├── CMakeLists.txt ├── Data ├── ORBvoc.yml.tar.gz ├── Settings.yaml └── Settings.yaml~ ├── README.md ├── Thirdparty ├── DBoW2 │ ├── CMakeLists.txt │ ├── DBoW2 │ │ ├── BowVector.cpp │ │ ├── BowVector.h │ │ ├── FClass.h │ │ ├── FORB.cpp │ │ ├── FORB.h │ │ ├── FeatureVector.cpp │ │ ├── FeatureVector.h │ │ ├── LICENSE.txt │ │ ├── ScoringObject.cpp │ │ ├── ScoringObject.h │ │ └── TemplatedVocabulary.h │ ├── DUtils │ │ ├── LICENSE.txt │ │ ├── Random.cpp │ │ ├── Random.h │ │ ├── Timestamp.cpp │ │ └── Timestamp.h │ ├── LICENSE.txt │ ├── build │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeOutput.log │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ ├── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ │ ├── DBoW2.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DBoW2 │ │ │ │ │ ├── BowVector.cpp.o │ │ │ │ │ ├── FORB.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 │ │ │ └── progress.marks │ │ ├── Makefile │ │ └── cmake_install.cmake │ └── lib │ │ └── libDBoW2.so └── g2o │ ├── CMakeLists.txt │ ├── Changes.txt │ ├── build │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── CMakeCCompiler.cmake │ │ ├── CMakeCXXCompiler.cmake │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeOutput.log │ │ ├── CMakeSystem.cmake │ │ ├── CompilerIdC │ │ │ ├── CMakeCCompilerId.c │ │ │ └── a.out │ │ ├── CompilerIdCXX │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ └── a.out │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── TargetDirectories.txt │ │ ├── cmake.check_cache │ │ └── progress.marks │ ├── Makefile │ ├── cmake_install.cmake │ └── g2o │ │ ├── CMakeFiles │ │ ├── CMakeDirectoryInformation.cmake │ │ └── progress.marks │ │ ├── Makefile │ │ ├── cmake_install.cmake │ │ ├── core │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── core.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── batch_stats.cpp.o │ │ │ │ ├── build.make │ │ │ │ ├── cache.cpp.o │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── estimate_propagator.cpp.o │ │ │ │ ├── factory.cpp.o │ │ │ │ ├── flags.make │ │ │ │ ├── hyper_dijkstra.cpp.o │ │ │ │ ├── hyper_graph.cpp.o │ │ │ │ ├── hyper_graph_action.cpp.o │ │ │ │ ├── jacobian_workspace.cpp.o │ │ │ │ ├── link.txt │ │ │ │ ├── marginal_covariance_cholesky.cpp.o │ │ │ │ ├── matrix_structure.cpp.o │ │ │ │ ├── optimizable_graph.cpp.o │ │ │ │ ├── optimization_algorithm.cpp.o │ │ │ │ ├── optimization_algorithm_dogleg.cpp.o │ │ │ │ ├── optimization_algorithm_factory.cpp.o │ │ │ │ ├── optimization_algorithm_gauss_newton.cpp.o │ │ │ │ ├── optimization_algorithm_levenberg.cpp.o │ │ │ │ ├── optimization_algorithm_with_hessian.cpp.o │ │ │ │ ├── parameter.cpp.o │ │ │ │ ├── parameter_container.cpp.o │ │ │ │ ├── progress.make │ │ │ │ ├── robust_kernel.cpp.o │ │ │ │ ├── robust_kernel_factory.cpp.o │ │ │ │ ├── robust_kernel_impl.cpp.o │ │ │ │ ├── solver.cpp.o │ │ │ │ ├── sparse_optimizer.cpp.o │ │ │ │ └── sparse_optimizer_terminate_action.cpp.o │ │ │ └── progress.marks │ │ ├── Makefile │ │ └── cmake_install.cmake │ │ ├── solvers │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ └── progress.marks │ │ ├── Makefile │ │ ├── cholmod │ │ │ ├── CMakeFiles │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── progress.marks │ │ │ │ └── solver_cholmod.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ ├── progress.make │ │ │ │ │ └── solver_cholmod.cpp.o │ │ │ ├── Makefile │ │ │ └── cmake_install.cmake │ │ ├── cmake_install.cmake │ │ └── dense │ │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── progress.marks │ │ │ └── solver_dense.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── solver_dense.cpp.o │ │ │ ├── Makefile │ │ │ └── cmake_install.cmake │ │ ├── stuff │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── progress.marks │ │ │ └── stuff.dir │ │ │ │ ├── C.includecache │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── command_args.cpp.o │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── filesys_tools.cpp.o │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── os_specific.c.o │ │ │ │ ├── progress.make │ │ │ │ ├── property.cpp.o │ │ │ │ ├── sampler.cpp.o │ │ │ │ ├── sparse_helper.cpp.o │ │ │ │ ├── string_tools.cpp.o │ │ │ │ ├── tictoc.cpp.o │ │ │ │ └── timeutil.cpp.o │ │ ├── Makefile │ │ └── cmake_install.cmake │ │ └── types │ │ ├── CMakeFiles │ │ ├── CMakeDirectoryInformation.cmake │ │ └── progress.marks │ │ ├── Makefile │ │ ├── cmake_install.cmake │ │ ├── sba │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── progress.marks │ │ │ └── types_sba.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ ├── types_sba.cpp.o │ │ │ │ └── types_six_dof_expmap.cpp.o │ │ ├── Makefile │ │ └── cmake_install.cmake │ │ ├── sim3 │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── progress.marks │ │ │ └── types_sim3.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── types_seven_dof_expmap.cpp.o │ │ ├── Makefile │ │ └── cmake_install.cmake │ │ └── slam3d │ │ ├── CMakeFiles │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── progress.marks │ │ └── types_slam3d.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── dquat2mat.cpp.o │ │ │ ├── edge_se3.cpp.o │ │ │ ├── edge_se3_offset.cpp.o │ │ │ ├── edge_se3_pointxyz.cpp.o │ │ │ ├── edge_se3_pointxyz_depth.cpp.o │ │ │ ├── edge_se3_pointxyz_disparity.cpp.o │ │ │ ├── edge_se3_prior.cpp.o │ │ │ ├── flags.make │ │ │ ├── isometry3d_gradients.cpp.o │ │ │ ├── isometry3d_mappings.cpp.o │ │ │ ├── link.txt │ │ │ ├── parameter_camera.cpp.o │ │ │ ├── parameter_se3_offset.cpp.o │ │ │ ├── parameter_stereo_camera.cpp.o │ │ │ ├── progress.make │ │ │ ├── types_slam3d.cpp.o │ │ │ ├── vertex_pointxyz.cpp.o │ │ │ └── vertex_se3.cpp.o │ │ ├── Makefile │ │ └── cmake_install.cmake │ ├── cmake_modules │ ├── FindBLAS.cmake │ ├── FindCholmod.cmake │ ├── FindEigen3.cmake │ ├── FindG2O.cmake │ └── FindLAPACK.cmake │ ├── config.h │ ├── config.h.in │ ├── doc │ ├── g2o.pdf │ ├── license-bsd.txt │ ├── license-gpl.txt │ └── license-lgpl.txt │ ├── g2o │ ├── CMakeLists.txt │ ├── 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 │ │ ├── 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 │ │ ├── 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 │ │ ├── CMakeLists.txt │ │ ├── cholmod │ │ │ ├── CMakeLists.txt │ │ │ ├── linear_solver_cholmod.h │ │ │ └── solver_cholmod.cpp │ │ └── dense │ │ │ ├── CMakeLists.txt │ │ │ ├── linear_solver_dense.h │ │ │ └── solver_dense.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 │ │ ├── CMakeLists.txt │ │ ├── sba │ │ ├── CMakeLists.txt │ │ ├── g2o_types_sba_api.h │ │ ├── sbacam.h │ │ ├── types_sba.cpp │ │ ├── types_sba.h │ │ ├── types_six_dof_expmap.cpp │ │ └── types_six_dof_expmap.h │ │ ├── sim3 │ │ ├── CMakeLists.txt │ │ ├── sim3.h │ │ ├── types_seven_dof_expmap.cpp │ │ └── types_seven_dof_expmap.h │ │ └── slam3d │ │ ├── CMakeLists.txt │ │ ├── dquat2mat.cpp │ │ ├── dquat2mat.h │ │ ├── dquat2mat.wxm │ │ ├── dquat2mat_maxima_generated.cpp │ │ ├── edge_se3.cpp │ │ ├── edge_se3.h │ │ ├── edge_se3_offset.cpp │ │ ├── edge_se3_offset.h │ │ ├── edge_se3_pointxyz.cpp │ │ ├── edge_se3_pointxyz.h │ │ ├── edge_se3_pointxyz_depth.cpp │ │ ├── edge_se3_pointxyz_depth.h │ │ ├── edge_se3_pointxyz_disparity.cpp │ │ ├── edge_se3_pointxyz_disparity.h │ │ ├── edge_se3_prior.cpp │ │ ├── edge_se3_prior.h │ │ ├── g2o_types_slam3d_api.h │ │ ├── isometry3d_gradients.cpp │ │ ├── isometry3d_gradients.h │ │ ├── isometry3d_mappings.cpp │ │ ├── isometry3d_mappings.h │ │ ├── parameter_camera.cpp │ │ ├── parameter_camera.h │ │ ├── parameter_se3_offset.cpp │ │ ├── parameter_se3_offset.h │ │ ├── parameter_stereo_camera.cpp │ │ ├── parameter_stereo_camera.h │ │ ├── se3_ops.h │ │ ├── se3_ops.hpp │ │ ├── se3quat.h │ │ ├── types_slam3d.cpp │ │ ├── types_slam3d.h │ │ ├── vertex_pointxyz.cpp │ │ ├── vertex_pointxyz.h │ │ ├── vertex_se3.cpp │ │ └── vertex_se3.h │ └── lib │ ├── libg2o_core.so │ ├── libg2o_solver_cholmod.so │ ├── libg2o_solver_dense.so │ ├── libg2o_stuff.so │ ├── libg2o_types_sba.so │ ├── libg2o_types_sim3.so │ └── libg2o_types_slam3d.so ├── bin └── Project ├── include ├── Converter.h ├── Frame.h ├── FramePublisher.h ├── Initializer.h ├── KeyFrame.h ├── KeyFrameDatabase.h ├── LocalMapping.h ├── LoopClosing.h ├── Map.h ├── MapPoint.h ├── MapPublisher.h ├── ORBVocabulary.h ├── ORBextractor.h ├── ORBmatcher.h ├── Optimizer.h ├── PnPsolver.h ├── Sim3Solver.h └── Tracking.h ├── src ├── Converter.cc ├── Frame.cc ├── FramePublisher.cc ├── Initializer.cc ├── KeyFrame.cc ├── KeyFrameDatabase.cc ├── LocalMapping.cc ├── LoopClosing.cc ├── Map.cc ├── MapPoint.cc ├── 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