├── LICENSE ├── README.md ├── help ├── KLT.sh └── MATLAB │ ├── Functions │ ├── Compare2KLT.m │ ├── Compare2ORB.m │ ├── Compare3KLT.m │ ├── Compare3ORB.m │ ├── Compare4KLT.m │ ├── CopyFrameDataORB.m │ ├── Histogram_Blocker.m │ ├── KLT_Function.m │ ├── KLTframeTimestampGrabber.m │ ├── Modular_KLT_Function.m │ ├── Modular_ORB_Function.m │ ├── ORB_SLAM2_Function.m │ ├── ReadIMU.m │ └── RepError.m │ ├── KLT_Figures │ ├── EuRoC │ │ ├── MH01 │ │ │ ├── Error_After.png │ │ │ ├── Error_Before.png │ │ │ ├── computation_time.fig │ │ │ ├── computation_time.png │ │ │ ├── feature_matches.fig │ │ │ ├── feature_matches.png │ │ │ ├── histogram.fig │ │ │ └── histogram.png │ │ ├── MH02 │ │ │ ├── Error_After.png │ │ │ ├── Error_Before.png │ │ │ ├── computation_time.fig │ │ │ ├── computation_time.png │ │ │ ├── feature_matches.fig │ │ │ ├── feature_matches.png │ │ │ ├── histogram.fig │ │ │ └── histogram.png │ │ ├── MH03 │ │ │ ├── Error_After.png │ │ │ ├── Error_Before.png │ │ │ ├── computation_time.fig │ │ │ ├── computation_time.png │ │ │ ├── feature_matches.fig │ │ │ ├── feature_matches.png │ │ │ ├── histogram.fig │ │ │ └── histogram.png │ │ ├── MH04 │ │ │ ├── Error_After.png │ │ │ ├── Error_Before.png │ │ │ ├── computation_time.fig │ │ │ ├── computation_time.png │ │ │ ├── feature_matches.fig │ │ │ ├── feature_matches.png │ │ │ ├── histogram.fig │ │ │ └── histogram.png │ │ ├── MH05 │ │ │ ├── Error_After.png │ │ │ ├── Error_Before.png │ │ │ ├── computation_time.fig │ │ │ ├── computation_time.png │ │ │ ├── feature_matches.fig │ │ │ ├── feature_matches.png │ │ │ ├── histogram.fig │ │ │ └── histogram.png │ │ ├── V101 │ │ │ ├── Error_After.png │ │ │ ├── Error_Before.png │ │ │ ├── computation_time.fig │ │ │ ├── computation_time.png │ │ │ ├── feature_matches.fig │ │ │ ├── feature_matches.png │ │ │ ├── histogram.fig │ │ │ └── histogram.png │ │ ├── V102 │ │ │ ├── Error_After.png │ │ │ ├── Error_Before.png │ │ │ ├── computation_time.fig │ │ │ ├── computation_time.png │ │ │ ├── feature_matches.fig │ │ │ ├── feature_matches.png │ │ │ ├── histogram.fig │ │ │ └── histogram.png │ │ ├── V103 │ │ │ ├── Error_After.png │ │ │ ├── Error_Before.png │ │ │ ├── computation_time.fig │ │ │ ├── computation_time.png │ │ │ ├── feature_matches.fig │ │ │ ├── feature_matches.png │ │ │ ├── histogram.fig │ │ │ └── histogram.png │ │ ├── V201 │ │ │ ├── Error_After.png │ │ │ ├── Error_Before.png │ │ │ ├── computation_time.fig │ │ │ ├── computation_time.png │ │ │ ├── feature_matches.fig │ │ │ ├── feature_matches.png │ │ │ ├── histogram.fig │ │ │ └── histogram.png │ │ ├── V202 │ │ │ ├── Error_After.png │ │ │ ├── Error_Before.png │ │ │ ├── computation_time.fig │ │ │ ├── computation_time.png │ │ │ ├── feature_matches.fig │ │ │ ├── feature_matches.png │ │ │ ├── histogram.fig │ │ │ └── histogram.png │ │ └── V203 │ │ │ ├── Error_After.png │ │ │ ├── Error_Before.png │ │ │ ├── computation_time.fig │ │ │ ├── computation_time.png │ │ │ ├── feature_matches.fig │ │ │ ├── feature_matches.png │ │ │ ├── histogram.fig │ │ │ └── histogram.png │ ├── Myung │ │ ├── Aerial │ │ │ ├── 150 │ │ │ │ ├── noIMU_vs_IMU_computation_time.png │ │ │ │ ├── noIMU_vs_IMU_feature_matches.png │ │ │ │ ├── noIMU_vs_IMU_histogram.png │ │ │ │ ├── noIMU_vs_IMU_rms_Error.png │ │ │ │ ├── noIMU_vs_newIMUMethod_computation_time.png │ │ │ │ ├── noIMU_vs_newIMUMethod_feature_matches.png │ │ │ │ ├── noIMU_vs_newIMUMethod_histogram.png │ │ │ │ └── noIMU_vs_newIMUMethod_rms_Error.png │ │ │ ├── 300 │ │ │ │ ├── noIMU_vs_IMU_computation_time.png │ │ │ │ ├── noIMU_vs_IMU_feature_matches.png │ │ │ │ ├── noIMU_vs_IMU_histogram.png │ │ │ │ ├── noIMU_vs_IMU_rms_Error.png │ │ │ │ ├── noIMU_vs_newIMUMethod_computation_time.png │ │ │ │ ├── noIMU_vs_newIMUMethod_feature_matches.png │ │ │ │ ├── noIMU_vs_newIMUMethod_histogram.png │ │ │ │ └── noIMU_vs_newIMUMethod_rms_Error.png │ │ │ ├── Error_After.png │ │ │ ├── Error_Before.png │ │ │ ├── computation_time.fig │ │ │ ├── computation_time.png │ │ │ ├── feature_matches.fig │ │ │ ├── feature_matches.png │ │ │ ├── histogram.fig │ │ │ └── histogram.png │ │ └── Desk │ │ │ ├── 150 │ │ │ ├── noIMU_vs_IMU_computation_time.png │ │ │ ├── noIMU_vs_IMU_feature_matches.png │ │ │ ├── noIMU_vs_IMU_histogram.png │ │ │ ├── noIMU_vs_IMU_rms_Error.png │ │ │ ├── noIMU_vs_newIMUMethod_computation_time.png │ │ │ ├── noIMU_vs_newIMUMethod_feature_matches.png │ │ │ ├── noIMU_vs_newIMUMethod_histogram.png │ │ │ └── noIMU_vs_newIMUMethod_rms_Error.png │ │ │ ├── 300 │ │ │ ├── noIMU_vs_IMU_computation_time.png │ │ │ ├── noIMU_vs_IMU_feature_matches.png │ │ │ ├── noIMU_vs_IMU_histogram.png │ │ │ ├── noIMU_vs_IMU_rms_Error.png │ │ │ ├── noIMU_vs_newIMUMethod_computation_time.png │ │ │ ├── noIMU_vs_newIMUMethod_feature_matches.png │ │ │ ├── noIMU_vs_newIMUMethod_histogram.png │ │ │ └── noIMU_vs_newIMUMethod_rms_Error.png │ │ │ ├── Error_After.png │ │ │ ├── Error_Before.png │ │ │ ├── computation_time.fig │ │ │ ├── computation_time.png │ │ │ ├── feature_matches.fig │ │ │ ├── feature_matches.png │ │ │ ├── histogram.fig │ │ │ └── histogram.png │ ├── featAvgTable.fig │ ├── featAvgTable.png │ ├── featSTDTable.fig │ ├── featSTDTable.png │ ├── timeAvgTable.fig │ ├── timeAvgTable.png │ ├── timeSTDTable.fig │ └── timeSTDTable.png │ ├── KLT_LogFiles_2016-08-31_15_34_05-05_00 │ └── LogFiles │ │ └── KLT_Myung_Desk_noIMU.csv │ ├── ORB_SLAM2_Figures │ ├── EuRoC │ │ ├── MH03 │ │ │ ├── Error_After.fig │ │ │ ├── Error_After.png │ │ │ ├── Error_Before.fig │ │ │ ├── Error_Before.png │ │ │ ├── computation_time.fig │ │ │ ├── computation_time.png │ │ │ ├── feature_matches.fig │ │ │ ├── feature_matches.png │ │ │ ├── histogram.fig │ │ │ └── histogram.png │ │ ├── MH04 │ │ │ ├── Error_After.fig │ │ │ ├── Error_After.png │ │ │ ├── Error_Before.fig │ │ │ ├── Error_Before.png │ │ │ ├── computation_time.fig │ │ │ ├── computation_time.png │ │ │ ├── feature_matches.fig │ │ │ ├── feature_matches.png │ │ │ ├── histogram.fig │ │ │ └── histogram.png │ │ ├── MH05 │ │ │ ├── Error_After.fig │ │ │ ├── Error_After.png │ │ │ ├── Error_Before.fig │ │ │ ├── Error_Before.png │ │ │ ├── computation_time.fig │ │ │ ├── computation_time.png │ │ │ ├── feature_matches.fig │ │ │ ├── feature_matches.png │ │ │ ├── histogram.fig │ │ │ └── histogram.png │ │ ├── V103 │ │ │ ├── Error_After.fig │ │ │ ├── Error_After.png │ │ │ ├── Error_Before.fig │ │ │ ├── Error_Before.png │ │ │ ├── computation_time.fig │ │ │ ├── computation_time.png │ │ │ ├── feature_matches.fig │ │ │ ├── feature_matches.png │ │ │ ├── histogram.fig │ │ │ └── histogram.png │ │ └── V203 │ │ │ ├── Error_After.fig │ │ │ ├── Error_After.png │ │ │ ├── Error_Before.fig │ │ │ ├── Error_Before.png │ │ │ ├── computation_time.fig │ │ │ ├── computation_time.png │ │ │ ├── feature_matches.fig │ │ │ ├── feature_matches.png │ │ │ ├── histogram.fig │ │ │ └── histogram.png │ └── Myung │ │ ├── Aerial │ │ ├── Error_After.fig │ │ ├── Error_After.png │ │ ├── Error_Before.fig │ │ ├── Error_Before.png │ │ ├── computation_time.fig │ │ ├── computation_time.png │ │ ├── feature_matches.fig │ │ ├── feature_matches.png │ │ ├── histogram.fig │ │ └── histogram.png │ │ └── Desk │ │ ├── Error_After.fig │ │ ├── Error_After.png │ │ ├── Error_Before.fig │ │ ├── Error_Before.png │ │ ├── computation_time.fig │ │ ├── computation_time.png │ │ ├── feature_matches.fig │ │ ├── feature_matches.png │ │ ├── histogram.fig │ │ └── histogram.png │ ├── Plot_All.m │ ├── Video and IMU Data │ ├── aerial_img.log │ ├── aerial_imu.log │ ├── aerial_imu_shape.txt │ ├── desk_img.log │ ├── desk_imu.log │ ├── desk_imu_shape.txt │ ├── imu_data_mh01.csv │ ├── imu_data_mh02.csv │ ├── imu_data_mh03.csv │ ├── imu_data_mh04.csv │ ├── imu_data_mh05.csv │ ├── imu_data_v1_1.csv │ ├── imu_data_v1_2.csv │ ├── imu_data_v1_3.csv │ ├── imu_data_v2_1.csv │ ├── imu_data_v2_2.csv │ ├── imu_data_v2_3.csv │ ├── mh01_cam0_orig.csv │ ├── mh02_cam0_orig.csv │ ├── mh03_cam0_orig.csv │ ├── mh04_cam0_orig.csv │ ├── mh05_cam0_orig.csv │ └── timestampdataforeuroc │ │ ├── mh01_c0.csv │ │ ├── mh02_c0.csv │ │ ├── mh03_c0.csv │ │ ├── mh04_c0.csv │ │ ├── mh05_c0.csv │ │ ├── v101_c0.csv │ │ ├── v102_c0.csv │ │ ├── v103_c0.csv │ │ ├── v201_c0.csv │ │ ├── v202_c0.csv │ │ └── v203_c0.csv │ ├── imudata.mat │ └── kltFrameTimes.mat └── src └── klt_tracker_v1.0 ├── CMakeLists.txt ├── FindCUDA.cmake ├── FindCUDA ├── make2cmake.cmake ├── parse_cubin.cmake └── run_nvcc.cmake ├── FindIPP.cmake ├── configs ├── EuRoC_mh_01_c0.cfg ├── EuRoC_mh_02_c0.cfg ├── EuRoC_mh_03_c0.cfg ├── EuRoC_mh_04_c0.cfg ├── EuRoC_mh_05_c0.cfg ├── EuRoC_v1_01_c0.cfg ├── EuRoC_v1_02_c0.cfg ├── EuRoC_v1_03_c0.cfg ├── EuRoC_v2_01_c0.cfg ├── EuRoC_v2_02_c0.cfg ├── EuRoC_v2_03_c0.cfg ├── data_aerial_uav.cfg └── data_desk_scene.cfg ├── old_CMakeLists.txt ├── old_FindIPP.cmake ├── old_FindOpenCV.cmake └── src ├── CMakeLists.txt ├── cameraModel.cxx ├── cameraModel.h ├── ctimer.h ├── cuda_convolution_separable_kernel.cu ├── cuda_feature_select.cxx ├── cuda_feature_select.h ├── cuda_image_align.cu ├── display_tracker.cxx ├── display_tracker.h 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