├── CMakeLists.txt ├── README.md ├── ch10 ├── CMakeLists.txt ├── SnavelyReprojectionError.h ├── ceres_bundle.cpp ├── common │ ├── BALProblem.cpp │ ├── BALProblem.h │ ├── BundleParams.h │ ├── flags │ │ ├── command_args.cpp │ │ └── command_args.h │ ├── projection.h │ └── tools │ │ ├── random.h │ │ └── rotation.h └── data │ ├── final.ply │ ├── initial.ply │ └── problem-16-22106-pre.txt ├── ch11 ├── CMakeLists.txt ├── cmake_modules │ ├── FindCholmod.cmake │ └── FindG2O.cmake ├── pose_graph_lie_algebra.cpp └── sphere.g2o ├── ch12 ├── CMakeLists.txt ├── data │ ├── 1.png │ ├── 10.png │ ├── 2.png │ ├── 3.png │ ├── 4.png │ ├── 5.png │ ├── 6.png │ ├── 7.png │ ├── 8.png │ └── 9.png ├── feature_training.cpp └── loop_closure.cpp ├── ch13 ├── CMakeLists.txt ├── dense_monocular.cpp ├── dense_rgbd.cpp └── octomap_mapping.cpp ├── ch2 ├── CMakeLists.txt ├── helloSLAM.cpp ├── libHelloSLAM.cpp ├── libHelloSLAM.h └── useHello.cpp ├── ch3 ├── CMakeLists.txt ├── eigenGeometry.cpp └── eigenMatrix.cpp ├── ch4 ├── CMakeLists.txt └── useSophus.cpp ├── ch5 ├── CMakeLists.txt ├── color │ ├── 1.png │ ├── 2.png │ ├── 3.png │ ├── 4.png │ └── 5.png ├── depth │ ├── 1.pgm │ ├── 2.pgm │ ├── 3.pgm │ ├── 4.pgm │ └── 5.pgm ├── imageBasics.cpp ├── joinMap.cpp ├── pose.txt └── rgb.jpg ├── ch6 ├── CMakeLists.txt ├── cmake_modules │ └── FindG2O.cmake ├── useCeres.cpp └── useG2o.cpp ├── ch7 ├── 1.png ├── 1_depth.png ├── 2.png ├── 2_depth.png ├── CMakeLists.txt ├── cmake_modules │ ├── FindCSparse.cmake │ └── FindG2O.cmake ├── common.h ├── feature_extraction.cpp ├── pose_estimation_2d2d.cpp ├── pose_estimation_3d2d.cpp └── pose_estimation_3d3d.cpp ├── ch8 ├── CMakeLists.txt ├── cmake_modules │ └── FindG2O.cmake ├── common.h ├── data │ └── associate.py ├── direct_semidense.cpp ├── direct_sparse.cpp └── optical_flow.cpp ├── ch9 ├── CMakeLists.txt ├── config │ └── default.yaml ├── include │ └── myslam │ │ ├── camera.h │ │ ├── common_include.h │ │ ├── config.h │ │ ├── frame.h │ │ └── visual_odometry.h ├── src │ ├── 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