├── CMakeLists.txt ├── DLF └── rgbd_dlf.cc ├── Examples └── 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_office_val.txt │ ├── fr3_str_tex_far.txt │ └── fr3_str_tex_near.txt │ └── rgbd_tum.cc ├── README.md ├── RFSLAM_offline-master ├── README.md ├── RFNET │ ├── rfnet │ │ ├── README.md │ │ ├── config.py │ │ ├── example.py │ │ ├── hpatch_dataset.py │ │ ├── model │ │ │ ├── rf_des.py │ │ │ ├── rf_det_module.py │ │ │ ├── rf_det_so.py │ │ │ ├── rf_net_module.py │ │ │ └── rf_net_so.py │ │ ├── ms.py │ │ ├── ms.sh │ │ ├── requirements.txt │ │ ├── resume.sh │ │ ├── run.ipynb │ │ ├── train.py │ │ ├── train.sh │ │ └── utils │ │ │ ├── common_utils.py │ │ │ ├── eval_utils.py │ │ │ ├── hpatch_to_csv.py │ │ │ ├── image_utils.py │ │ │ ├── math_utils.py │ │ │ ├── net_utils.py │ │ │ └── train_utils.py │ └── runs │ │ └── 10_24_09_25 │ │ └── model │ │ └── e121_NN_0.480_NNT_0.655_NNDR_0.813_MeanMS_0.649.pth.tar └── slam │ ├── CMakeLists.txt │ ├── Examples │ ├── Monocular │ │ ├── EuRoC.yaml │ │ ├── EuRoC_TimeStamps │ │ │ ├── MH01.txt │ │ │ ├── MH02.txt │ │ │ ├── MH03.txt │ │ │ ├── MH04.txt │ │ │ ├── MH05.txt │ │ │ ├── V101.txt │ │ │ ├── V102.txt │ │ │ ├── V103.txt │ │ │ ├── V201.txt │ │ │ ├── V202.txt │ │ │ └── V203.txt │ │ ├── KITTI00-02.yaml │ │ ├── KITTI03.yaml │ │ ├── KITTI04-12.yaml │ │ ├── TUM1.yaml │ │ ├── TUM2.yaml │ │ ├── TUM3.yaml │ │ ├── mono_euroc │ │ ├── mono_euroc.cc │ │ ├── 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_office_val.txt │ │ │ ├── fr3_str_tex_far.txt │ │ │ └── fr3_str_tex_near.txt │ │ ├── rgbd_tum │ │ └── rgbd_tum.cc │ ├── ROS │ │ └── ORB_SLAM2_LFNet │ │ │ ├── Asus.yaml │ │ │ ├── CMakeLists.txt │ │ │ ├── manifest.xml │ │ │ └── src │ │ │ ├── AR │ │ │ ├── ViewerAR.cc │ │ │ ├── ViewerAR.h │ │ │ └── ros_mono_ar.cc │ │ │ ├── ros_mono.cc │ │ │ ├── ros_rgbd.cc │ │ │ └── ros_stereo.cc │ └── Stereo │ │ ├── EuRoC.yaml │ │ ├── EuRoC_TimeStamps │ │ ├── MH01.txt │ │ ├── MH02.txt │ │ ├── MH03.txt │ │ ├── MH04.txt │ │ ├── MH05.txt │ │ ├── V101.txt │ │ ├── V102.txt │ │ ├── V103.txt │ │ ├── V201.txt │ │ ├── V202.txt │ │ └── V203.txt │ │ ├── KITTI00-02.yaml │ │ ├── KITTI03.yaml │ │ ├── KITTI04-12.yaml │ │ ├── stereo_euroc │ │ ├── stereo_euroc.cc │ │ ├── stereo_kitti │ │ └── stereo_kitti.cc │ ├── Thirdparty │ ├── DBoW2 │ │ ├── CMakeLists.txt │ │ ├── DBoW2 │ │ │ ├── BowVector.cpp │ │ │ ├── BowVector.h │ │ │ ├── FClass.h │ │ │ ├── FLFNET.cpp │ │ │ ├── FLFNET.h │ │ │ ├── FORB.cpp │ │ │ ├── FORB.h │ │ │ ├── FRFNET.cpp │ │ │ ├── FRFNET.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 │ │ │ ├── CMakeCache.txt │ │ │ ├── CMakeFiles │ │ │ │ ├── 3.5.1 │ │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ │ ├── CompilerIdC │ │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ │ └── a.out │ │ │ │ │ └── CompilerIdCXX │ │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ │ └── a.out │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── CMakeOutput.log │ │ │ │ ├── DBoW2.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DBoW2 │ │ │ │ │ │ ├── BowVector.cpp.o │ │ │ │ │ │ ├── FLFNET.cpp.o │ │ │ │ │ │ ├── FORB.cpp.o │ │ │ │ │ │ ├── FRFNET.cpp.o │ │ │ │ │ │ ├── FeatureVector.cpp.o │ │ │ │ │ │ └── ScoringObject.cpp.o │ │ │ │ │ ├── DUtils │ │ │ │ │ │ ├── Random.cpp.o │ │ │ │ │ │ └── Timestamp.cpp.o │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ ├── Makefile.cmake │ │ │ │ ├── Makefile2 │ │ │ │ ├── TargetDirectories.txt │ │ │ │ ├── cmake.check_cache │ │ │ │ ├── feature_tests.bin │ │ │ │ ├── feature_tests.c │ │ │ │ ├── feature_tests.cxx │ │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ └── cmake_install.cmake │ │ └── lib │ │ │ └── libDBoW2.so │ └── g2o │ │ ├── CMakeLists.txt │ │ ├── README.txt │ │ ├── build │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 3.5.1 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeOutput.log │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── TargetDirectories.txt │ │ │ ├── cmake.check_cache │ │ │ ├── feature_tests.bin │ │ │ ├── feature_tests.c │ │ │ ├── feature_tests.cxx │ │ │ ├── g2o.dir │ │ │ │ ├── C.includecache │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── g2o │ │ │ │ │ ├── core │ │ │ │ │ │ ├── batch_stats.cpp.o │ │ │ │ │ │ ├── cache.cpp.o │ │ │ │ │ │ ├── estimate_propagator.cpp.o │ │ │ │ │ │ ├── factory.cpp.o │ │ │ │ │ │ ├── hyper_dijkstra.cpp.o │ │ │ │ │ │ ├── hyper_graph.cpp.o │ │ │ │ │ │ ├── hyper_graph_action.cpp.o │ │ │ │ │ │ ├── jacobian_workspace.cpp.o │ │ │ │ │ │ ├── marginal_covariance_cholesky.cpp.o │ │ │ │ │ │ ├── matrix_structure.cpp.o │ │ │ │ │ │ ├── optimizable_graph.cpp.o │ │ │ │ │ │ ├── optimization_algorithm.cpp.o │ │ │ │ │ │ ├── optimization_algorithm_factory.cpp.o │ │ │ │ │ │ ├── optimization_algorithm_levenberg.cpp.o │ │ │ │ │ │ ├── optimization_algorithm_with_hessian.cpp.o │ │ │ │ │ │ ├── parameter.cpp.o │ │ │ │ │ │ ├── parameter_container.cpp.o │ │ │ │ │ │ ├── robust_kernel.cpp.o │ │ │ │ │ │ ├── robust_kernel_factory.cpp.o │ │ │ │ │ │ ├── robust_kernel_impl.cpp.o │ │ │ │ │ │ ├── solver.cpp.o │ │ │ │ │ │ └── sparse_optimizer.cpp.o │ │ │ │ │ ├── stuff │ │ │ │ │ │ ├── os_specific.c.o │ │ │ │ │ │ ├── property.cpp.o │ │ │ │ │ │ ├── string_tools.cpp.o │ │ │ │ │ │ └── timeutil.cpp.o │ │ │ │ │ └── types │ │ │ │ │ │ ├── types_sba.cpp.o │ │ │ │ │ │ ├── types_seven_dof_expmap.cpp.o │ │ │ │ │ │ └── types_six_dof_expmap.cpp.o │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ ├── Makefile │ │ └── cmake_install.cmake │ │ ├── cmake_modules │ │ ├── FindBLAS.cmake │ │ ├── FindEigen3.cmake │ │ └── FindLAPACK.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 │ │ │ ├── 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 │ │ ├── solvers │ │ │ ├── linear_solver_dense.h │ │ │ └── linear_solver_eigen.h │ │ ├── stuff │ │ │ ├── color_macros.h │ │ │ ├── macros.h │ │ │ ├── misc.h │ │ │ ├── os_specific.c │ │ │ ├── os_specific.h │ │ │ ├── property.cpp │ │ │ ├── property.h │ │ │ ├── string_tools.cpp │ │ │ ├── string_tools.h │ │ │ ├── timeutil.cpp │ │ │ └── timeutil.h │ │ └── types │ │ │ ├── se3_ops.h │ │ │ ├── se3_ops.hpp │ │ │ ├── se3quat.h │ │ │ ├── sim3.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 │ │ ├── lib │ │ └── libg2o.so │ │ └── license-bsd.txt │ ├── Vocabulary │ └── create_voc │ ├── build.sh │ ├── build_ros.sh │ ├── cmake_modules │ └── FindEigen3.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 │ ├── lib │ └── libORB_SLAM2.so │ └── src │ ├── Converter.cc │ ├── Create_voc.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 ├── Thirdparty ├── DBoW2 │ ├── CMakeLists.txt │ ├── DBoW2 │ │ ├── BowVector.cpp │ │ ├── BowVector.h │ │ ├── FClass.h │ │ ├── FDLF.cpp │ │ ├── FDLF.h │ │ ├── FLFNET.cpp │ │ ├── FLFNET.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 └── g2o │ ├── CMakeLists.txt │ ├── README.txt │ ├── cmake_modules │ ├── FindBLAS.cmake │ ├── FindEigen3.cmake │ └── FindLAPACK.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 │ │ ├── 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 │ ├── solvers │ │ ├── linear_solver_dense.h │ │ └── linear_solver_eigen.h │ ├── stuff │ │ ├── color_macros.h │ │ ├── macros.h │ │ ├── misc.h │ │ ├── os_specific.c │ │ ├── os_specific.h │ │ ├── property.cpp │ │ ├── property.h │ │ ├── string_tools.cpp │ │ ├── string_tools.h │ │ ├── timeutil.cpp │ │ └── timeutil.h │ └── types │ │ ├── se3_ops.h │ │ ├── se3_ops.hpp │ │ ├── se3quat.h │ │ ├── sim3.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 │ └── license-bsd.txt ├── bin └── rgbd_dlf.cc ├── cmake_modules └── FindEigen3.cmake ├── include ├── Converter.h ├── DLFhandler.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 └── src ├── Converter.cc ├── Create_voc.cc ├── DLFhandler.cpp ├── Frame.cc ├── FrameDrawer.cc ├── Initializer.cc ├── KeyFrame.cc ├── KeyFrameDatabase.cc ├── LocalMapping.cc ├── LoopClosing.cc ├── Map.cc ├── MapDrawer.cc ├── MapPoint.cc ├── ORBextractor.cc ├── 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