├── .clang-format ├── .gitignore ├── .gitmodules ├── 3rdparty └── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cmake ├── FindGflags.cmake └── FindGlog.cmake ├── include ├── depth_generator_from_map.h ├── dsl_common.h ├── full_system │ ├── coarse_distance_map.h │ ├── coarse_tracker.h │ ├── distance_initializer.h │ ├── ef_struct.h │ ├── full_system.h │ ├── hessian_blocks.h │ ├── immature_point.h │ ├── marginalization_residual.h │ ├── optimization_call_back.h │ ├── pixel_selector.h │ ├── residual.h │ └── residual_projection.h ├── map_render │ ├── core │ │ ├── global_model.h │ │ ├── gpu_texture.h │ │ └── index_map.h │ ├── csv.h │ ├── data_loader.h │ ├── gui.h │ ├── map_render.h │ ├── pangolin_utils.h │ ├── pcl_utils.h │ ├── shaders │ │ ├── color.glsl │ │ ├── combo_splat_cata.frag │ │ ├── data.frag │ │ ├── data.geom │ │ ├── data.vert │ │ ├── depth_splat_cata.frag │ │ ├── draw_feedback.frag │ │ ├── draw_feedback.vert │ │ ├── draw_surface.frag │ │ ├── draw_surface.geom │ │ ├── draw_surface.vert │ │ ├── empty.vert │ │ ├── feedback_buffer.h │ │ ├── fov.glsl │ │ ├── geometry.glsl │ │ ├── index_global_map.frag │ │ ├── index_global_map.vert │ │ ├── index_global_map_cata.geom │ │ ├── index_map.frag │ │ ├── index_map_cata.vert │ │ ├── init_unstable.vert │ │ ├── intensity_splat_cata.frag │ │ ├── parse.h │ │ ├── quad.geom │ │ ├── shaders.h │ │ ├── splat_cata.vert │ │ ├── surfels.glsl │ │ ├── uniform.h │ │ ├── update_with_pose.vert │ │ ├── vertex.h │ │ └── visualise_textures.frag │ └── yaml_loader.h ├── optimization │ ├── ab_local_parameterization.h │ ├── homo_cost_functor.h │ ├── marginalization_factor.h │ ├── matrix_accumulators.h │ ├── parameter_map.h │ ├── photo_cost_functor.h │ ├── se3_local_parameterization.h │ └── se3_prior_cost_functor.h ├── relocalization │ ├── boost_archiver.h │ ├── converter.h │ ├── desc_map.h │ ├── desc_map_viewer.h │ ├── feature_extractor.h │ ├── feature_matcher.h │ ├── pnp_solver.h │ ├── reloc_optimization │ │ ├── optimizer.h │ │ ├── reprojection_functor.h │ │ └── surfel_reprojection_functor.h │ ├── relocalization_config.h │ ├── relocalization_struct.h │ ├── sp_extractor.h │ ├── sp_matcher.h │ ├── struct │ │ ├── clique.h │ │ ├── frame.h │ │ ├── key_frame_database.h │ │ ├── map_point.h │ │ ├── motion_estimator.h │ │ ├── net_vlad_utils.h │ │ ├── virtual_frame.h │ │ └── vlad_database.h │ ├── visualization │ │ └── drawer.h │ └── vocabulary_binary.h ├── tool │ ├── cv_helper.h │ ├── dataset_converter.h │ ├── euroc_reader.h │ ├── habitat_sim_reader.h │ └── new_tsukuba_reader.h └── util │ ├── frame_shell.h │ ├── global_calib.h │ ├── global_funcs.h │ ├── graph_utils.h │ ├── image_and_exposure.h │ ├── index_thread_reduce.h │ ├── minimal_image.h │ ├── num_type.h │ ├── settings.h │ ├── timing.h │ └── util_common.h ├── scripts ├── extract_images_timestamp.py ├── pre_process_hkust.py └── tum2csv.py ├── src ├── CMakeLists.txt ├── colorizer.cc ├── depth_generator.cc ├── depth_generator_from_map.cc ├── desc_map_builder.cc ├── desc_map_clique.cc ├── desc_map_keyframe.cc ├── dsl_full_main.cc ├── dsl_main.cc ├── full_system │ ├── CMakeLists.txt │ ├── coarse_distance_map.cc │ ├── coarse_tracker.cc │ ├── distance_initializer.cc │ ├── ef_struct.cc │ ├── full_system.cc │ ├── full_system_activate_points.cc │ ├── full_system_marginalize.cc │ ├── full_system_optimize.cc │ ├── full_system_tracing.cc │ ├── full_system_tracking.cc │ ├── hessian_blocks.cc │ ├── immature_point.cc │ ├── optimization_call_back.cc │ ├── pixel_selector.cc │ └── residual.cc ├── map_render │ ├── CMakeLists.txt │ ├── core │ │ ├── global_model.cc │ │ ├── gpu_texture.cc │ │ └── index_map.cc │ ├── data_loader.cc │ ├── gui.cc │ ├── pangolin_utils.cc │ ├── pcl_utils.cc │ ├── shaders │ │ ├── feedback_buffer.cc │ │ ├── parse.cc │ │ └── vertex.cc │ └── yaml_loader.cc ├── optimization │ ├── CMakeLists.txt │ ├── homo_cost_functor.cc │ ├── marginalization_factor.cc │ ├── parameter_map.cc │ ├── photo_cost_functor.cc │ └── se3_prior_cost_functor.cc ├── relocalization │ ├── CMakeLists.txt │ ├── converter.cc │ ├── desc_map.cc │ ├── desc_map_optimizer.cc │ ├── desc_map_unused.cc │ ├── desc_map_updater.cc │ ├── desc_map_viewer.cc │ ├── feature_extractor.cc │ ├── feature_matcher.cc │ ├── pnp_solver.cc │ ├── reloc_optimization │ │ ├── optimizer.cc │ │ ├── reprojection_functor.cc │ │ └── surfel_reprojection_functor.cc │ ├── relocalization_config.cc │ ├── sp_extractor.cc │ ├── sp_matcher.cc │ ├── struct │ │ ├── clique.cc │ │ ├── frame.cc │ │ ├── key_frame_database.cc │ │ ├── map_point.cc │ │ ├── motion_estimator.cc │ │ ├── net_vlad_utils.cc │ │ ├── virtual_frame.cc │ │ └── vlad_database.cc │ ├── visualization │ │ └── drawer.cc │ └── vocabulary_binary.cc ├── tool │ ├── CMakeLists.txt │ ├── cv_helper.cc │ ├── dataset_converter.cc │ ├── euroc_reader.cc │ ├── habitat_sim_reader.cc │ └── new_tsukuba_reader.cc └── util │ ├── CMakeLists.txt │ ├── global_calib.cc │ ├── graph_utils.cc │ ├── settings.cc │ └── timing.cc ├── support_files ├── .gitignore 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