├── CMakeLists.txt ├── Dependencies.md ├── Examples ├── Monocular │ ├── 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 │ ├── KITTI00-02.yaml │ ├── KITTI03.yaml │ ├── KITTI04-12.yaml │ ├── TUM1.yaml │ ├── TUM2.yaml │ ├── TUM3.yaml │ ├── mono_euroc.cc │ ├── mono_kitti.cc │ └── mono_tum.cc ├── RGB-D │ ├── TUM1.yaml │ ├── TUM2.yaml │ ├── TUM3.yaml │ ├── associations │ │ ├── fr1_desk.txt │ │ ├── fr1_desk2.txt │ │ ├── fr1_room.txt │ │ ├── fr1_xyz.txt │ │ ├── fr2_desk.txt │ │ ├── fr2_xyz.txt │ │ ├── fr3_nstr_tex_near.txt │ │ ├── fr3_office.txt │ │ ├── fr3_office_val.txt │ │ ├── fr3_str_tex_far.txt │ │ └── fr3_str_tex_near.txt │ └── rgbd_tum.cc ├── ROS │ └── ORB_SLAM2 │ │ ├── Asus.yaml │ │ ├── CMakeLists.txt │ │ ├── manifest.xml │ │ └── src │ │ ├── ros_mono.cc │ │ ├── ros_rgbd.cc │ │ └── ros_stereo.cc ├── Stereo │ ├── EuRoC.yaml │ ├── KITTI00-02.yaml │ ├── KITTI03.yaml │ ├── KITTI04-12.yaml │ ├── stereo_EuRoC.cpp │ └── stereo_kitti.cpp └── Zed │ ├── CMakeLists.txt │ ├── run_zed.cpp │ └── zed.yaml ├── ORB-SLAM2源码详解.pdf ├── PLGF_SLAM.png ├── README.md ├── TUM_Experiment ├── TUM_tools │ ├── __pycache__ │ │ └── associate.cpython-35.pyc │ ├── add_pointclouds_to_bagfile.py │ ├── associate.py │ ├── associate.pyc │ ├── evaluate_ate.py │ ├── evaluate_rpe.py │ ├── generate_pointcloud.py │ ├── generate_registered_pointcloud.py │ └── plot_trajectory_into_image.py └── rgbd_fr1_desk │ ├── CameraTrajectory.txt │ ├── KeyFrameTrajectory.txt │ └── groundtruth.txt ├── Thirdparty ├── DBoW2 │ ├── CMakeLists.txt │ ├── DBoW2 │ │ ├── BowVector.cpp │ │ ├── BowVector.h │ │ ├── FClass.h │ │ ├── FORB.cpp │ │ ├── FORB.h │ │ ├── FeatureVector.cpp │ │ ├── FeatureVector.h │ │ ├── ScoringObject.cpp │ │ ├── ScoringObject.h │ │ └── TemplatedVocabulary.h │ ├── DUtils │ │ ├── Random.cpp │ │ ├── Random.h │ │ ├── Timestamp.cpp │ │ ├── Timestamp.h │ │ └── config.h │ ├── LICENSE.txt │ ├── README.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 │ │ │ ├── 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 │ │ │ ├── feature_tests.bin │ │ │ ├── feature_tests.c │ │ │ ├── feature_tests.cxx │ │ │ └── progress.marks │ │ ├── Makefile │ │ └── cmake_install.cmake │ └── lib │ │ └── libDBoW2.so └── g2o │ ├── CMakeLists.txt │ ├── README.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 │ │ ├── g2o.dir │ │ │ ├── C.includecache │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── g2o │ │ │ │ ├── core │ │ │ │ │ ├── batch_stats.cpp.o │ │ │ │ │ ├── cache.cpp.o │ │ │ │ │ ├── estimate_propagator.cpp.o │ │ │ │ │ ├── factory.cpp.o │ │ │ │ │ ├── hyper_dijkstra.cpp.o │ │ │ │ │ ├── hyper_graph.cpp.o │ │ │ │ │ ├── hyper_graph_action.cpp.o │ │ │ │ │ ├── jacobian_workspace.cpp.o │ │ │ │ │ ├── marginal_covariance_cholesky.cpp.o │ │ │ │ │ ├── matrix_structure.cpp.o │ │ │ │ │ ├── optimizable_graph.cpp.o │ │ │ │ │ ├── optimization_algorithm.cpp.o │ │ │ │ │ ├── optimization_algorithm_factory.cpp.o │ │ │ │ │ ├── optimization_algorithm_levenberg.cpp.o │ │ │ │ │ ├── optimization_algorithm_with_hessian.cpp.o │ │ │ │ │ ├── parameter.cpp.o │ │ │ │ │ ├── parameter_container.cpp.o │ │ │ │ │ ├── robust_kernel.cpp.o │ │ │ │ │ ├── robust_kernel_factory.cpp.o │ │ │ │ │ ├── robust_kernel_impl.cpp.o │ │ │ │ │ ├── solver.cpp.o │ │ │ │ │ └── sparse_optimizer.cpp.o │ │ │ │ ├── stuff │ │ │ │ │ ├── os_specific.c.o │ │ │ │ │ ├── property.cpp.o │ │ │ │ │ ├── string_tools.cpp.o │ │ │ │ │ └── timeutil.cpp.o │ │ │ │ └── types │ │ │ │ │ ├── types_sba.cpp.o │ │ │ │ │ ├── types_seven_dof_expmap.cpp.o │ │ │ │ │ └── types_six_dof_expmap.cpp.o │ │ │ ├── link.txt │ │ │ └── progress.make │ │ └── progress.marks │ ├── Makefile │ └── cmake_install.cmake │ ├── cmake_modules │ ├── FindBLAS.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 │ ├── solvers │ │ ├── linear_solver_dense.h │ │ └── linear_solver_eigen.h │ ├── stuff │ │ ├── color_macros.h │ │ ├── macros.h │ │ ├── misc.h │ │ ├── os_specific.c │ │ ├── os_specific.h │ │ ├── property.cpp │ │ ├── property.h │ │ ├── string_tools.cpp │ │ ├── string_tools.h │ │ ├── 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