├── .gitignore ├── 3rdparty ├── aruco │ └── aruco │ │ ├── CMakeLists.txt │ │ ├── aruco.h │ │ ├── aruco_cvversioning.h │ │ ├── aruco_export.h │ │ ├── cameraparameters.cpp │ │ ├── cameraparameters.h │ │ ├── cvdrawingutils.cpp │ │ ├── cvdrawingutils.h │ │ ├── debug.cpp │ │ ├── debug.h │ │ ├── dictionary.cpp │ │ ├── dictionary.h │ │ ├── dictionary_based.cpp │ │ ├── dictionary_based.h │ │ ├── ippe.cpp │ │ ├── ippe.h │ │ ├── levmarq.h │ │ ├── marker.cpp │ │ ├── marker.h │ │ ├── markerdetector.cpp │ │ ├── markerdetector.h │ │ ├── markerdetector_impl.cpp │ │ ├── markerdetector_impl.h │ │ ├── markerlabeler.cpp │ │ ├── markerlabeler.h │ │ ├── markermap.cpp │ │ ├── markermap.h │ │ ├── picoflann.h │ │ ├── posetracker.cpp │ │ ├── posetracker.h │ │ └── timers.h ├── eigen3 │ └── eigen3 │ │ ├── CMakeLists.txt │ │ ├── COPYING.BSD │ │ ├── COPYING.GPL │ │ ├── COPYING.LGPL │ │ ├── COPYING.MINPACK │ │ ├── COPYING.MPL2 │ │ ├── COPYING.README │ │ ├── CTestConfig.cmake │ │ ├── CTestCustom.cmake.in │ │ ├── Eigen │ │ ├── CMakeLists.txt │ │ ├── Cholesky │ │ ├── CholmodSupport │ │ ├── Core │ │ ├── Dense │ │ ├── Eigen │ │ ├── Eigenvalues │ │ ├── Geometry │ │ ├── Householder │ │ ├── IterativeLinearSolvers │ │ ├── Jacobi │ │ ├── LU │ │ ├── MetisSupport │ │ ├── OrderingMethods │ │ ├── PaStiXSupport │ │ ├── PardisoSupport │ │ ├── QR │ │ ├── QtAlignedMalloc │ │ ├── SPQRSupport │ │ ├── SVD │ │ ├── Sparse │ │ ├── SparseCholesky │ │ ├── SparseCore │ │ ├── SparseLU │ │ ├── SparseQR │ │ ├── StdDeque │ │ ├── StdList │ │ ├── StdVector │ │ ├── SuperLUSupport │ │ ├── UmfPackSupport │ │ └── src │ │ │ ├── Cholesky │ │ │ ├── LDLT.h │ │ │ ├── LLT.h │ │ │ └── LLT_LAPACKE.h │ │ │ ├── CholmodSupport │ │ │ └── CholmodSupport.h │ │ │ ├── Core │ │ │ ├── Array.h │ │ │ ├── ArrayBase.h │ │ │ ├── ArrayWrapper.h │ │ │ ├── Assign.h │ │ │ ├── AssignEvaluator.h │ │ │ ├── Assign_MKL.h │ │ │ ├── BandMatrix.h │ │ │ ├── Block.h │ │ │ ├── BooleanRedux.h │ │ │ ├── CommaInitializer.h │ │ │ ├── ConditionEstimator.h │ │ │ ├── CoreEvaluators.h │ │ │ ├── CoreIterators.h │ │ │ ├── CwiseBinaryOp.h │ │ │ ├── CwiseNullaryOp.h │ │ │ ├── CwiseTernaryOp.h │ │ │ ├── CwiseUnaryOp.h │ │ │ ├── CwiseUnaryView.h │ │ │ ├── DenseBase.h │ │ │ ├── DenseCoeffsBase.h │ │ │ ├── DenseStorage.h │ │ │ ├── Diagonal.h │ │ │ ├── DiagonalMatrix.h │ │ │ ├── DiagonalProduct.h │ │ │ ├── Dot.h │ │ │ ├── EigenBase.h │ │ │ ├── ForceAlignedAccess.h │ │ │ ├── Fuzzy.h │ │ │ ├── GeneralProduct.h │ │ │ ├── GenericPacketMath.h │ │ │ ├── GlobalFunctions.h │ │ │ ├── IO.h │ │ │ ├── Inverse.h │ │ │ ├── Map.h │ │ │ ├── MapBase.h │ │ │ ├── MathFunctions.h │ │ │ ├── MathFunctionsImpl.h │ │ │ ├── Matrix.h │ │ │ ├── MatrixBase.h │ │ │ ├── NestByValue.h │ │ │ ├── NoAlias.h │ │ │ ├── NumTraits.h │ │ │ ├── PermutationMatrix.h │ │ │ ├── PlainObjectBase.h │ │ │ ├── Product.h │ │ │ ├── ProductEvaluators.h │ │ │ ├── Random.h │ │ │ ├── Redux.h │ │ │ ├── Ref.h │ │ │ ├── Replicate.h │ │ │ ├── ReturnByValue.h │ │ │ ├── Reverse.h │ │ │ ├── Select.h │ │ │ ├── SelfAdjointView.h │ │ │ ├── SelfCwiseBinaryOp.h │ │ │ ├── Solve.h │ │ │ ├── SolveTriangular.h │ │ │ ├── SolverBase.h │ │ │ ├── StableNorm.h │ │ │ ├── Stride.h │ │ │ ├── Swap.h │ │ │ ├── Transpose.h │ │ │ ├── Transpositions.h │ │ │ ├── TriangularMatrix.h │ │ │ ├── VectorBlock.h │ │ │ ├── VectorwiseOp.h │ │ │ ├── Visitor.h │ │ │ ├── arch │ │ │ │ ├── AVX │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ └── TypeCasting.h │ │ │ │ ├── AVX512 │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ └── PacketMath.h │ │ │ │ ├── AltiVec │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ └── PacketMath.h │ │ │ │ ├── CUDA │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── Half.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ ├── PacketMathHalf.h │ │ │ │ │ └── TypeCasting.h │ │ │ │ ├── Default │ │ │ │ │ ├── ConjHelper.h │ │ │ │ │ └── Settings.h │ │ │ │ ├── NEON │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ └── PacketMath.h │ │ │ │ ├── SSE │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ └── TypeCasting.h │ │ │ │ └── ZVector │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ └── PacketMath.h │ │ │ ├── functors │ │ │ │ ├── AssignmentFunctors.h │ │ │ │ ├── BinaryFunctors.h │ │ │ │ ├── NullaryFunctors.h │ │ │ │ ├── StlFunctors.h │ │ │ │ ├── TernaryFunctors.h │ │ │ │ └── UnaryFunctors.h │ │ │ ├── products │ │ │ │ ├── GeneralBlockPanelKernel.h │ │ │ │ ├── GeneralMatrixMatrix.h │ │ │ │ ├── GeneralMatrixMatrixTriangular.h │ │ │ │ ├── GeneralMatrixMatrixTriangular_BLAS.h │ │ │ │ ├── GeneralMatrixMatrix_BLAS.h │ │ │ │ ├── GeneralMatrixVector.h │ │ │ │ ├── GeneralMatrixVector_BLAS.h │ │ │ │ ├── Parallelizer.h │ │ │ │ ├── SelfadjointMatrixMatrix.h │ │ │ │ ├── SelfadjointMatrixMatrix_BLAS.h │ │ │ │ ├── SelfadjointMatrixVector.h │ │ │ │ ├── SelfadjointMatrixVector_BLAS.h │ │ │ │ ├── SelfadjointProduct.h │ │ │ │ ├── SelfadjointRank2Update.h │ │ │ │ ├── TriangularMatrixMatrix.h │ │ │ │ ├── TriangularMatrixMatrix_BLAS.h │ │ │ │ ├── TriangularMatrixVector.h │ │ │ │ ├── TriangularMatrixVector_BLAS.h │ │ │ │ ├── TriangularSolverMatrix.h │ │ │ │ ├── TriangularSolverMatrix_BLAS.h │ │ │ │ └── TriangularSolverVector.h │ │ │ └── util │ │ │ │ ├── BlasUtil.h │ │ │ │ ├── Constants.h │ │ │ │ ├── DisableStupidWarnings.h │ │ │ │ ├── ForwardDeclarations.h │ │ │ │ ├── MKL_support.h │ │ │ │ ├── Macros.h │ │ │ │ ├── Memory.h │ │ │ │ ├── Meta.h │ │ │ │ ├── NonMPL2.h │ │ │ │ ├── ReenableStupidWarnings.h │ │ │ │ ├── StaticAssert.h │ │ │ │ └── XprHelper.h │ │ │ ├── Eigenvalues │ │ │ ├── ComplexEigenSolver.h │ │ │ ├── ComplexSchur.h │ │ │ ├── ComplexSchur_LAPACKE.h │ │ │ ├── EigenSolver.h │ │ │ ├── GeneralizedEigenSolver.h │ │ │ ├── GeneralizedSelfAdjointEigenSolver.h │ │ │ ├── HessenbergDecomposition.h │ │ │ ├── MatrixBaseEigenvalues.h │ │ │ ├── RealQZ.h │ │ │ ├── RealSchur.h │ │ │ ├── RealSchur_LAPACKE.h │ │ │ ├── SelfAdjointEigenSolver.h │ │ │ ├── SelfAdjointEigenSolver_LAPACKE.h │ │ │ └── Tridiagonalization.h │ │ │ ├── Geometry │ │ │ ├── AlignedBox.h │ │ │ ├── AngleAxis.h │ │ │ ├── EulerAngles.h │ │ │ ├── Homogeneous.h │ │ │ ├── Hyperplane.h │ │ │ ├── OrthoMethods.h │ │ │ ├── ParametrizedLine.h │ │ │ ├── Quaternion.h │ │ │ ├── Rotation2D.h │ │ │ ├── RotationBase.h │ │ │ ├── Scaling.h │ │ │ ├── Transform.h │ │ │ ├── Translation.h │ │ │ ├── Umeyama.h │ │ │ └── arch │ │ │ │ └── Geometry_SSE.h │ │ │ ├── Householder │ │ │ ├── BlockHouseholder.h │ │ │ ├── Householder.h │ │ │ └── HouseholderSequence.h │ │ │ ├── IterativeLinearSolvers │ │ │ ├── BasicPreconditioners.h │ │ │ ├── BiCGSTAB.h │ │ │ ├── ConjugateGradient.h │ │ │ ├── IncompleteCholesky.h │ │ │ ├── IncompleteLUT.h │ │ │ ├── IterativeSolverBase.h │ │ │ ├── LeastSquareConjugateGradient.h │ │ │ └── SolveWithGuess.h │ │ │ ├── Jacobi │ │ │ └── Jacobi.h │ │ │ ├── LU │ │ │ ├── Determinant.h │ │ │ ├── FullPivLU.h │ │ │ ├── InverseImpl.h │ │ │ ├── PartialPivLU.h │ │ │ ├── PartialPivLU_LAPACKE.h │ │ │ └── arch │ │ │ │ └── Inverse_SSE.h │ │ │ ├── MetisSupport │ │ │ └── MetisSupport.h │ │ │ ├── OrderingMethods │ │ │ ├── Amd.h │ │ │ ├── Eigen_Colamd.h │ │ │ └── Ordering.h │ │ │ ├── PaStiXSupport │ │ │ └── PaStiXSupport.h │ │ │ ├── PardisoSupport │ │ │ └── PardisoSupport.h │ │ │ ├── QR │ │ │ ├── ColPivHouseholderQR.h │ │ │ ├── ColPivHouseholderQR_LAPACKE.h │ │ │ ├── CompleteOrthogonalDecomposition.h │ │ │ ├── FullPivHouseholderQR.h │ │ │ ├── HouseholderQR.h │ │ │ └── HouseholderQR_LAPACKE.h │ │ │ ├── SPQRSupport │ │ │ └── SuiteSparseQRSupport.h │ │ │ ├── SVD │ │ │ ├── BDCSVD.h │ │ │ ├── JacobiSVD.h │ │ │ ├── JacobiSVD_LAPACKE.h │ │ │ ├── SVDBase.h │ │ │ └── UpperBidiagonalization.h │ │ │ ├── SparseCholesky │ │ │ ├── SimplicialCholesky.h │ │ │ └── SimplicialCholesky_impl.h │ │ │ ├── SparseCore │ │ │ ├── AmbiVector.h │ │ │ ├── CompressedStorage.h │ │ │ ├── ConservativeSparseSparseProduct.h │ │ │ ├── MappedSparseMatrix.h │ │ │ ├── SparseAssign.h │ │ │ ├── SparseBlock.h │ │ │ ├── SparseColEtree.h │ │ │ ├── SparseCompressedBase.h │ │ │ ├── SparseCwiseBinaryOp.h │ │ │ ├── SparseCwiseUnaryOp.h │ │ │ ├── SparseDenseProduct.h │ │ │ ├── SparseDiagonalProduct.h │ │ │ ├── SparseDot.h │ │ │ ├── SparseFuzzy.h │ │ │ ├── SparseMap.h │ │ │ ├── SparseMatrix.h │ │ │ ├── SparseMatrixBase.h │ │ │ ├── SparsePermutation.h │ │ │ ├── SparseProduct.h │ │ │ ├── SparseRedux.h │ │ │ ├── SparseRef.h │ │ │ ├── SparseSelfAdjointView.h │ │ │ ├── SparseSolverBase.h │ │ │ ├── SparseSparseProductWithPruning.h │ │ │ ├── SparseTranspose.h │ │ │ ├── SparseTriangularView.h │ │ │ ├── SparseUtil.h │ │ │ ├── SparseVector.h │ │ │ ├── SparseView.h │ │ │ └── TriangularSolver.h │ │ │ ├── SparseLU │ │ │ ├── SparseLU.h │ │ │ ├── SparseLUImpl.h │ │ │ ├── SparseLU_Memory.h │ │ │ ├── SparseLU_Structs.h │ │ │ ├── SparseLU_SupernodalMatrix.h │ │ │ ├── SparseLU_Utils.h │ │ │ ├── SparseLU_column_bmod.h │ │ │ ├── SparseLU_column_dfs.h │ │ │ ├── SparseLU_copy_to_ucol.h │ │ │ ├── SparseLU_gemm_kernel.h │ │ │ ├── SparseLU_heap_relax_snode.h │ │ │ ├── SparseLU_kernel_bmod.h │ │ │ ├── SparseLU_panel_bmod.h │ │ │ ├── SparseLU_panel_dfs.h │ │ │ ├── SparseLU_pivotL.h │ │ │ ├── SparseLU_pruneL.h │ │ │ └── SparseLU_relax_snode.h │ │ │ ├── SparseQR │ │ │ └── SparseQR.h │ │ │ ├── StlSupport │ │ │ ├── StdDeque.h │ │ │ ├── StdList.h │ │ │ ├── StdVector.h │ │ │ └── details.h │ │ │ ├── SuperLUSupport │ │ │ └── SuperLUSupport.h │ │ │ ├── UmfPackSupport │ │ │ └── UmfPackSupport.h │ │ │ ├── misc │ │ │ ├── Image.h │ │ │ ├── Kernel.h │ │ │ ├── RealSvd2x2.h │ │ │ ├── blas.h │ │ │ ├── lapack.h │ │ │ ├── lapacke.h │ │ │ └── lapacke_mangling.h │ │ │ └── plugins │ │ │ ├── ArrayCwiseBinaryOps.h │ │ │ ├── ArrayCwiseUnaryOps.h │ │ │ ├── BlockMethods.h │ │ │ ├── CommonCwiseBinaryOps.h │ │ │ ├── CommonCwiseUnaryOps.h │ │ │ ├── MatrixCwiseBinaryOps.h │ │ │ └── MatrixCwiseUnaryOps.h │ │ ├── INSTALL │ │ ├── README.md │ │ ├── cmake │ │ ├── Eigen3Config.cmake.in │ │ ├── Eigen3ConfigLegacy.cmake.in │ │ ├── EigenConfigureTesting.cmake │ │ ├── EigenDetermineOSVersion.cmake │ │ ├── EigenDetermineVSServicePack.cmake │ │ ├── EigenTesting.cmake │ │ ├── EigenUninstall.cmake │ │ ├── FindAdolc.cmake │ │ ├── FindBLAS.cmake │ │ ├── FindBLASEXT.cmake │ │ ├── FindCholmod.cmake │ │ ├── FindComputeCpp.cmake │ │ ├── FindEigen2.cmake │ │ ├── FindEigen3.cmake │ │ ├── FindFFTW.cmake │ │ ├── FindGLEW.cmake │ │ ├── FindGMP.cmake │ │ ├── FindGSL.cmake │ │ ├── FindGoogleHash.cmake │ │ ├── FindHWLOC.cmake │ │ ├── FindLAPACK.cmake │ │ ├── FindMPFR.cmake │ │ ├── FindMetis.cmake │ │ ├── FindPTSCOTCH.cmake │ │ ├── FindPastix.cmake │ │ ├── FindSPQR.cmake │ │ ├── FindScotch.cmake │ │ ├── FindStandardMathLibrary.cmake │ │ ├── FindSuperLU.cmake │ │ ├── FindUmfpack.cmake │ │ ├── RegexUtils.cmake │ │ ├── UseEigen3.cmake │ │ └── language_support.cmake │ │ ├── eigen3.pc.in │ │ └── signature_of_eigen3_matrix_library ├── fbow │ └── fbow │ │ ├── CMakeLists.txt │ │ ├── cpu.h │ │ ├── fbow.cpp │ │ ├── fbow.h │ │ ├── fbow_exports.h │ │ ├── vocabulary_creator.cpp │ │ └── vocabulary_creator.h ├── g2o │ └── g2o │ │ ├── CMakeLists.txt │ │ ├── config.h │ │ ├── core │ │ ├── CMakeLists.txt │ │ ├── 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 │ │ ├── dynamic_aligned_buffer.hpp │ │ ├── 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 │ │ ├── ownership.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 │ │ └── eigen │ │ │ ├── CMakeLists.txt │ │ │ ├── linear_solver_eigen.h │ │ │ └── solver_eigen.cpp │ │ ├── stuff │ │ ├── CMakeLists.txt │ │ ├── color_macros.h │ │ ├── command_args.cpp │ │ ├── command_args.h │ │ ├── filesys_tools.cpp │ │ ├── filesys_tools.h │ │ ├── g2o_stuff_api.h │ │ ├── macros.h │ │ ├── misc.h │ │ ├── opengl_primitives.cpp │ │ ├── opengl_primitives.h │ │ ├── opengl_wrapper.h │ │ ├── os_specific.c │ │ ├── os_specific.h │ │ ├── property.cpp │ │ ├── property.h │ │ ├── sampler.cpp │ │ ├── sampler.h │ │ ├── scoped_pointer.h │ │ ├── sparse_helper.cpp │ │ ├── sparse_helper.h │ │ ├── string_tools.cpp │ │ ├── string_tools.h │ │ ├── tictoc.cpp │ │ ├── tictoc.h │ │ ├── timeutil.cpp │ │ ├── timeutil.h │ │ └── unscented.h │ │ ├── types │ │ ├── sim3 │ │ │ └── sim3.h │ │ └── slam3d │ │ │ └── se3quat.h │ │ └── what_is_in_these_directories.txt ├── vocabularies │ └── orb.fbow └── xflann │ └── xflann │ ├── CMakeLists.txt │ ├── cpu.h │ ├── impl │ ├── distances.h │ ├── hash.h │ ├── heap.h │ ├── kdtree.cpp │ ├── kdtree.h │ ├── kmeansindex.cpp │ ├── kmeansindex.h │ ├── kmeansindexcreator.cpp │ ├── kmeansindexcreator.h │ ├── linear.cpp │ ├── linear.h │ ├── resultset.h │ └── test_slow │ │ ├── heap.h │ │ └── resultset.h │ ├── index.cpp │ ├── index.h │ ├── types.h │ ├── xflann.h │ └── xflann_exports.h ├── CMakeLists.txt ├── Changelog ├── LICENSE.txt ├── License-gpl.txt ├── README.txt ├── cmake ├── cmake_uninstall.cmake.in ├── compiler.cmake ├── config.cmake.in ├── cpack.cmake ├── dependencies.cmake ├── display.cmake └── options.cmake ├── debian ├── changelog ├── control ├── copyright ├── files └── rules ├── gui ├── CMakeLists.txt ├── appresources.qrc ├── aruco_calibration_grid_board_a4.pdf ├── cmake │ ├── cmake_uninstall.cmake.in │ ├── compiler.cmake │ ├── config.cmake.in │ ├── dependencies.cmake │ ├── display.cmake │ └── options.cmake ├── global_gparams.h ├── images │ ├── application_exit.png │ ├── arrow-left-small.png │ ├── arrow-right-small.png │ ├── bar_max.png │ ├── bar_middle.png │ ├── bar_min.png │ ├── calibrate.png │ ├── calibration.png │ ├── camera.png │ ├── camera_color.png │ ├── cityoflove.jpg │ ├── clear.png │ ├── clear_left.png │ ├── config.png │ ├── connect.png │ ├── disconnect.png │ ├── document_import.png │ ├── done.png │ ├── done_small.png │ ├── download.png │ ├── exit.png │ ├── export.png │ ├── fill.png │ ├── find.png │ ├── fitToWindow.png │ ├── fix.png │ ├── flip.png │ ├── graph.png │ ├── invertselection.png │ ├── license.png │ ├── logo_motiondynamics.png │ ├── logo_motiondynamics_rotated.png │ ├── mapping.png │ ├── measure.png │ ├── merge.png │ ├── mesh.png │ ├── minus.png │ ├── module-3d.png │ ├── module-decode.png │ ├── module-scanner.png │ ├── movie.png │ ├── multicameras.png │ ├── multiscan.png │ ├── not_done.png │ ├── not_done_small.png │ ├── open.png │ ├── plus.png │ ├── points.png │ ├── program_icon.ico │ ├── projpat.png │ ├── redo.png │ ├── reset.png │ ├── rightarrow.png │ ├── rightarrow_small.png │ ├── run.png │ ├── save.png │ ├── scan-time.png │ ├── scan.png │ ├── setinblack.png │ ├── shutdown.png │ ├── target.png │ ├── texture.png │ ├── undo.png │ ├── waiting.gif │ ├── zoom-in.png │ └── zoom-out.png ├── installer_script.iss.in ├── main.cpp ├── mainwindow.cpp ├── mainwindow.h ├── mappingmodule │ ├── CMakeLists.txt │ ├── downloadmanager.cpp │ ├── downloadmanager.h │ ├── downloadvocabularydialog.cpp │ ├── downloadvocabularydialog.h │ ├── downloadvocabularydialog.ui │ ├── mappingmodule.cpp │ ├── mappingmodule.h │ ├── mappingmodule_exports.h │ └── mappingproject.h ├── mapviewer │ ├── CMakeLists.txt │ ├── mapdrawer.h │ ├── mapviewer.cpp │ ├── mapviewer.h │ └── mapviewer_exports.h ├── modulecalibration │ ├── CMakeLists.txt │ ├── calibrationcontrolpanel.cpp │ ├── calibrationcontrolpanel.h │ ├── calibrationcontrolpanel.ui │ ├── calibrator.cpp │ ├── modulecalibration.cpp │ ├── modulecalibration.h │ └── modulecalibration_exports.h ├── program_icon.ico ├── tools │ ├── gparam │ │ ├── CMakeLists.txt │ │ ├── encryptor.cpp │ │ ├── encryptor.h │ │ ├── gparam.cpp │ │ ├── gparam.h │ │ ├── gparam_exports.h │ │ ├── paramsetdlg.cpp │ │ ├── paramsetdlg.h │ │ ├── paramsetwdgt.cpp │ │ └── paramsetwdgt.h │ ├── moduletools │ │ ├── CMakeLists.txt │ │ ├── appmodule.cpp │ │ ├── appmodule.h │ │ ├── appparams.cpp │ │ ├── appparams.h │ │ ├── exports.h │ │ ├── modulesetmainwindow.cpp │ │ ├── modulesetmainwindow.h │ │ ├── modulesetmainwindow.ui │ │ ├── progresswindow.cpp │ │ ├── progresswindow.h │ │ └── progresswindow.ui │ └── qtgl │ │ ├── CMakeLists.txt │ │ ├── glextensions.cpp │ │ ├── glextensions.h │ │ ├── glo_ipm.cpp │ │ ├── glo_ipm.h │ │ ├── glo_pointcloud.cpp │ │ ├── glo_pointcloud.h │ │ ├── glviewer.cpp │ │ ├── glviewer.h │ │ ├── glviewerscene.cpp │ │ ├── glviewerscene.h │ │ ├── icons │ │ ├── axis3d.png │ │ ├── front.png │ │ ├── lateral.png │ │ ├── leftlateral.png │ │ ├── rightlateral.png │ │ ├── top.png │ │ └── views.png │ │ ├── object.cpp │ │ ├── object.h │ │ ├── qtgl.qrc │ │ ├── qtgl_exports.h │ │ ├── transform.cpp │ │ ├── transform.h │ │ ├── utils.cpp │ │ ├── utils.h │ │ ├── viewpoint.cpp │ │ └── viewpoint.h └── videoplayer │ ├── CMakeLists.txt │ ├── cameracontrols.cpp │ ├── cameracontrols.h │ ├── cameracontrols.ui │ ├── genericimagereader.h │ ├── videoplayer.cpp │ ├── videoplayer.h │ └── videoplayer_exports.h ├── obfs.txt ├── src ├── CMakeLists.txt ├── basictypes │ ├── debug.cpp │ ├── debug.h │ ├── expansiblecontainer.h │ ├── fastmat.h │ ├── flag.h │ ├── hash.h │ ├── heap.h │ ├── io_utils.cpp │ ├── io_utils.h │ ├── minmaxbags.h │ ├── misc.cpp │ ├── misc.h │ ├── osadapter.h │ ├── picoflann.h │ ├── reusablecontainer.h │ ├── safemap.h │ ├── se3.h │ ├── se3transform.h │ ├── sgl.h │ ├── timers.h │ └── tsqueue.h ├── featureextractors │ ├── ORBextractor.cpp │ ├── ORBextractor.h │ ├── feature2dserializable.cpp │ ├── feature2dserializable.h │ ├── gridextractor.cpp │ └── gridextractor.h ├── imageparams.cpp ├── imageparams.h ├── map.cpp ├── map.h ├── map_types │ ├── covisgraph.cpp │ ├── covisgraph.h │ ├── frame.cpp │ ├── frame.h │ ├── keyframedatabase.cpp │ ├── keyframedatabase.h │ ├── mappoint.cpp │ ├── mappoint.h │ ├── marker.cpp │ └── marker.h ├── mapviewer.h ├── optimization │ ├── globaloptimizer.cpp │ ├── globaloptimizer.h │ ├── globaloptimizer_g2o.cpp │ ├── globaloptimizer_g2o.h │ ├── graphoptsim3.cpp │ ├── graphoptsim3.h │ ├── ippe.cpp │ ├── ippe.h │ ├── pnpsolver.cpp │ ├── pnpsolver.h │ └── typesg2o.h ├── stereorectify.h ├── ucoslam.cpp ├── ucoslam.h ├── ucoslam_exports.h ├── ucoslamtypes.cpp ├── ucoslamtypes.h └── utils │ ├── frameextractor.cpp │ ├── frameextractor.h │ ├── framematcher.cpp │ ├── framematcher.h │ ├── loopdetector.cpp │ ├── loopdetector.h │ ├── mapinitializer.cpp │ ├── mapinitializer.h │ ├── mapmanager.cpp │ ├── mapmanager.h │ ├── system.cpp │ └── system.h ├── tests ├── CMakeLists.txt ├── README ├── agz2prepare.cpp ├── analyzeAllLogs.cpp ├── calibrate.cpp ├── comparelogs.cpp ├── dir2video.cpp ├── euroc_stereoRectification.cpp ├── kitti2tum_log.cpp ├── logconvert.cpp ├── logtools.cpp ├── logtools.h ├── map_planarize.cpp ├── orb_tum_script.sh ├── sortLog.cpp ├── system2map.cpp ├── task_manager.cpp ├── testRevision.sh ├── test_dummy.cpp ├── test_generator_marker+kp.sh ├── test_generator_monocular.sh ├── test_generator_stereo.sh ├── test_reloc.cpp ├── test_sequence.cpp ├── threads.h └── wilcoxonTests.cpp └── utils ├── CMakeLists.txt ├── createinitialparamfile.cpp ├── cvni2.h ├── dirreader.h ├── inputreader.cpp ├── inputreader.h ├── mapviewer.cpp ├── monocular_slam.cpp ├── monocular_tracking.cpp ├── rgbd_slam.cpp ├── stereo_slam.cpp ├── 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