├── LICENSE ├── README.md ├── camera ├── bb2_flycapture │ ├── camera_image.cc │ ├── camera_image.h │ ├── from_mcvs │ │ ├── camera_image.cc │ │ ├── camera_image.h │ │ ├── main.cc │ │ ├── video_grabber_bb.cc │ │ └── video_grabber_bb.h │ ├── video_grabber_bb.cc │ └── video_grabber_bb.h ├── bb2_sgm │ ├── CMakeLists.txt │ ├── SGMStereo.cc │ ├── SGMStereo.h │ ├── SPSStereo.cc │ ├── SPSStereo.h │ ├── camera_capture_base.h │ ├── camera_capture_libdc1394.cc │ ├── camera_capture_libdc1394.h │ ├── camera_capture_main.cc │ ├── defParameter.h │ ├── libdc_helper.h │ └── spsstereo │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ └── readme.md └── custom_rig │ ├── CMakeLists.txt │ ├── camera_capture.zip │ ├── camera_capture_base.h │ ├── camera_capture_libdc1394.cc │ ├── camera_capture_libdc1394.h │ ├── camera_capture_main.cc │ ├── camera_capture_mono_main.cc.ignore │ └── libdc_helper.h ├── config_files ├── artificial_lst.xml ├── bb_step1_lst.xml ├── bb_step2_lst.xml ├── bb_step3_lst.xml ├── camera_params_bb_lcd.txt ├── camera_params_kitti_00.txt ├── camera_params_kitti_03.txt ├── camera_params_kitti_04.txt ├── camera_params_tsukuba.txt ├── camera_params_tsukuba_wrong.txt ├── config_artificial_00.txt ├── config_bb.txt ├── config_igor.txt ├── config_kitti_00.txt ├── config_kitti_01.txt ├── config_kitti_02.txt ├── config_kitti_03.txt ├── config_kitti_04.txt ├── config_kitti_05.txt ├── config_kitti_06.txt ├── config_kitti_07.txt ├── config_kitti_08.txt ├── config_kitti_09.txt ├── config_kitti_10.txt ├── config_kitti_11.txt ├── config_kitti_12.txt ├── config_kitti_13.txt ├── config_kitti_14.txt ├── config_kitti_15.txt ├── config_kitti_16.txt ├── config_kitti_17.txt ├── config_kitti_18.txt ├── config_kitti_19.txt ├── config_kitti_20.txt ├── config_kitti_21.txt ├── config_tractor.txt ├── config_tsukuba_fluorescent.txt ├── devel │ └── ycm_extra_conf.py ├── experiments │ ├── best_params.txt │ ├── bumblebee │ │ ├── bb2_tracker_freak_7_1.txt │ │ └── bb2_tracker_freak_7_2.txt │ ├── kitti │ │ ├── Cauchy_0.15.txt │ │ ├── ba5_Cauchy_0.15.txt │ │ ├── ba6_Cauchy_0.15.txt │ │ ├── ba6_Cauchy_0.15_wgt.txt │ │ ├── best_01.txt │ │ ├── best_07.txt │ │ ├── best_df │ │ │ ├── ncc_save_best.txt │ │ │ ├── ncc_save_uniform_bf.txt │ │ │ ├── ncc_save_uniform_dense.txt │ │ │ ├── ncc_save_uniform_old.txt │ │ │ ├── ncc_save_uniform_sparse.txt │ │ │ ├── ncc_validation.txt │ │ │ ├── ncc_validation_df.txt │ │ │ ├── ncc_validation_df_1.txt │ │ │ ├── ncc_validation_df_wgt.txt │ │ │ ├── ncc_validation_wgt.txt │ │ │ ├── tracker_freak_1.txt │ │ │ ├── tracker_freak_best.txt │ │ │ ├── tracker_freak_best_learn.txt │ │ │ ├── tracker_freak_best_learn_wrong.txt │ │ │ ├── tracker_freak_best_nodf.txt │ │ │ ├── tracker_freak_best_nowgt.txt │ │ │ ├── tracker_freak_best_nowgt_nodf.txt │ │ │ ├── tracker_freak_best_nowgt_wrong.txt │ │ │ ├── tracker_freak_best_test_wrong.txt │ │ │ ├── tracker_freak_best_wrong.txt │ │ │ ├── tracker_freak_validation.txt │ │ │ ├── tracker_ncc_2FO-CC.txt │ │ │ ├── tracker_ncc_2FO-CC_1.txt │ │ │ ├── tracker_ncc_2FO-CC_2.txt │ │ │ ├── tracker_ncc_best.txt │ │ │ ├── tracker_ncc_best_float.txt │ │ │ ├── tracker_ncc_test.txt │ │ │ ├── tracker_ncc_test_2.txt │ │ │ ├── tracker_ncc_test_df.txt │ │ │ ├── tracker_ncc_test_libvisowgt.txt │ │ │ ├── tracker_ncc_test_nowgt.txt │ │ │ ├── tracker_ncc_test_subpixel.txt │ │ │ ├── tracker_ncc_test_weights.txt │ │ │ └── tracker_ncc_validate.txt │ │ ├── best_params.txt │ │ ├── loss_squared.txt │ │ ├── loss_squared_df.txt │ │ ├── loss_squared_libviso_wgt.txt │ │ ├── loss_squared_libviso_wgt_thr2.txt │ │ ├── loss_squared_no_filtering.txt │ │ ├── loss_squared_orb.txt │ │ ├── ncc_robust.txt │ │ ├── ncc_test.txt │ │ ├── orb_02.txt │ │ ├── sparse_ba5_Cauchy_0.15.txt │ │ ├── sparse_loss_squared.txt │ │ ├── sparse_loss_squared_wgt.txt │ │ ├── stm_validation │ │ │ └── loss_squared_stm.txt │ │ ├── train_df │ │ │ ├── ncc_train_df.txt │ │ │ ├── old_ncc_save_best.txt │ │ │ └── old_ncc_save_uniform_dense.txt │ │ ├── validation_orb2_1.txt │ │ ├── visapp_libviso_df.txt │ │ └── visapp_loss_squared_df.txt │ ├── rest │ │ └── igor.txt │ └── tsukuba │ │ ├── bfs │ │ ├── tracker_ncc_refiner_tsukuba_3.txt │ │ ├── tracker_ncc_refiner_tsukuba_4.txt │ │ ├── tracker_ncc_tsukuba_1.txt │ │ ├── tracker_ncc_tsukuba_2.txt │ │ ├── tracker_ncc_tsukuba_3.txt │ │ ├── tracker_ncc_tsukuba_4.txt │ │ ├── tracker_ncc_tsukuba_refiner_stm_1.txt │ │ ├── tracker_ncc_tsukuba_stm_1.txt │ │ └── tracker_ncc_tsukuba_stm_2.txt │ │ ├── old │ │ ├── ccvw14_nowgt_tracker_freak_tsukuba_1.txt │ │ ├── ccvw14_nowgt_tracker_freak_tsukuba_2.txt │ │ ├── ccvw14_nowgt_tracker_freak_tsukuba_3.txt │ │ ├── ccvw14_nowgt_tracker_freak_tsukuba_4.txt │ │ ├── ccvw14_nowgt_tracker_ncc_tsukuba_1.txt │ │ ├── ccvw14_nowgt_tracker_ncc_tsukuba_2.txt │ │ ├── ccvw14_nowgt_tracker_ncc_tsukuba_3.txt │ │ ├── ccvw14_nowgt_tracker_ncc_tsukuba_4.txt │ │ ├── ccvw14_tracker_freak_tsukuba_1.txt │ │ ├── ccvw14_tracker_freak_tsukuba_2.txt │ │ ├── ccvw14_tracker_freak_tsukuba_3.txt │ │ ├── ccvw14_tracker_freak_tsukuba_4.txt │ │ ├── ccvw14_tracker_ncc_tsukuba_2.txt │ │ ├── ccvw14_tracker_ncc_tsukuba_3.txt │ │ └── ccvw14_tracker_ncc_tsukuba_4.txt │ │ ├── old_tracker_ncc_tsukuba_test.txt │ │ ├── tsukuba_tracker_ncc_best.txt │ │ └── tsukuba_tracker_ncc_best_nodf.txt ├── kitti_00_lst.xml ├── kitti_01_lst.xml ├── kitti_02_curb_lst.xml ├── kitti_02_lst.xml ├── kitti_03_lst.xml ├── kitti_04_lst.xml ├── kitti_05_lst.xml ├── kitti_06_lst.xml ├── kitti_07_lst.xml ├── kitti_08_lst.xml ├── kitti_09_lst.xml ├── kitti_10_lst.xml ├── kitti_11_lst.xml ├── kitti_12_lst.xml ├── kitti_13_lst.xml ├── kitti_14_lst.xml ├── kitti_15_lst.xml ├── kitti_16_lst.xml ├── kitti_17_lst.xml ├── kitti_18_lst.xml ├── kitti_19_lst.xml ├── kitti_20_lst.xml ├── kitti_21_lst.xml ├── kitti_disp_01_lst.xml ├── kitti_disp_02_curb_lst.xml ├── kitti_disp_02_lst.xml ├── kitti_disp_07_lst.xml ├── kitti_disp_14_lst.xml ├── old │ ├── artificial_lst.xml │ ├── bb_step1_lst.xml │ ├── bb_step2_lst.xml │ ├── bb_step3_lst.xml │ ├── camera_params_bb_lcd.txt │ ├── camera_params_kitti_00.txt │ ├── camera_params_kitti_03.txt │ ├── camera_params_kitti_04.txt │ ├── camera_params_tsukuba.txt │ ├── camera_params_tsukuba_wrong.txt │ ├── config_artificial_00.txt │ ├── config_bb.txt │ ├── config_kitti_00.txt │ ├── config_kitti_01.txt │ ├── config_kitti_02.txt │ ├── config_kitti_03.txt │ ├── config_kitti_04.txt │ ├── config_kitti_05.txt │ ├── config_kitti_06.txt │ ├── config_kitti_07.txt │ ├── config_kitti_08.txt │ ├── config_kitti_09.txt │ ├── config_kitti_10.txt │ ├── config_kitti_11.txt │ ├── config_kitti_12.txt │ ├── config_kitti_13.txt │ ├── config_kitti_14.txt │ ├── config_kitti_15.txt │ ├── config_kitti_16.txt │ ├── config_kitti_17.txt │ ├── config_kitti_18.txt │ ├── config_kitti_19.txt │ ├── config_kitti_20.txt │ ├── config_kitti_21.txt │ ├── config_tractor.txt │ ├── config_tsukuba_fluorescent.txt │ ├── kitti_00_lst.xml │ ├── kitti_01_lst.xml │ ├── kitti_02_curb_lst.xml │ ├── kitti_02_lst.xml │ ├── kitti_03_lst.xml │ ├── kitti_04_lst.xml │ ├── kitti_05_lst.xml │ ├── kitti_06_lst.xml │ ├── kitti_07_lst.xml │ ├── kitti_08_lst.xml │ ├── kitti_09_lst.xml │ ├── kitti_10_lst.xml │ ├── kitti_11_lst.xml │ ├── kitti_12_lst.xml │ ├── kitti_13_lst.xml │ ├── kitti_14_lst.xml │ ├── kitti_15_lst.xml │ ├── kitti_16_lst.xml │ ├── kitti_17_lst.xml │ ├── kitti_18_lst.xml │ ├── kitti_19_lst.xml │ ├── kitti_20_lst.xml │ ├── kitti_21_lst.xml │ ├── kitti_disp_01_lst.xml │ ├── kitti_disp_02_curb_lst.xml │ ├── kitti_disp_02_lst.xml │ ├── kitti_disp_07_lst.xml │ ├── kitti_disp_14_lst.xml │ ├── mask_bb_fer.png │ ├── mask_bb_fer_left.png │ ├── mask_bb_fer_rect.png │ ├── mask_bb_fer_right.png │ ├── mask_kitti_rect.png │ ├── tractor_lst.xml │ ├── tsukuba_depth_lst.xml │ ├── tsukuba_disp_lst.xml │ ├── tsukuba_fluorescent_crop_lst.xml │ ├── tsukuba_fluorescent_lst.xml │ ├── validation_config_kitti_04.txt │ ├── validation_config_kitti_05.txt │ ├── validation_config_kitti_06.txt │ ├── validation_config_kitti_07.txt │ ├── validation_config_kitti_08.txt │ ├── validation_config_kitti_09.txt │ └── validation_config_kitti_10.txt ├── raw │ ├── kitti_raw_04.txt │ ├── kitti_raw_05.txt │ ├── kitti_raw_06.txt │ └── kitti_raw_07.txt ├── tractor_lst.xml ├── tsukuba_depth_lst.xml ├── tsukuba_disp_lst.xml ├── tsukuba_fluorescent_crop_lst.xml ├── tsukuba_fluorescent_lst.xml ├── validation_config_kitti_04.txt ├── validation_config_kitti_05.txt ├── validation_config_kitti_06.txt ├── validation_config_kitti_07.txt ├── validation_config_kitti_08.txt ├── validation_config_kitti_09.txt └── validation_config_kitti_10.txt ├── core ├── CMakeLists.txt ├── cpp_gems.h ├── eigen.h ├── format_helper.cc ├── format_helper.h ├── guylib.cc ├── guylib.h ├── hamming.c ├── hamming.h ├── helper.h ├── image.cc ├── image.h ├── math_helper.cc ├── math_helper.h └── types.h ├── deformation_field ├── core │ ├── CMakeLists.txt │ ├── eigen.h │ ├── format_helper.cc │ ├── format_helper.h │ ├── helper.h │ ├── image.cc │ ├── image.h │ ├── math_helper.cc │ ├── math_helper.h │ └── types.h ├── optimization │ └── calibration_bias │ │ ├── CMakeLists.txt │ │ ├── deformation_field_solver.cc │ │ └── deformation_field_solver.h └── stereo_egomotion │ ├── base │ ├── CMakeLists.txt │ ├── egomotion_base.h │ ├── egomotion_libviso.cc │ ├── egomotion_libviso.h │ ├── matrix.cc │ └── matrix.h │ └── main │ ├── learn_deformation_field │ ├── CMakeLists.txt │ └── learn_deformation_field_main.cc │ ├── save_tracks │ ├── CMakeLists.txt │ └── save_tracks_main.cc │ ├── vo_statistics │ ├── CMakeLists.txt │ └── vo_main.cc │ └── vo_statistics_kitti │ ├── CMakeLists.txt │ └── vo_main.cc ├── image_tools ├── Makefile ├── split_stereo_pgm_old.cpp ├── stereo_pgm_to_png ├── stereo_pgm_to_png.cpp ├── stereo_raw_to_png └── stereo_raw_to_png.cpp ├── legacy ├── feature_filter.cc.old ├── feature_filter.h.old ├── stereo_tracker.cc.ignore ├── stereo_tracker.h.ignore ├── stereo_tracker_refiner_sep.cc.ignore └── stereo_tracker_refiner_sep.h.ignore ├── optimization ├── bundle_adjustment │ ├── CMakeLists.txt │ ├── bundle_adjuster.cc │ ├── bundle_adjuster.h │ ├── bundle_adjuster_base.h │ ├── bundle_adjustment_solver.cc │ ├── bundle_adjustment_solver.h │ ├── ceres_helper.h │ └── old_without_quaternions │ │ ├── bal_problem_stereo.cc │ │ ├── bal_problem_stereo.h │ │ ├── bundle_adjuster_2frame.cc │ │ ├── bundle_adjuster_2frame.h │ │ ├── bundle_adjuster_mfi.cc │ │ ├── bundle_adjuster_mfi.h │ │ ├── bundle_adjuster_multiframe.cc │ │ ├── bundle_adjuster_multiframe.cc.old │ │ ├── bundle_adjuster_multiframe.h │ │ ├── bundle_adjuster_multiframe.h.old │ │ ├── bundle_adjustment_solver.cc.old │ │ ├── bundle_adjustment_solver.cc.testing │ │ ├── bundle_adjustment_solver.h.old │ │ ├── bundle_adjustment_solver.h.testing │ │ ├── sba_base.h │ │ ├── sba_ceres.cc │ │ ├── sba_ceres.h │ │ └── simple_bundle_adjuster.cc.ignore ├── calibration_bias │ ├── CMakeLists.txt │ ├── deformation_field_solver.cc │ ├── deformation_field_solver.cc.new_longer_identical │ ├── deformation_field_solver.cc.shared_left_and_right │ ├── deformation_field_solver.h │ ├── deformation_field_solver.h.new_longer_identical │ ├── deformation_field_solver_regularized.h │ ├── weight_learner.cc.ign │ └── weight_learner.h ├── calibration_from_motion │ ├── CMakeLists.txt │ ├── cfm_solver.cc │ └── cfm_solver.h ├── main │ ├── ceres_sba │ │ ├── CMakeLists.txt │ │ └── ceres_test.cc │ └── cfm_solver │ │ ├── CMakeLists.txt │ │ └── cfm_solver.cc └── test │ └── sba │ ├── CMakeLists.txt │ ├── ros │ ├── CMakeLists_ros.txt │ ├── sba_test_ros_1.cc │ └── sba_test_ros_2.cc │ └── sba_test.cc ├── reconstruction ├── base │ ├── .ropeproject │ │ ├── config.py │ │ ├── globalnames │ │ ├── history │ │ └── objectdb │ ├── CMakeLists.txt │ ├── new_sgm │ │ ├── CMakeLists.txt │ │ ├── sgm_stereo.cc │ │ ├── sgm_stereo.cc.old │ │ ├── sgm_stereo.h │ │ ├── sgm_stereo.h.old │ │ └── sgm_stereo_main.cc │ ├── rSGM │ │ ├── FastFilters.cpp │ │ ├── FastFilters.h │ │ ├── MyImage.h │ │ ├── MyImage.hpp │ │ ├── StereoBMHelper.cpp │ │ ├── StereoBMHelper.h │ │ ├── StereoCommon.h │ │ ├── StereoSGM.h │ │ ├── StereoSGM.hpp │ │ ├── StereoSGM_SSE.hpp │ │ ├── license.txt │ │ ├── makefile │ │ ├── rSGMCmd │ │ ├── rSGMCmd.cpp │ │ └── readme.txt │ ├── sgm.cc │ ├── sgm.h │ ├── spsstereo │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── SGMStereo.cpp │ │ ├── SGMStereo.h │ │ ├── SPSStereo.cpp │ │ ├── SPSStereo.h │ │ ├── defParameter.h │ │ ├── readme.md │ │ ├── sgm_stereo_main.cc │ │ └── spsstereo_main.cc │ ├── stereo_costs.cc │ ├── stereo_costs.h │ ├── stereo_cvsgbm.cc.ignore │ ├── stereo_cvsgbm.h │ ├── stereo_sgm.cc │ └── stereo_sgm.h ├── evaluation │ ├── Makefile │ ├── devkit_stereo_flow.zip │ ├── evaluate_flow.cpp │ ├── evaluate_stereo │ ├── evaluate_stereo.cc │ ├── evaluate_stereo_batch │ ├── evaluate_stereo_batch.cc │ ├── io_disp.h │ ├── io_flow.h │ ├── mail.h │ ├── readme.txt │ └── utils.h ├── main │ ├── PCL │ │ ├── don_segment │ │ │ ├── CMakeLists.txt │ │ │ └── main.cc │ │ ├── normal_estimation │ │ │ ├── CMakeLists.txt │ │ │ └── main.cc │ │ ├── pcl_surface_mls │ │ │ ├── CMakeLists.txt │ │ │ └── main.cc │ │ ├── region_growing │ │ │ ├── CMakeLists.txt │ │ │ └── main.cc │ │ └── triang_mesh │ │ │ ├── CMakeLists.txt │ │ │ └── main.cc │ ├── convert_img_to_pcd │ │ ├── CMakeLists.txt │ │ └── main.cc │ ├── create_rgbd_dataset │ │ ├── CMakeLists.txt │ │ └── main.cc │ ├── dem_free_space │ │ ├── CMakeLists.txt │ │ └── main.cc │ ├── dense_stereo │ │ ├── CMakeLists.txt │ │ └── main.cc │ ├── dense_stereo_csbp │ │ └── stereo_match.cpp │ ├── dense_stereo_libelas │ │ ├── CMakeLists.txt │ │ ├── descriptor.cpp │ │ ├── descriptor.h │ │ ├── elas.cpp │ │ ├── elas.h │ │ ├── filter.cpp │ │ ├── filter.h │ │ ├── image.h │ │ ├── main.cc │ │ ├── main.cpp.elas │ │ ├── matrix.cpp │ │ ├── matrix.h │ │ ├── timer.h │ │ ├── triangle.cpp │ │ └── triangle.h │ ├── free_space │ │ ├── CMakeLists.txt │ │ └── main.cc │ ├── ransac_free_space │ │ ├── CMakeLists.txt │ │ └── main.cc │ ├── region_growing │ │ ├── CMakeLists.txt │ │ └── main.cc │ ├── sfm_renderer │ │ ├── CMakeLists.txt │ │ └── main.cc │ ├── sgm_cnn │ │ ├── CMakeLists.txt │ │ └── main.cc │ ├── sgm_fine_tune │ │ ├── CMakeLists.txt │ │ └── main.cc │ ├── sgm_single │ │ ├── CMakeLists.txt │ │ └── main.cc │ ├── stereo_eval │ │ ├── CMakeLists.txt │ │ └── main.cc │ └── vw_sgm │ │ ├── CMakeLists.txt │ │ ├── TestSemiGlobalMatching.cpp.ign │ │ ├── main.cc │ │ ├── semi_global_matching.cc │ │ └── semi_global_matching.h ├── pcl │ ├── CMakeLists.txt │ ├── dem.cc │ ├── dem.h │ ├── dem_voting.cc │ ├── dem_voting.h │ ├── draw_helper.cc │ ├── draw_helper.h │ ├── math_helper.cc │ └── math_helper.h ├── segmentation │ └── ground_plane │ │ └── ground_segment.h └── test │ ├── bm.png │ ├── fc2_save_2012-10-31-161114-0420_left.png │ ├── fc2_save_2012-10-31-161114-0420_right.png │ ├── hh.png │ ├── left_000087.png │ ├── opencv_samples.txt │ ├── right_000087.png │ ├── sgbm.png │ ├── stereo_match │ ├── stereo_match.cpp │ ├── tsukuba_l.png │ ├── tsukuba_r.png │ ├── tvl1_optical_flow.cpp │ ├── var.png │ └── var_bb.png ├── scripts ├── .ropeproject │ ├── config.py │ ├── globalnames │ ├── history │ └── objectdb ├── BB2 │ ├── data │ │ ├── gps_path.gpx │ │ ├── path.gpx │ │ └── path_crop.gpx │ ├── imgs │ │ ├── google_earth.png │ │ ├── gps_pts_match.xcf │ │ └── matlab_path.png │ ├── legacy │ │ ├── gps │ │ │ ├── gps2enu.m │ │ │ ├── gps_data.txt │ │ │ ├── gps_path.gpx │ │ │ ├── legacy_sphereoid_model │ │ │ │ ├── copy of lla_to_ecef_buged.m │ │ │ │ ├── ecef2enu.m │ │ │ │ ├── lla2ecef_buged.m │ │ │ │ ├── lla_to_ecef_buged.m │ │ │ │ ├── plot_data.m │ │ │ │ ├── readgpx.m │ │ │ │ └── save_data.m │ │ │ └── process_gpx.m │ │ ├── plot_kitti_00.png │ │ ├── plot_path4_12.py │ │ └── plot_path4_4.py │ ├── path_plotter │ │ ├── gps_route.txt │ │ ├── kitti_14.txt │ │ ├── kitti_14_libviso_0.01.pdf │ │ ├── kitti_14_libviso_1.0.pdf │ │ ├── libviso_fixed │ │ │ ├── viso_points_sim_170m_base_0.09.txt │ │ │ ├── viso_points_sim_170m_base_0.12.txt │ │ │ ├── viso_points_sim_170m_base_0.20.txt │ │ │ ├── viso_points_sim_170m_base_0.30.txt │ │ │ └── viso_points_sim_170m_base_0.50.txt │ │ ├── libviso_orig │ │ │ ├── old │ │ │ │ ├── viso_points_sim_170m_base_0.03.txt │ │ │ │ ├── viso_points_sim_170m_base_0.06.txt │ │ │ │ ├── viso_points_sim_170m_base_0.09.txt │ │ │ │ ├── viso_points_sim_170m_base_0.12.txt │ │ │ │ ├── viso_points_sim_170m_base_0.20.txt │ │ │ │ ├── viso_points_sim_170m_base_0.30.txt │ │ │ │ └── viso_points_sim_170m_base_0.50.txt │ │ │ ├── viso_points_sim_170m_base_0.03.txt │ │ │ ├── viso_points_sim_170m_base_0.06.txt │ │ │ ├── viso_points_sim_170m_base_0.09.txt │ │ │ ├── viso_points_sim_170m_base_0.12.txt │ │ │ ├── viso_points_sim_170m_base_0.20.txt │ │ │ ├── viso_points_sim_170m_base_0.30.txt │ │ │ └── viso_points_sim_170m_base_0.50.txt │ │ ├── plot_baseline_scale.png │ │ ├── plot_baseline_scale_fixed_libviso_old.pdf │ │ ├── plot_baseline_scale_orig_libviso_old.pdf │ │ ├── plot_path.pdf │ │ ├── plot_path.png │ │ ├── plot_path.py │ │ ├── plot_scale_compare.py │ │ ├── plot_scale_compare_old.py │ │ ├── viso_points_00_00cam_90pts.txt │ │ ├── viso_points_00_bbcam.txt │ │ ├── viso_points_00_bbcam_90pts.txt │ │ ├── viso_points_00_bbcam_far.txt │ │ ├── viso_points_00_bbcam_near.txt │ │ ├── viso_points_bb.txt │ │ ├── viso_points_cropped.txt │ │ ├── viso_points_framestep2.txt │ │ ├── viso_points_kitti_14.txt │ │ ├── viso_points_kitti_14_0.01.txt │ │ ├── viso_points_kitti_14_new.txt │ │ ├── viso_points_not_cropped.txt │ │ ├── viso_points_sim_170m_base_0.09.txt │ │ ├── viso_points_sim_170m_base_0.12.txt │ │ ├── viso_points_sim_170m_base_0.20.txt │ │ ├── viso_points_sim_170m_base_0.50.txt │ │ ├── viso_points_sim_170m_gt.txt │ │ ├── vo_kitti_00_bfm_refined.txt │ │ ├── vo_kitti_00_libviso_orig.txt │ │ ├── vo_kitti_00_libviso_refined.txt │ │ ├── vo_kitti_07_bfm_refined.txt │ │ ├── vo_kitti_07_libviso_orig.txt │ │ └── vo_kitti_07_libviso_refined.txt │ └── vo_gps_sync │ │ ├── calibrate_camera_to_gps.m │ │ ├── error_func.m │ │ ├── gps_data.txt │ │ ├── gps_data_spheroid_missing_collumn.txt │ │ ├── gps_pts.txt │ │ ├── gps_pts_calib.txt │ │ ├── map_gps_to_vodometry.py │ │ ├── map_gps_to_vodometry_2d.py │ │ ├── map_gps_to_vodometry_oldstamps.py │ │ ├── plot_path_diff.pdf │ │ ├── plot_paths.py │ │ ├── plot_rotation_diff.pdf │ │ ├── plot_scale_error.pdf │ │ ├── plot_speed.pdf │ │ ├── read_timestamps.py │ │ ├── times.txt │ │ ├── viso_points_calib1_fixed_libviso.txt │ │ ├── viso_points_calib1_orig_libviso.txt │ │ ├── viso_points_calib2_fixed_libviso.txt │ │ ├── viso_points_calib2_orig_libviso.txt │ │ ├── viso_points_calib_alan.txt │ │ ├── viso_points_calib_lcd.txt │ │ ├── viso_points_calib_lcd_disp_fix.txt │ │ ├── viso_points_calib_lcd_disp_nofix.txt │ │ ├── viso_points_orig.txt │ │ ├── vo_bb_bfm.txt │ │ ├── vo_bb_bfm_refiner.txt │ │ ├── vo_bb_libviso_subpixel.txt │ │ ├── vo_bb_libvisotracker.txt │ │ ├── vo_bb_libvisotracker_refiner.txt │ │ ├── vo_bb_mytracker.txt │ │ ├── vo_bb_refiner.txt │ │ ├── vo_inter_pts.txt │ │ ├── vo_inter_pts_calib.txt │ │ └── vo_mytracker.txt ├── analyze_stamps.py ├── code_patches │ ├── ceres_centos.sh │ └── glog_0.3.3.sh ├── converters │ ├── euler_to_matrix.py │ ├── np_helper.py │ ├── transformations.py │ └── tsukuba_gt.txt ├── count_loc.sh ├── crop_images.py ├── data_cost_img.png ├── demo_videos │ ├── 1_crop_imgs.sh │ ├── 2_montage1.sh │ ├── 3_montage2.sh │ └── 4_create_video.sh ├── egomotion_evaluation │ ├── 01 │ │ ├── disparity_error_distribution.pdf │ │ ├── matching_error_distribution.pdf │ │ └── response_error_distribution.pdf │ ├── 07 │ │ ├── disparity_error_distribution.pdf │ │ ├── matching_error_distribution.pdf │ │ └── response_error_distribution.pdf │ ├── bumblebee │ │ ├── gt_track_tsukuba.txt │ │ ├── gt_track_tsukuba_crop.txt │ │ ├── gt_track_tsukuba_orig.txt │ │ ├── plot_path.py │ │ ├── plot_path_diff.pdf │ │ ├── plot_path_diff_mytracker.pdf │ │ ├── plot_path_diff_mytracker_refiner2.pdf │ │ ├── plot_path_diff_origtracker.pdf │ │ ├── plot_rotation_diff.pdf │ │ ├── plot_scale_error.pdf │ │ └── plot_speed.pdf │ ├── errors │ │ ├── depth_error_bfm_smoothing.txt │ │ ├── depth_error_tsukuba_bfm.txt │ │ ├── depth_error_tsukuba_bfm_refiner.txt │ │ ├── depth_error_tsukuba_bfm_refiner_old.txt │ │ ├── depth_error_tsukuba_libviso.txt │ │ ├── depth_error_tsukuba_libviso_refiner.txt │ │ ├── depth_error_tsukuba_libviso_subpixel.txt │ │ ├── depth_errors.txt │ │ ├── depth_errors_subpixel.txt │ │ ├── depth_mae.txt │ │ ├── depth_mae_subpixel.txt │ │ ├── plot_depth_errors.py │ │ ├── plot_errors.py │ │ ├── plot_errors_tsukuba.py │ │ ├── reproj_error.txt │ │ ├── reproj_error_gt.txt │ │ ├── reproj_error_gt_refiner.txt │ │ └── reproj_error_refiner.txt │ ├── plot_errors.py │ └── plot_path.py ├── egomotion_kitti_eval │ ├── .ropeproject │ │ ├── config.py │ │ ├── globalnames │ │ ├── history │ │ └── objectdb │ ├── benchmark_odometry.sh │ ├── generate_experiment_robust_loss.py │ ├── generate_experiment_stm.py │ ├── generate_param_validation_orb.py │ ├── generate_param_validation_orb2.py │ ├── generate_param_validation_orb3.py │ ├── learn_deformation_field_batch.sh │ ├── legacy │ │ ├── run_kitti_odometry_test.sh │ │ └── run_kitti_odometry_train.sh │ ├── old │ │ ├── generate_grid_search_validation_freak_stage1.py │ │ ├── generate_grid_search_validation_freak_stage2.py │ │ ├── generate_grid_search_validation_ncc_stage3.py │ │ ├── generate_grid_search_validation_stage1.py │ │ ├── generate_grid_search_validation_stage2.py │ │ ├── get_kitti_error_statistics.sh │ │ ├── kitti_eval │ │ │ ├── get_distribution.py │ │ │ └── plot_kitti_path.py │ │ ├── run_batch_experiments.sh │ │ ├── run_batch_experiments_dinodas_2.sh │ │ ├── run_batch_experiments_dinodas_3.sh │ │ ├── run_batch_experiments_elbereth_1.sh │ │ ├── run_batch_experiments_elbereth_2.sh │ │ ├── run_batch_experiments_laptop_1.sh │ │ ├── run_batch_experiments_laptop_2.sh │ │ ├── run_batch_grid_search_stage2.sh │ │ ├── run_batch_tsukuba_evaluation_1.sh │ │ ├── run_batch_tsukuba_evaluation_2.sh │ │ ├── run_batch_validation.sh │ │ ├── run_grid_search_ncc_stage3.sh │ │ ├── run_kitti_cross_validation_1.sh │ │ ├── run_kitti_cross_validation_2.sh │ │ ├── run_kitti_cross_validation_old.sh │ │ ├── run_kitti_evaluation_3_10.sh │ │ ├── run_kitti_evaluation_all.sh │ │ ├── run_kitti_evaluation_elbereth.sh │ │ ├── run_kitti_evaluation_test.sh │ │ ├── run_kitti_evaluation_test_dinodas.sh │ │ ├── run_kitti_tracker_validation.sh │ │ └── run_tsukuba_evaluation_elbereth.sh │ ├── run_batch_evaluation_i7.sh │ ├── run_batch_experiments_dinodas.sh │ ├── run_df_cross_validation.sh │ ├── run_evaluation_i7.sh │ ├── run_kitti_evaluation_dinodas.sh │ ├── run_validation_orb.sh │ ├── run_validation_orb2.sh │ ├── run_validation_orb3.sh │ ├── run_validation_robust_loss (copy 1).sh │ ├── run_validation_stm.sh │ └── save_kitti_tracks.sh ├── generate_filelist_xml.py ├── generate_stereolist_xml.py ├── results_helper │ ├── generate_vo_table.py │ └── ncc_exp_order.txt ├── run_sgm_batch.py ├── run_sgm_batch_census.py ├── run_sgm_batch_cnn.py ├── run_sgm_batch_grid_search.py ├── run_sgm_batch_sunando_sengupta.py ├── sba │ └── matlab │ │ ├── func.m │ │ └── run_sba.m ├── sba_tester │ ├── C.txt │ ├── C2.txt │ ├── add_noise.py │ ├── eucsbademo │ ├── generate_data.py │ ├── pts3d.txt │ ├── pts_data.txt │ ├── rt_cam.txt │ ├── rt_full.txt │ ├── rt_noised.txt │ ├── rt_pts.txt │ ├── rt_rot.txt │ └── run_test.py ├── split_stereo_pgm │ ├── split_images.py │ ├── split_raw_images.py │ ├── stereo_pgm_to_png │ └── stereo_raw_to_png ├── stereo_model │ ├── C.txt │ ├── C_bb.txt │ ├── C_eye.txt │ ├── C_libviso_00.txt │ ├── Rt.txt │ ├── Rt_mats.txt │ ├── feats.txt │ ├── generate_features.py │ ├── generate_features_without_noise.py │ ├── generate_straight_path.py │ ├── mat.txt │ ├── np_helper.py │ ├── path_170m.txt │ ├── plot_artif_disp.pdf │ ├── plot_pts3d_xy.pdf │ └── plot_pts3d_xz.pdf └── stereo_model_sba │ ├── C.txt │ ├── C_bb.txt │ ├── C_eye.txt │ ├── C_libviso_00.txt │ ├── Rt.txt │ ├── Rt_mats.txt │ ├── SBA_dataset.txt │ ├── generate_3d_points.py │ ├── generate_features.py │ ├── generate_straight_path.py │ ├── np_helper.py │ ├── path.txt │ ├── path_noise.txt │ ├── plot_artif_disp.pdf │ ├── plot_pts3d_xy.pdf │ ├── plot_pts3d_xz.pdf │ ├── pts3d.txt │ └── rotation_matrix_to_rodrigues.py ├── spearmint ├── egomotion_noiseless_00 │ ├── config.json │ └── egomotion.py ├── egomotion_noiseless_01 │ ├── config.json │ └── egomotion.py ├── egomotion_noiseless_02 │ ├── config.json │ └── egomotion.py ├── egomotion_noiseless_06 │ ├── config.json │ └── egomotion.py ├── egomotion_noiseless_07 │ ├── config.json │ └── egomotion.py ├── egomotion_noisy │ ├── config.json │ └── egomotion.py ├── egomotion_noisy_06 │ ├── config.json │ └── egomotion.py ├── orb_crash.txt └── results.txt ├── stereo_calib ├── calibrator │ ├── CMakeLists.txt │ ├── CMakeLists.txt.orig │ ├── calib_helper.h │ ├── calibrator_mono.cc │ ├── calibrator_mono_old.cc │ ├── calibrator_stereo.cc │ ├── calibrator_stereo_intr.cc │ └── imagelist_creator.cc ├── recrifier_old │ ├── CMakeLists.txt │ └── rectifier.cc └── rectifier │ ├── CMakeLists.txt │ └── rectifier.cc ├── stereo_egomotion ├── base │ ├── CMakeLists.txt │ ├── cost_functions.h │ ├── egomotion_base.h │ ├── egomotion_libviso.cc │ ├── egomotion_libviso.h │ ├── egomotion_ransac.cc │ ├── egomotion_ransac.h │ ├── egomotion_solver.cc │ ├── egomotion_solver.h │ ├── evaluator.cc │ ├── evaluator.h │ ├── matrix.cc │ ├── matrix.h │ ├── visual_odometry_ransac.cc.NW │ └── visual_odometry_ransac.h.NW ├── cv_plotter.cc.ignore ├── cv_plotter.h ├── evaluation │ ├── Makefile │ ├── errors.txt │ ├── errors_gt_wgtoff.txt │ ├── errors_gt_wgton.txt │ ├── errors_ransac_wgton.txt │ ├── evaluate_kitti_all.sh │ ├── evaluate_odometry.cpp │ ├── evaluate_odometry_batch │ ├── evaluate_odometry_batch.cpp │ ├── evaluate_odometry_dense │ ├── evaluate_odometry_dense.cpp │ ├── evaluate_odometry_independent │ ├── evaluate_odometry_independent.cpp │ ├── evaluate_odometry_tsukuba │ ├── evaluate_odometry_tsukuba.cpp │ ├── mail.h │ ├── matrix.cpp │ ├── matrix.h │ └── readme.txt ├── extern │ └── libviso2 │ │ ├── CMakeLists.txt │ │ ├── img │ │ ├── I1_000000.png │ │ ├── I1_000001.png │ │ ├── I1_000002.png │ │ ├── I1_000003.png │ │ ├── I1_000004.png │ │ ├── I1_000005.png │ │ ├── I1_000006.png │ │ ├── I1c.png │ │ ├── I1p.png │ │ ├── I2c.png │ │ └── I2p.png │ │ ├── matlab │ │ ├── demo_matching_flow.m │ │ ├── demo_matching_quad.m │ │ ├── demo_matching_stereo.m │ │ ├── demo_matching_tracking.m │ │ ├── demo_structure_from_motion.m │ │ ├── demo_viso_mono.m │ │ ├── demo_viso_stereo.m │ │ ├── make.m │ │ ├── matcherMex.cpp │ │ ├── matcherMex.mexa64 │ │ ├── plotMatch.m │ │ ├── plotTrack.m │ │ ├── reconstructionMex.cpp │ │ ├── reconstructionMex.mexa64 │ │ ├── visualOdometryMonoMex.cpp │ │ ├── visualOdometryMonoMex.mexa64 │ │ ├── visualOdometryStereoMex.cpp │ │ └── visualOdometryStereoMex.mexa64 │ │ ├── readme.txt │ │ └── src │ │ ├── filter.cpp │ │ ├── filter.h │ │ ├── matcher.cpp │ │ ├── matcher.h │ │ ├── matrix.cpp │ │ ├── matrix.h │ │ ├── triangle.cpp │ │ ├── triangle.h │ │ ├── viso.cpp │ │ ├── viso.h │ │ ├── viso_stereo.cpp │ │ └── viso_stereo.h ├── feature_helper.cc ├── feature_helper.h ├── helper_libviso.cc ├── helper_libviso.h ├── main │ ├── egomotion │ │ ├── CMakeLists.txt │ │ └── egomotion.cc │ ├── egomotion_simple │ │ ├── CMakeLists.txt │ │ └── egomotion_simple.cc │ ├── egomotion_spearmint │ │ ├── CMakeLists.txt │ │ └── egomotion_spearmint.cc │ ├── learn_deformation_field │ │ ├── CMakeLists.txt │ │ ├── learn_deformation_field_main.cc │ │ ├── learn_deformation_field_main.cc.orig │ │ └── learn_deformation_field_main.cc.tsukuba │ ├── learn_deformation_field_with_tracking │ │ ├── CMakeLists.txt │ │ └── learn_deformation_field_main.cc │ ├── legacy │ │ ├── vo_basic │ │ │ ├── CMakeLists.txt │ │ │ └── visodom_main.cc │ │ ├── vo_batch_centos_old │ │ │ ├── .CMakeLists.txt.swp │ │ │ ├── CMakeLists.txt │ │ │ └── vo_batch.cc │ │ ├── vo_batch_old │ │ │ ├── CMakeLists.txt │ │ │ └── vo_batch.cc │ │ ├── vo_batch_workstation_old │ │ │ ├── CMakeLists.txt │ │ │ └── vo_batch.cc │ │ ├── vo_default │ │ │ ├── CMakeLists.txt │ │ │ └── visodom_sba_main.cc │ │ ├── vo_eval │ │ │ ├── CMakeLists.txt │ │ │ ├── evaluate_odometry.cc │ │ │ ├── evaluate_odometry_batch.cc │ │ │ ├── matrix.cc │ │ │ └── matrix.h │ │ ├── vo_refiner │ │ │ ├── CMakeLists.txt │ │ │ └── visodom_refiner_main.cc │ │ └── vo_sba │ │ │ ├── CMakeLists.txt │ │ │ └── vo_sba_main.cc │ ├── save_tracks │ │ ├── CMakeLists.txt │ │ └── save_tracks_main.cc │ ├── save_tracks_with_ransac │ │ ├── CMakeLists.txt │ │ └── save_tracks_main.cc │ ├── save_tracks_with_ransac_without_gt │ │ ├── CMakeLists.txt │ │ └── save_tracks_main.cc │ ├── vo_ba_eval │ │ ├── CMakeLists.txt │ │ └── vo_main.cc │ ├── vo_batch │ │ ├── CMakeLists.txt │ │ └── vo_main.cc │ ├── vo_batch_debug_phi │ │ ├── CMakeLists.txt │ │ └── vo_main.cc │ ├── vo_debug │ │ ├── CMakeLists.txt │ │ └── vo_debug.cc │ ├── vo_eval_tracker │ │ ├── CMakeLists.txt │ │ └── vo_main.cc │ ├── vo_statistics │ │ ├── CMakeLists.txt │ │ └── vo_main.cc │ └── vo_statistics_kitti │ │ ├── CMakeLists.txt │ │ └── vo_main.cc ├── math_helper.cc ├── math_helper.h └── test │ └── eval_helper_test.cc └── tracker ├── base ├── CMakeLists.txt ├── CMakeLists.txt.orig ├── draw_helper.cc.ign ├── eval_helper.cc ├── eval_helper.h ├── helper_opencv.cc ├── helper_opencv.h ├── tracker_helper.cc ├── tracker_helper.h └── types.h ├── descriptor ├── CMakeLists.txt ├── freak.cc.ign ├── freak.h └── hammingseg.h ├── detector ├── CMakeLists.txt ├── feature_detector_agast.cc ├── feature_detector_agast.h ├── feature_detector_base.h ├── feature_detector_brisk.cc.ign ├── feature_detector_brisk.h ├── feature_detector_gfft.cc.ign ├── feature_detector_gftt.h ├── feature_detector_gftt_cv.cc.ign ├── feature_detector_gftt_cv.h ├── feature_detector_harris_cv.cc ├── feature_detector_harris_cv.h ├── feature_detector_harris_freak.cc.ign ├── feature_detector_harris_freak.h ├── feature_detector_uniform.cc └── feature_detector_uniform.h ├── main ├── agast_freak_tracker │ ├── CMakeLists.txt │ └── main.cc ├── cpu_tracker │ ├── CMakeLists.txt │ └── main.cc ├── eval │ ├── CMakeLists.txt │ └── tracker_eval_main.cc ├── eval_refiner │ ├── CMakeLists.txt │ └── eval_refiner.cc ├── gpu_tracker │ ├── CMakeLists.txt │ └── main.cc ├── mono │ ├── CMakeLists.txt │ └── tracker_opencv_main.cc ├── mono_freak │ ├── CMakeLists.txt │ └── tracker_main.cc ├── stereo │ ├── CMakeLists.txt │ └── stereo_tracker_main.cc └── stereo_test │ ├── CMakeLists.txt │ └── stereo_tracker.cc ├── mono ├── CMakeLists.txt ├── birch │ ├── base.h │ ├── convolve.h │ ├── convolveFloatSSE.h │ ├── convolveFloatSSE_w32.c │ ├── convolve_unix.c │ ├── convolve_w32.c │ ├── error.c │ ├── error.h │ ├── klt.c │ ├── klt.h │ ├── klt_util.c │ ├── klt_util.h │ ├── pyramid.c │ ├── pyramid.h │ ├── selectGoodFeatures.c │ ├── storeFeatures.c │ └── trackFeatures.c ├── config_parser.cc ├── config_parser.h ├── legacy │ ├── tracker_bfm_ncc.cc.ign │ └── tracker_bfm_ncc.h.ign ├── tracker_base.h ├── tracker_bfm.cc ├── tracker_bfm.h ├── tracker_bfm_1_to_n.cc.ignore ├── tracker_bfm_1_to_n.h.ignore ├── tracker_bfm_cv.cc ├── tracker_bfm_cv.h ├── tracker_birch.cc.ignore ├── tracker_birch.h ├── tracker_opencv.cc.ignore ├── tracker_opencv.h.ignore ├── tracker_stm.cc └── tracker_stm.h ├── refiner ├── CMakeLists.txt ├── feature_refiner_base.cc ├── feature_refiner_base.h ├── feature_refiner_klt.cc ├── feature_refiner_klt.h ├── feature_refiner_mock.cc ├── feature_refiner_mock.h └── test │ └── feature_refiner_test.cc └── stereo ├── CMakeLists.txt ├── debug_helper.cc ├── debug_helper.h ├── experiment_factory.h ├── experiment_factory_no_ba.h ├── stereo_tracker.cc ├── stereo_tracker.cc.map ├── stereo_tracker.cc.old ├── stereo_tracker.h ├── stereo_tracker.h.map ├── stereo_tracker.h.old ├── stereo_tracker_artificial.cc ├── stereo_tracker_artificial.h ├── stereo_tracker_base.h ├── stereo_tracker_bfm.cc ├── stereo_tracker_bfm.h ├── stereo_tracker_freak.cc ├── stereo_tracker_freak.cc.ocl ├── stereo_tracker_freak.h ├── stereo_tracker_freak.h_ocl ├── stereo_tracker_helper.cc ├── stereo_tracker_helper.h ├── stereo_tracker_libviso.cc.ignore ├── stereo_tracker_libviso.h ├── stereo_tracker_orb.cc ├── stereo_tracker_orb.cc.faster ├── stereo_tracker_orb.cc.knn_bugged ├── stereo_tracker_orb.cc.slow ├── stereo_tracker_orb.h ├── stereo_tracker_orb.h.faster ├── stereo_tracker_orb.h.knn_bugged ├── stereo_tracker_orb.h.slow ├── stereo_tracker_refiner.cc ├── stereo_tracker_refiner.h ├── stereo_tracker_sim.cc ├── stereo_tracker_sim.h ├── tracker_refiner_libviso.cc.ignore └── tracker_refiner_libviso.h /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ivankreso/stereo-vision/HEAD/LICENSE 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