├── .gitignore ├── Additional evaluations.pdf ├── CMakeLists.txt ├── CMakeModules ├── FindEigen.cmake └── FindG2O.cmake ├── LICENCE ├── README.md ├── bin └── Monocular-Inertial │ ├── EuRoC.yaml │ ├── EuRoC_TimeStamps │ ├── MH01.txt │ ├── MH02.txt │ ├── MH03.txt │ ├── MH04.txt │ ├── MH05.txt │ ├── V101.txt │ ├── V102.txt │ ├── V103.txt │ ├── V201.txt │ ├── V202.txt │ └── V203.txt │ ├── TUM_512.yaml │ └── TUM_TimeStamps │ ├── dataset-corridor1_512.txt │ ├── dataset-corridor2_1024.txt │ ├── dataset-corridor2_512.txt │ ├── dataset-corridor3_512.txt │ ├── dataset-corridor4_512.txt │ ├── dataset-corridor5_512.txt │ ├── dataset-magistrale1_512.txt │ ├── dataset-magistrale2_512.txt │ ├── dataset-magistrale3_512.txt │ ├── dataset-magistrale4_512.txt │ ├── dataset-magistrale5_512.txt │ ├── dataset-magistrale6_512.txt │ ├── dataset-outdoors1_512.txt │ ├── dataset-outdoors2_512.txt │ ├── dataset-outdoors3_512.txt │ ├── dataset-outdoors4_512.txt │ ├── dataset-outdoors5_512.txt │ ├── dataset-outdoors6_512.txt │ ├── dataset-outdoors7_512.txt │ ├── dataset-outdoors8_512.txt │ ├── dataset-room1_512.txt │ ├── dataset-room2_512.txt │ ├── dataset-room3_512.txt │ ├── dataset-room4_512.txt │ ├── dataset-room5_512.txt │ ├── dataset-room6_512.txt │ ├── dataset-slides1_512.txt │ ├── dataset-slides2_512.txt │ └── dataset-slides3_512.txt ├── include ├── Config.yaml ├── G2oTypes.h ├── ImuTypes.h ├── LocalMapping.h ├── SettingParameters.h ├── SystemNode.h ├── transformation.h └── vihso │ ├── CoarseTracker.h │ ├── ImageReader.h │ ├── IndexThreadReduce.h │ ├── MatrixAccumulator.h │ ├── PhotomatricCalibration.h │ ├── bundle_adjustment.h │ ├── camera.h │ ├── config.h │ ├── depth_filter.h │ ├── feature.h │ ├── feature_alignment.h │ ├── feature_detection.h │ ├── frame.h │ ├── frame_handler_base.h │ ├── frame_handler_mono.h │ ├── global.h │ ├── initialization.h │ ├── map.h │ ├── matcher.h │ ├── point.h │ ├── pose_optimizer.h │ ├── reprojector.h │ ├── viewer.h │ └── vikit │ ├── aligned_mem.h │ ├── colortable.h │ ├── homography.h │ ├── math_utils.h │ ├── patch_score.h │ ├── performance_monitor.h │ ├── ringbuffer.h │ ├── robust_cost.h │ ├── timer.h │ └── vision.h ├── lib └── libhso.so ├── src ├── CoarseTracker.cpp ├── G2oTypes.cpp ├── ImageReader.cpp ├── ImuTypes.cpp ├── LocalMapping.cpp ├── PhotomatricCalibration.cpp ├── SettingParameters.cpp ├── SystemNode.cpp ├── bundle_adjustment.cpp ├── camera.cpp ├── config.cpp ├── depth_filter.cpp ├── feature_alignment.cpp ├── feature_detection.cpp ├── frame.cpp ├── frame_handler_base.cpp ├── frame_handler_mono.cpp ├── initialization.cpp ├── map.cpp ├── matcher.cpp ├── point.cpp ├── pose_optimizer.cpp ├── reprojector.cpp ├── viewer.cpp └── vikit │ ├── homography.cpp │ ├── math_utils.cpp │ ├── performance_monitor.cpp │ ├── robust_cost.cpp │ └── vision.cpp ├── test ├── vi_euroc.cc └── vi_tum.cc └── thirdparty ├── fast ├── CMakeLists.txt ├── LICENSE ├── README.md ├── fastConfig.cmake.in ├── include │ └── fast │ │ ├── corner_10.h │ │ ├── corner_9.h │ │ ├── fast.h │ │ └── faster_corner_utilities.h ├── package.xml ├── src │ ├── fast_10.cpp │ ├── fast_10_score.cpp │ ├── fast_12_detect.cpp │ ├── fast_12_score.cpp │ ├── fast_7_detect.cpp │ ├── fast_7_score.cpp │ ├── fast_8_detect.cpp │ ├── fast_8_score.cpp │ ├── fast_9.cpp │ ├── fast_9_score.cpp │ ├── faster_corner_10_sse.cpp │ ├── faster_corner_9_sse.cpp │ └── nonmax_3x3.cpp └── test │ ├── data │ └── test1.png │ └── test.cpp └── g2o ├── CMakeLists.txt ├── README.txt ├── cmake_modules ├── FindBLAS.cmake ├── FindCholmod.cmake ├── FindEigen3.cmake └── FindLAPACK.cmake ├── config.h ├── config.h.in ├── g2o ├── core │ ├── 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 │ ├── 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 │ ├── 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 │ ├── linear_solver_cholmod.h │ ├── linear_solver_dense.h │ ├── linear_solver_eigen.h │ └── solver_cholmod.cpp ├── stuff │ ├── color_macros.h │ ├── g2o_stuff_api.h │ ├── macros.h │ ├── misc.h │ ├── os_specific.c │ ├── os_specific.h │ ├── property.cpp │ ├── property.h │ 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