├── .gitattributes ├── .gitignore ├── CMakeLists.txt ├── Dependencies.md ├── Dockerfile ├── LICENSE-GPL.txt ├── LICENSE.txt ├── README.md ├── cmake_modules ├── FindCSparse.cmake └── FindEigen3.cmake ├── command.txt ├── dependencies └── g2o │ ├── CMakeLists.txt │ ├── README.txt │ ├── cmake_modules │ ├── FindBLAS.cmake │ ├── FindCSparse.cmake │ ├── FindEigen3.cmake │ ├── FindLAPACK.cmake │ └── FindSuiteSparse.cmake │ ├── config.h │ ├── config.h.in │ ├── g2o │ ├── core │ │ ├── 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 │ ├── solvers │ │ ├── csparse_extension.cpp │ │ ├── csparse_extension.h │ │ ├── csparse_helper.cpp │ │ ├── csparse_helper.h │ │ ├── g2o_csparse_api.h │ │ ├── g2o_csparse_extension_api.h │ │ ├── linear_solver_csparse.h │ │ ├── linear_solver_dense.h │ │ ├── linear_solver_eigen.h │ │ └── solver_csparse.cpp │ ├── stuff │ │ ├── color_macros.h │ │ ├── macros.h │ │ ├── misc.h │ │ ├── opengl_primitives.cpp │ │ ├── opengl_primitives.h │ │ ├── opengl_wrapper.h │ │ ├── os_specific.c │ │ ├── os_specific.h │ │ ├── property.cpp │ │ ├── property.h │ │ ├── string_tools.cpp │ │ ├── string_tools.h │ │ ├── timeutil.cpp │ │ └── timeutil.h │ └── types │ │ ├── dquat2mat.cpp │ │ ├── dquat2mat.h │ │ ├── dquat2mat_maxima_generated.cpp │ │ ├── edge_se3.cpp │ │ ├── edge_se3.h │ │ ├── edge_se3_offset.cpp │ │ ├── edge_se3_offset.h │ │ ├── edge_se3_pointxyz.cpp │ │ ├── edge_se3_pointxyz.h │ │ ├── edge_se3_prior.cpp │ │ ├── edge_se3_prior.h │ │ ├── edge_xyz_prior.cpp │ │ ├── edge_xyz_prior.h │ │ ├── eigen_types_new.h │ │ ├── g2o_types_slam3d_api.h │ │ ├── isometry3d_gradients.cpp │ │ ├── isometry3d_gradients.h │ │ ├── isometry3d_mappings.cpp │ │ ├── isometry3d_mappings.h │ │ ├── parameter_se3_offset.cpp │ │ ├── parameter_se3_offset.h │ │ ├── se3_ops.h │ │ ├── se3_ops.hpp │ │ ├── se3quat.h │ │ ├── sim3.h │ │ ├── types_dyn_slam3d.cpp │ │ ├── types_dyn_slam3d.h │ │ ├── types_sba.cpp │ │ ├── types_sba.h │ │ ├── types_seven_dof_expmap.cpp │ │ ├── types_seven_dof_expmap.h │ │ ├── types_six_dof_expmap.cpp │ │ ├── types_six_dof_expmap.h │ │ ├── types_slam3d.cpp │ │ ├── types_slam3d.h │ │ ├── vertex_point_xy.cpp │ │ ├── vertex_point_xy.h │ │ ├── vertex_pointxyz.cpp │ │ ├── vertex_pointxyz.h │ │ ├── vertex_se3.cpp │ │ └── vertex_se3.h │ └── license-bsd.txt ├── example ├── kitti-0000-0013.yaml ├── kitti-0018-0020.yaml ├── omd.yaml └── vdo_slam.cc ├── include ├── Converter.h ├── Frame.h ├── Map.h ├── ORBextractor.h ├── Optimizer.h ├── System.h ├── Tracking.h └── cvplot │ ├── color.h │ ├── cvplot.h │ ├── figure.h │ ├── highgui.h │ └── window.h ├── sourcecode_guidance.md ├── src ├── Converter.cc ├── Frame.cc ├── Map.cc ├── ORBextractor.cc ├── Optimizer.cc ├── System.cc ├── Tracking.cc └── cvplot │ ├── color.cc │ ├── figure.cc │ ├── highgui.cc │ ├── internal.h │ └── window.cc └── tools ├── cube_segmentation.m ├── example.mask └── 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