXTERNAL ├── CMakeLists.txt ├── ceres │ ├── LICENSE │ ├── autodiff.h │ ├── eigen.h │ ├── fixed_array.h │ ├── fpclassify.h │ ├── jet.h │ ├── macros.h │ ├── manual_constructor.h │ └── variadic_evaluate.h ├── csparse │ ├── CMakeLists.txt │ ├── License.txt │ ├── README.txt │ ├── cs.h │ ├── cs_add.c │ ├── cs_amd.c │ ├── cs_api.h │ ├── cs_chol.c │ ├── cs_cholsol.c │ ├── cs_compress.c │ ├── cs_counts.c │ ├── cs_cumsum.c │ ├── cs_dfs.c │ ├── cs_dmperm.c │ ├── cs_droptol.c │ ├── cs_dropzeros.c │ ├── cs_dupl.c │ ├── cs_entry.c │ ├── cs_ereach.c │ ├── cs_etree.c │ ├── cs_fkeep.c │ ├── cs_gaxpy.c │ ├── cs_happly.c │ ├── cs_house.c │ ├── cs_ipvec.c │ ├── cs_leaf.c │ ├── cs_load.c │ ├── cs_lsolve.c │ ├── cs_ltsolve.c │ ├── cs_lu.c │ ├── cs_lusol.c │ ├── cs_malloc.c │ ├── cs_maxtrans.c │ ├── cs_multiply.c │ ├── cs_norm.c │ ├── cs_permute.c │ ├── cs_pinv.c │ ├── cs_post.c │ ├── cs_print.c │ ├── cs_pvec.c │ ├── cs_qr.c │ ├── cs_qrsol.c │ ├── cs_randperm.c │ ├── cs_reach.c │ ├── cs_scatter.c │ ├── cs_scc.c │ ├── cs_schol.c │ ├── cs_spsolve.c │ ├── cs_sqr.c │ ├── cs_symperm.c │ ├── cs_tdfs.c │ ├── cs_transpose.c │ ├── cs_updown.c │ ├── cs_usolve.c │ ├── cs_util.c │ ├── cs_utsolve.c │ └── lesser.txt └── freeglut │ ├── CMakeLists.txt │ ├── COPYING │ ├── freeglut_font.cpp │ ├── freeglut_minimal.h │ ├── freeglut_stroke_mono_roman.cpp │ └── freeglut_stroke_roman.cpp ├── README.md ├── cmake_modules ├── FindBLAS.cmake ├── FindCSparse.cmake ├── FindCholmod.cmake ├── FindEigen3.cmake ├── FindG2O.cmake ├── FindLAPACK.cmake ├── FindQGLViewer.cmake └── FindSuiteSparse.cmake ├── config.h.in ├── doc └── .gitignore ├── g2o ├── .gitignore ├── CMakeLists.txt ├── apps │ ├── CMakeLists.txt │ ├── g2o_cli │ │ ├── CMakeLists.txt │ │ ├── dl_wrapper.cpp │ │ ├── dl_wrapper.h │ │ ├── g2o.cpp │ │ ├── g2o_cli_api.h │ │ ├── g2o_common.cpp │ │ ├── g2o_common.h │ │ ├── output_helper.cpp │ │ └── output_helper.h │ ├── g2o_hierarchical │ │ ├── CMakeLists.txt │ │ ├── backbone_tree_action.cpp │ │ ├── backbone_tree_action.h │ │ ├── edge_creator.cpp │ │ ├── edge_creator.h │ │ ├── edge_labeler.cpp │ │ ├── edge_labeler.h │ │ ├── edge_types_cost_function.cpp │ │ ├── edge_types_cost_function.h │ │ ├── g2o_hierarchical.cpp │ │ ├── g2o_hierarchical_api.h │ │ ├── g2o_hierarchical_test_functions.cpp │ │ ├── simple_star_ops.cpp │ │ ├── simple_star_ops.h │ │ ├── star.cpp │ │ └── star.h │ ├── g2o_simulator │ │ ├── CMakeLists.txt │ │ ├── convertSegmentLine.cpp │ │ ├── converteSegmentLine.cpp │ │ ├── g2o_anonymize_observations.cpp │ │ ├── g2o_simulator_api.h │ │ ├── pointsensorparameters.cpp │ │ ├── pointsensorparameters.h │ │ ├── sensor_line3d.cpp │ │ ├── sensor_line3d.h │ │ ├── sensor_odometry.h │ │ ├── sensor_odometry2d.cpp │ │ ├── sensor_odometry2d.h │ │ ├── sensor_odometry3d.cpp │ │ ├── sensor_odometry3d.h │ │ ├── sensor_pointxy.cpp │ │ ├── sensor_pointxy.h │ │ ├── sensor_pointxy_bearing.cpp │ │ ├── sensor_pointxy_bearing.h │ │ ├── sensor_pointxy_offset.cpp │ │ ├── sensor_pointxy_offset.h │ │ ├── sensor_pointxyz.cpp │ │ ├── sensor_pointxyz.h │ │ ├── sensor_pointxyz_depth.cpp │ │ ├── sensor_pointxyz_depth.h │ │ ├── sensor_pointxyz_disparity.cpp │ │ ├── sensor_pointxyz_disparity.h │ │ ├── sensor_pose2d.cpp │ │ ├── sensor_pose2d.h │ │ ├── sensor_pose3d.cpp │ │ ├── sensor_pose3d.h │ │ ├── sensor_pose3d_offset.cpp │ │ ├── sensor_pose3d_offset.h │ │ ├── sensor_se3_prior.cpp │ │ ├── sensor_se3_prior.h │ │ ├── sensor_segment2d.cpp │ │ ├── sensor_segment2d.h │ │ ├── sensor_segment2d_line.cpp │ │ ├── sensor_segment2d_line.h │ │ ├── sensor_segment2d_pointline.cpp │ │ ├── sensor_segment2d_pointline.h │ │ ├── simulator.cpp │ │ ├── simulator.h │ │ ├── simulator2d.h │ │ ├── simulator2d_base.h │ │ ├── simulator2d_segment.cpp │ │ ├── simulator3d.h │ │ ├── simulator3d_base.h │ │ ├── simutils.cpp │ │ ├── simutils.h │ │ ├── test_simulator2d.cpp │ │ └── test_simulator3d.cpp │ ├── g2o_viewer │ │ ├── CMakeLists.txt │ │ ├── base_main_window.ui │ │ ├── base_properties_widget.ui │ │ ├── g2o_qglviewer.cpp │ │ ├── g2o_qglviewer.h │ │ ├── g2o_viewer.cpp │ │ ├── g2o_viewer_api.h │ │ ├── gui_hyper_graph_action.cpp │ │ ├── gui_hyper_graph_action.h │ │ ├── main_window.cpp │ │ ├── main_window.h │ │ ├── properties_widget.cpp │ │ ├── properties_widget.h │ │ ├── run_g2o_viewer.cpp │ │ ├── run_g2o_viewer.h │ │ ├── stream_redirect.cpp │ │ ├── stream_redirect.h │ │ ├── viewer_properties_widget.cpp │ │ └── viewer_properties_widget.h │ └── linked_binaries │ │ └── CMakeLists.txt ├── core │ ├── CMakeLists.txt │ ├── 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 │ ├── g2o_core_api.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 │ ├── sparse_optimizer_terminate_action.cpp │ └── sparse_optimizer_terminate_action.h ├── examples │ ├── CMakeLists.txt │ ├── ba │ │ ├── CMakeLists.txt │ │ └── ba_demo.cpp │ ├── ba_anchored_inverse_depth │ │ ├── CMakeLists.txt │ │ └── ba_anchored_inverse_depth_demo.cpp │ ├── bal │ │ ├── CMakeLists.txt │ │ └── bal_example.cpp │ ├── calibration_odom_laser │ │ ├── CMakeLists.txt │ │ ├── closed_form_calibration.cpp │ │ ├── closed_form_calibration.h │ │ ├── edge_se2_pure_calib.cpp │ │ ├── edge_se2_pure_calib.h │ │ ├── g2o_calibration_odom_laser_api.h │ │ ├── gm2dl_io.cpp │ │ ├── gm2dl_io.h │ │ ├── motion_information.h │ │ ├── sclam_helpers.cpp │ │ ├── sclam_helpers.h │ │ ├── sclam_laser_calib.cpp │ │ ├── sclam_odom_laser.cpp │ │ └── sclam_pure_calibration.cpp │ ├── data_convert │ │ ├── CMakeLists.txt │ │ └── convert_sba_slam3d.cpp │ ├── data_fitting │ │ ├── CMakeLists.txt │ │ ├── circle_fit.cpp │ │ └── curve_fit.cpp │ ├── g2o_unfold │ │ ├── g2o-unfold.cpp │ │ ├── tools.cpp │ │ └── tools.h │ ├── icp │ │ ├── CMakeLists.txt │ │ ├── gicp-test1.dat │ │ ├── gicp_demo.cpp │ │ └── gicp_sba_demo.cpp │ ├── interactive_slam │ │ ├── CMakeLists.txt │ │ ├── README.txt │ │ ├── g2o_incremental │ │ │ ├── CMakeLists.txt │ │ │ ├── README.txt │ │ │ ├── g2o_incremental.cpp │ │ │ ├── g2o_incremental_api.h │ │ │ ├── graph_optimizer_sparse_incremental.cpp │ │ │ ├── graph_optimizer_sparse_incremental.h │ │ │ ├── linear_solver_cholmod_online.h │ │ │ └── protocol.txt │ │ ├── g2o_interactive │ │ │ ├── CMakeLists.txt │ │ │ ├── fast_output.h │ │ │ ├── g2o_interactive_api.h │ │ │ ├── g2o_online.cpp │ │ │ ├── g2o_slam_interface.cpp │ │ │ ├── g2o_slam_interface.h │ │ │ ├── generate_commands.cpp │ │ │ ├── graph_optimizer_sparse_online.cpp │ │ │ ├── graph_optimizer_sparse_online.h │ │ │ ├── protocol.txt │ │ │ ├── types_online.cpp │ │ │ ├── types_slam2d_online.h │ │ │ └── types_slam3d_online.h │ │ └── slam_parser │ │ │ ├── CMakeLists.txt │ │ │ ├── interface │ │ │ ├── CMakeLists.txt │ │ │ ├── abstract_slam_interface.h │ │ │ ├── parser_interface.cpp │ │ │ ├── parser_interface.h │ │ │ ├── slam_context_interface.cpp │ │ │ └── slam_context_interface.h │ │ │ └── parser │ │ │ ├── CMakeLists.txt │ │ │ ├── FlexLexer.h │ │ │ ├── bison_parser.cpp │ │ │ ├── bison_parser.h │ │ │ ├── commands.h │ │ │ ├── driver.cpp │ │ │ ├── driver.h │ │ │ ├── flex_scanner.cpp │ │ │ ├── grammar.sh │ │ │ ├── location.hh │ │ │ ├── parser.yy │ │ │ ├── position.hh │ │ │ ├── scanner.h │ │ │ ├── scanner.l │ │ │ ├── slam_context.cpp │ │ │ ├── slam_context.h │ │ │ ├── stack.hh │ │ │ └── test_slam_parser.cpp │ ├── plane_slam │ │ ├── CMakeLists.txt │ │ ├── plane_test.cpp │ │ └── simulator_3d_plane.cpp │ ├── sba │ │ ├── CMakeLists.txt │ │ └── sba_demo.cpp │ ├── simple_optimize │ │ ├── CMakeLists.txt │ │ └── simple_optimize.cpp │ ├── slam2d │ │ ├── CMakeLists.txt │ │ ├── base_main_window.ui │ │ ├── draw_helpers.cpp │ │ ├── draw_helpers.h │ │ ├── main_window.cpp │ │ ├── main_window.h │ │ ├── slam2d_g2o.cpp │ │ ├── slam2d_viewer.cpp │ │ └── slam2d_viewer.h │ ├── sphere │ │ ├── CMakeLists.txt │ │ └── create_sphere.cpp │ ├── target │ │ ├── CMakeLists.txt │ │ ├── constant_velocity_target.cpp │ │ ├── continuous_to_discrete.h │ │ ├── static_target.cpp │ │ ├── targetTypes3D.hpp │ │ └── targetTypes6D.hpp │ └── tutorial_slam2d │ │ ├── CMakeLists.txt │ │ ├── edge_se2.cpp │ │ ├── edge_se2.h │ │ ├── edge_se2_pointxy.cpp │ │ ├── edge_se2_pointxy.h │ │ ├── g2o_tutorial_slam2d_api.h │ │ ├── parameter_se2_offset.cpp │ │ ├── parameter_se2_offset.h │ │ ├── rand.h │ │ ├── se2.h │ │ ├── simulator.cpp │ │ ├── simulator.h │ │ ├── tutorial_slam2d.cpp │ │ ├── types_tutorial_slam2d.cpp │ │ ├── types_tutorial_slam2d.h │ │ ├── vertex_point_xy.cpp │ │ ├── vertex_point_xy.h │ │ ├── vertex_se2.cpp │ │ └── vertex_se2.h ├── solvers │ ├── CMakeLists.txt │ ├── cholmod │ │ ├── CMakeLists.txt │ │ ├── linear_solver_cholmod.h │ │ └── solver_cholmod.cpp │ ├── csparse │ │ ├── CMakeLists.txt │ │ ├── csparse_helper.cpp │ │ ├── csparse_helper.h │ │ ├── g2o_csparse_api.h │ │ ├── g2o_csparse_extension_api.h │ │ ├── linear_solver_csparse.h │ │ └── solver_csparse.cpp │ ├── dense │ │ ├── CMakeLists.txt │ │ ├── linear_solver_dense.h │ │ └── solver_dense.cpp │ ├── eigen │ │ ├── CMakeLists.txt │ │ ├── linear_solver_eigen.h │ │ └── solver_eigen.cpp │ ├── pcg │ │ ├── CMakeLists.txt │ │ ├── linear_solver_pcg.h │ │ ├── linear_solver_pcg.hpp │ │ └── solver_pcg.cpp │ ├── slam2d_linear │ │ ├── CMakeLists.txt │ │ ├── g2o_slam2d_linear_api.h │ │ ├── slam2d_linear.cpp │ │ ├── solver_slam2d_linear.cpp │ │ └── solver_slam2d_linear.h │ └── structure_only │ │ ├── CMakeLists.txt │ │ ├── structure_only.cpp │ │ └── structure_only_solver.h ├── stuff │ ├── CMakeLists.txt │ ├── color_macros.h │ ├── command_args.cpp │ ├── command_args.h │ ├── filesys_tools.cpp │ ├── filesys_tools.h │ ├── g2o_stuff_api.h │ ├── macros.h │ ├── misc.h │ ├── opengl_primitives.cpp │ ├── opengl_primitives.h │ ├── opengl_wrapper.h │ ├── os_specific.c │ ├── os_specific.h │ ├── property.cpp │ ├── property.h │ ├── sampler.cpp │ ├── sampler.h │ ├── scoped_pointer.h │ ├── sparse_helper.cpp │ ├── sparse_helper.h │ ├── string_tools.cpp │ ├── string_tools.h │ ├── tictoc.cpp │ ├── tictoc.h │ ├── timeutil.cpp │ ├── timeutil.h │ └── unscented.h ├── types │ ├── CMakeLists.txt │ ├── data │ │ ├── CMakeLists.txt │ │ ├── data_queue.cpp │ │ ├── data_queue.h │ │ ├── g2o_types_data_api.h │ │ ├── laser_parameters.cpp │ │ ├── laser_parameters.h │ │ ├── raw_laser.cpp │ │ ├── raw_laser.h │ │ ├── robot_data.cpp │ │ ├── robot_data.h │ │ ├── robot_laser.cpp │ │ ├── robot_laser.h │ │ ├── types_data.cpp │ │ ├── types_data.h │ │ ├── vertex_ellipse.cpp │ │ ├── vertex_ellipse.h │ │ ├── vertex_tag.cpp │ │ └── vertex_tag.h │ ├── deprecated │ │ ├── CMakeLists.txt │ │ └── slam3d │ │ │ ├── CMakeLists.txt │ │ │ ├── edge_se3_offset.cpp │ │ │ ├── edge_se3_offset.h │ │ │ ├── edge_se3_pointxyz.cpp │ │ │ ├── edge_se3_pointxyz.h │ │ │ ├── edge_se3_pointxyz_depth.cpp │ │ │ ├── edge_se3_pointxyz_depth.h │ │ │ ├── edge_se3_pointxyz_disparity.cpp │ │ │ ├── edge_se3_pointxyz_disparity.h │ │ │ ├── edge_se3_prior.cpp │ │ │ ├── edge_se3_prior.h │ │ │ ├── edge_se3_quat.cpp │ │ │ ├── edge_se3_quat.h │ │ │ ├── g2o_deprecated_types_slam3d_api.h │ │ │ ├── parameter_camera.cpp │ │ │ ├── parameter_camera.h │ │ │ ├── parameter_se3_offset.cpp │ │ │ ├── parameter_se3_offset.h │ │ │ ├── se3quat_gradients.cpp │ │ │ ├── se3quat_gradients.h │ │ │ ├── types_slam3d.cpp │ │ │ ├── types_slam3d.h │ │ │ ├── vertex_pointxyz.cpp │ │ │ ├── vertex_pointxyz.h │ │ │ ├── vertex_se3_quat.cpp │ │ │ └── vertex_se3_quat.h │ ├── icp │ │ ├── CMakeLists.txt │ │ ├── g2o_types_icp_api.h │ │ ├── types_icp.cpp │ │ └── types_icp.h │ ├── sba │ │ ├── CMakeLists.txt │ │ ├── g2o_types_sba_api.h │ │ ├── sbacam.h │ │ ├── types_sba.cpp │ │ ├── types_sba.h │ │ ├── types_six_dof_expmap.cpp │ │ └── types_six_dof_expmap.h │ ├── sclam2d │ │ ├── CMakeLists.txt │ │ ├── edge_se2_odom_differential_calib.cpp │ │ ├── edge_se2_odom_differential_calib.h │ │ ├── edge_se2_sensor_calib.cpp │ │ ├── edge_se2_sensor_calib.h │ │ ├── g2o_types_sclam2d_api.h │ │ ├── odometry_measurement.cpp │ │ ├── odometry_measurement.h │ │ ├── types_sclam2d.cpp │ │ ├── types_sclam2d.h │ │ ├── vertex_odom_differential_params.cpp │ │ └── vertex_odom_differential_params.h │ ├── sim3 │ │ ├── CMakeLists.txt │ │ ├── sim3.h │ │ ├── types_seven_dof_expmap.cpp │ │ └── types_seven_dof_expmap.h │ ├── slam2d │ │ ├── CMakeLists.txt │ │ ├── edge_pointxy.cpp │ │ ├── edge_pointxy.h │ │ ├── edge_se2.cpp │ │ ├── edge_se2.h │ │ ├── edge_se2_lotsofxy.cpp │ │ ├── edge_se2_lotsofxy.h │ │ ├── edge_se2_offset.cpp │ │ ├── edge_se2_offset.h │ │ ├── edge_se2_pointxy.cpp │ │ ├── edge_se2_pointxy.h │ │ ├── edge_se2_pointxy_bearing.cpp │ │ ├── edge_se2_pointxy_bearing.h │ │ ├── edge_se2_pointxy_calib.cpp │ │ ├── edge_se2_pointxy_calib.h │ │ ├── edge_se2_pointxy_offset.cpp │ │ ├── edge_se2_pointxy_offset.h │ │ ├── edge_se2_prior.cpp │ │ ├── edge_se2_prior.h │ │ ├── edge_se2_twopointsxy.cpp │ │ ├── edge_se2_twopointsxy.h │ │ ├── edge_se2_xyprior.cpp │ │ ├── edge_se2_xyprior.h │ │ ├── g2o_types_slam2d_api.h │ │ ├── parameter_se2_offset.cpp │ │ ├── parameter_se2_offset.h │ │ ├── se2.h │ │ ├── types_slam2d.cpp │ │ ├── types_slam2d.h │ │ ├── vertex_point_xy.cpp │ │ ├── vertex_point_xy.h │ │ ├── vertex_se2.cpp │ │ └── vertex_se2.h │ ├── slam2d_addons │ │ ├── CMakeLists.txt │ │ ├── edge_line2d.cpp │ │ ├── edge_line2d.h │ │ ├── edge_line2d_pointxy.cpp │ │ ├── edge_line2d_pointxy.h │ │ ├── edge_se2_line2d.cpp │ │ ├── edge_se2_line2d.h │ │ ├── edge_se2_segment2d.cpp │ │ ├── edge_se2_segment2d.h │ │ ├── edge_se2_segment2d_line.cpp │ │ ├── edge_se2_segment2d_line.h │ │ ├── edge_se2_segment2d_pointLine.cpp │ │ ├── edge_se2_segment2d_pointLine.h │ │ ├── g2o_types_slam2d_addons_api.h │ │ ├── line_2d.h │ │ ├── types_slam2d_addons.cpp │ │ ├── types_slam2d_addons.h │ │ ├── vertex_line2d.cpp │ │ ├── vertex_line2d.h │ │ ├── vertex_segment2d.cpp │ │ └── vertex_segment2d.h │ ├── slam3d │ │ ├── CMakeLists.txt │ │ ├── dquat2mat.cpp │ │ ├── dquat2mat.h │ │ ├── dquat2mat.wxm │ │ ├── dquat2mat_maxima_generated.cpp │ │ ├── edge_pointxyz.cpp │ │ ├── edge_pointxyz.h │ │ ├── edge_se3.cpp │ │ ├── edge_se3.h │ │ ├── edge_se3_lotsofxyz.cpp │ │ ├── edge_se3_lotsofxyz.h │ │ ├── edge_se3_offset.cpp │ │ ├── edge_se3_offset.h │ │ ├── edge_se3_pointxyz.cpp │ │ ├── edge_se3_pointxyz.h │ │ ├── edge_se3_pointxyz_depth.cpp │ │ ├── edge_se3_pointxyz_depth.h │ │ ├── edge_se3_pointxyz_disparity.cpp │ │ ├── edge_se3_pointxyz_disparity.h │ │ ├── edge_se3_prior.cpp │ │ ├── edge_se3_prior.h │ │ ├── g2o_types_slam3d_api.h │ │ ├── isometry3d_gradients.cpp │ │ ├── isometry3d_gradients.h │ │ ├── isometry3d_mappings.cpp │ │ ├── isometry3d_mappings.h │ │ ├── parameter_camera.cpp │ │ ├── parameter_camera.h │ │ ├── parameter_se3_offset.cpp │ │ ├── parameter_se3_offset.h │ │ ├── parameter_stereo_camera.cpp │ │ ├── parameter_stereo_camera.h │ │ ├── se3_ops.h │ │ ├── se3_ops.hpp │ │ ├── se3quat.h │ │ ├── test_isometry3d_mappings.cpp │ │ ├── test_mat2quat_jacobian.cpp │ │ ├── test_slam3d_jacobian.cpp │ │ ├── types_slam3d.cpp │ │ ├── types_slam3d.h │ │ ├── vertex_pointxyz.cpp │ │ ├── vertex_pointxyz.h │ │ ├── vertex_se3.cpp │ │ └── vertex_se3.h │ └── slam3d_addons │ │ ├── CMakeLists.txt │ │ ├── edge_line3d.cpp │ │ ├── edge_line3d.h │ │ ├── edge_plane.cpp │ │ ├── edge_plane.h │ │ ├── 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