├── SLAM研讨会 └── 000╤зSLAM╫ў╥╡ │ └── 2019.03.30╩╙╜ч╬▐╧▐-SLAM╫и╠т╤╨╠╓ │ ├── ╒┬╣·╖ц-├ц╧Є╘Ў╟┐╧╓╩╡╡─╡е─┐╩╙╛ї╣▀╨╘SLAM╦у╖и╞└▓т.pdf │ ├── ╠╖╞╜-Towards Dense Monocular SLAM.pdf │ ├── ╫▐╡д╞╜-╗╖╛│╙ы╘╪╠х.pdf │ ├── ╬т╥у║ь-markerSLAM & FMD SLAM.pdf │ └── ▓щ║ь▒Є-Flow-based Learning for SLAM-2019.pdf ├── homework_1 ├── CMakeLists.txt ├── build │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.5.1 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeOutput.log │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── TargetDirectories.txt │ │ ├── cmake.check_cache │ │ ├── feature_tests.bin │ │ ├── feature_tests.c │ │ ├── feature_tests.cxx │ │ ├── namePicture.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ ├── namePicture.cpp.o │ │ │ └── progress.make │ │ └── progress.marks │ ├── Makefile │ ├── cmake_install.cmake │ └── namePicture ├── namePicture.cpp └── 作业 ├── homework_10 ├── 11.jpg └── 作业 ├── homework_11 ├── CMakeLists.txt ├── build │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.5.1 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeOutput.log │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── TargetDirectories.txt │ │ ├── cmake.check_cache │ │ ├── epipolar.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── epipolar.cpp.o │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ ├── feature_tests.bin │ │ ├── feature_tests.c │ │ ├── feature_tests.cxx │ │ └── progress.marks │ ├── Makefile │ ├── cmake_install.cmake │ ├── epipolar │ ├── rgb1.ppm │ └── rgb2.ppm ├── epipolar.cpp ├── result.png ├── 从零开始学习SLAM.png └── 矩阵分解 ├── homework_12 ├── CMakeLists.txt ├── build │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.5.1 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeOutput.log │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── TargetDirectories.txt │ │ ├── cmake.check_cache │ │ ├── feature_tests.bin │ │ ├── feature_tests.c │ │ ├── feature_tests.cxx │ │ ├── progress.marks │ │ └── virtual-billboard.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ ├── progress.make │ │ │ └── virtual-billboard.cpp.o │ ├── Makefile │ ├── ad.jpg │ ├── cmake_install.cmake │ ├── cvlife.jpg │ └── virtual-billboard ├── opencv学习 ├── virtual-billboard (复件).cpp └── virtual-billboard.cpp ├── homework_13 ├── practice_pointCloudFusion.zip └── practice_pointCloudFusion │ ├── CMakeLists.txt │ ├── data │ ├── cameraTrajectory.txt │ ├── depth │ │ ├── depth0.png │ │ ├── depth1.png │ │ └── depth2.png │ └── rgb │ │ ├── rgb0.png │ │ ├── rgb1.png │ │ └── rgb2.png │ ├── include │ └── slamBase.hpp │ ├── src │ ├── CMakeLists.txt │ ├── pointCloudFusion.cpp │ └── slamBase.cpp │ ├── 点云学习 │ └── 计算机视觉life公众号菜单点击“知识星球”了解详情.png ├── homework_14 ├── fliter │ ├── CMakeLists.txt │ ├── filtered.png │ ├── noise.png │ ├── originalPointCloud.png │ ├── src │ │ ├── CMakeLists.txt │ │ └── pointCloudFilter.cpp │ ├── 从零开始学习SLAM.png │ └── 输出点云 └── 点云滤波练习题目.zip ├── homework_15 ├── smoothing │ ├── CMakeLists.txt │ ├── src │ │ ├── CMakeLists.txt │ │ └── pointCloud2Mesh.cpp │ ├── 从零开始学习SLAM.png │ └── 点云采样方法 └── 作业15-点云平滑及法线估计及显示.zip ├── homework_16 ├── vixel │ ├── CMakeLists.txt │ ├── src │ │ ├── CMakeLists.txt │ │ └── pointCloud2Mesh.cpp │ ├── 从零开始学习SLAM.png │ └── 重建方法 └── 练习16-点云网格化代码框架.zip ├── homework_17 ├── 17作业g2o.zip ├── g2o.png ├── g2o.tar.gz └── projectg2o │ ├── BA-3Dto2D.cpp │ ├── CMakeLists.txt │ ├── cmake_modules │ ├── FindCSparse.cmake │ ├── FindEigen3.cmake │ └── FindG2O.cmake │ ├── p2d.txt │ ├── p3d.txt │ ├── 从零开始学习SLAM.png │ └── 参考输出.png ├── homework_18 ├── perfect_g2o │ ├── 0.png │ ├── 1.png │ ├── 2.png │ ├── CMakeLists.txt │ ├── cmake_modules │ │ ├── FindCeres.cmake │ │ ├── FindEigen3.cmake │ │ └── FindG2O.cmake │ ├── directBA.cpp │ ├── points.txt │ ├── poses.txt │ ├── 从零开始学习SLAM.png │ ├── 优化目标函数.png │ └── 预期结果.png ├── 掌握g2o边的编程套路.pdf └── 练习18-g2o边代码框架.zip ├── homework_19_20 ├── 19.jpeg ├── CMakeLists.txt ├── homework_19_20 │ ├── 19.jpeg │ ├── CMakeLists.txt │ ├── build │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 3.5.1 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeOutput.log │ │ │ ├── ICP.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── icp.cpp.o │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── TargetDirectories.txt │ │ │ ├── cmake.check_cache │ │ │ ├── feature_tests.bin │ │ │ ├── feature_tests.c │ │ │ ├── feature_tests.cxx │ │ │ └── progress.marks │ │ ├── ICP │ │ ├── Makefile │ │ ├── SaveTrajectory.csv │ │ ├── cmake_install.cmake │ │ ├── gt.txt │ │ ├── new.txt │ │ ├── trajectory.txt │ │ ├── viorb.txt │ │ └── viorb00.txt │ ├── icp (复件).cpp │ ├── icp.cpp │ ├── icp00.cpp │ ├── trajectory.txt │ ├── ┤╙┴у┐к╩╝╤з╧░SLAM╨╟╟Є╜щ╔▄.png │ └── ╩ф│Ў▓╬┐╝╜с╣√.png ├── icp (复件).cpp ├── icp.cpp ├── icp00.cpp ├── pointcloud_to_laserscan.tar.gz ├── trajectory.txt ├── ┤╙┴у┐к╩╝╤з╧░SLAM╨╟╟Є╜щ╔▄.png ├── ╩ф│Ў▓╬┐╝╜с╣√.png ├── ╫ў╥╡20-ICP╙ж╙├╩╡╝∙-┤·┬ы┐Є╝▄ │ └── icp.cpp ├── 作业20-ICP应用实践-代码框架.zip ├── 作业20-小六-ICP应用实践-参考代码.zip └── 参考 │ ├── CMakeLists.txt │ ├── icp.cpp │ ├── trajectory.txt │ ├── ┤╙┴у┐к╩╝╤з╧░SLAM╨╟╟Є╜щ╔▄.png │ └── ╩ф│Ў▓╬┐╝╜с╣√.png ├── homework_2 ├── CMakeLists.txt ├── Eigen.cpp ├── build │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.5.1 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeOutput.log │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── TargetDirectories.txt │ │ ├── cmake.check_cache │ │ ├── eigen.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── Eigen.cpp.o │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ ├── feature_tests.bin │ │ ├── feature_tests.c │ │ ├── feature_tests.cxx │ │ └── progress.marks │ ├── Makefile │ ├── cmake_install.cmake │ └── eigen └── 作业 ├── homework_21-四元数插值-代码框架 ├── CMakeLists.txt ├── build │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.5.1 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeOutput.log │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── TargetDirectories.txt │ │ ├── cmake.check_cache │ │ ├── feature_tests.bin │ │ ├── feature_tests.c │ │ ├── feature_tests.cxx │ │ ├── progress.marks │ │ └── slerpQuaternion.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ ├── progress.make │ │ │ └── slerpQuaternion.cpp.o │ ├── Makefile │ ├── cmake_install.cmake │ └── slerpQuaternion ├── slerpQuaternion.cpp ├── 从零开始学习SLAM星球介绍.png └── 参考结果.png ├── homework_3 ├── 0.png ├── 1.png ├── CMakeLists.txt ├── build │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.5.1 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeOutput.log │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── TargetDirectories.txt │ │ ├── cmake.check_cache │ │ ├── feature_tests.bin │ │ ├── feature_tests.c │ │ ├── feature_tests.cxx │ │ ├── newFeather.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── cppNewFeather.cpp.o │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ └── progress.marks │ ├── Makefile │ ├── cmake_install.cmake │ └── newFeather ├── cppNewFeather.cpp └── 作业 ├── homework_4 ├── CMakeLists.txt ├── build │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.5.1 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeOutput.log │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── TargetDirectories.txt │ │ ├── classCross.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── classCross.cpp.o │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ ├── cmake.check_cache │ │ ├── cross.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── cross.cpp.o │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ ├── feature_tests.bin │ │ ├── feature_tests.c │ │ ├── feature_tests.cxx │ │ └── progress.marks │ ├── Makefile │ ├── classCross │ ├── cmake_install.cmake │ └── cross ├── classCross.cpp ├── cross.cpp ├── 作业 └── 作业四.jpg ├── homework_5 ├── CMakeLists.txt ├── build │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.5.1 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeOutput.log │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── Progress │ │ │ ├── 1 │ │ │ └── count.txt │ │ ├── TargetDirectories.txt │ │ ├── cmake.check_cache │ │ ├── feature_tests.bin │ │ ├── feature_tests.c │ │ ├── feature_tests.cxx │ │ ├── progress.marks │ │ └── rotationTransforms.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ ├── Makefile │ ├── cmake_install.cmake │ └── rotationTransforms ├── result.txt ├── rotationTransforms.cpp └── 作业 ├── homework_6 ├── 作业 └── 作业6.jpg ├── homework_7 ├── 1jpg └── 作业7：理论推导题.pdf ├── homework_8 ├── CMakeLists.txt ├── Project.xml ├── build │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.5.1 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeOutput.log │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── TargetDirectories.txt │ │ ├── cmake.check_cache │ │ ├── draw_trajectory.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── draw_trajectory.cpp.o │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ ├── feature_tests.bin │ │ ├── feature_tests.c │ │ ├── feature_tests.cxx │ │ └── progress.marks │ ├── Makefile │ ├── cmake_install.cmake │ ├── draw_trajectory │ └── trajectory.txt ├── draw_trajectory.cpp ├── trajectory.txt └── 作业 ├── homework_9 ├── CMakeLists.txt ├── build │ ├── 1.png │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.5.1 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeOutput.log │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── TargetDirectories.txt │ │ ├── cmake.check_cache │ │ ├── feature_tests.bin │ │ ├── feature_tests.c │ │ ├── feature_tests.cxx │ │ ├── progress.marks │ │ └── undistort_image.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ ├── progress.make │ │ │ └── undistort_image.cpp.o │ ├── Makefile │ ├── cmake_install.cmake │ ├── test.png │ └── undistort_image └── undistort_image.cpp └── icp.pdf /SLAM研讨会/000╤зSLAM╫ў╥╡/2019.03.30╩╙╜ч╬▐╧▐-SLAM╫и╠т╤╨╠╓/╒┬╣·╖ц-├ц╧Є╘Ў╟┐╧╓╩╡╡─╡е─┐╩╙╛ї╣▀╨╘SLAM╦у╖и╞└▓т.pdf: 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