├── .gitignore ├── LICENSE ├── README.md └── lsd_slam_core ├── calib ├── FOV_examle_calib.cfg ├── OpenCV_example_calib.cfg └── pinhole_example_calib.cfg └── src ├── CMakeLists.txt ├── DataStructures ├── Frame.cpp ├── Frame.h ├── FrameMemory.cpp ├── FrameMemory.h ├── FramePoseStruct.cpp └── FramePoseStruct.h ├── DepthEstimation ├── DepthMap.cpp ├── DepthMap.h ├── DepthMapPixelHypothesis.cpp └── DepthMapPixelHypothesis.h ├── GUI.cpp ├── GUI.h ├── GlobalMapping ├── FabMap.cpp ├── FabMap.h ├── KeyFrameGraph.cpp ├── KeyFrameGraph.h ├── TrackableKeyFrameSearch.cpp ├── TrackableKeyFrameSearch.h ├── g2oTypeSim3Sophus.cpp └── g2oTypeSim3Sophus.h ├── IOWrapper ├── ImageDisplay.h ├── InputImageStream.h ├── NotifyBuffer.h ├── OpenCV │ └── ImageDisplay_OpenCV.cpp ├── Output3DWrapper.h ├── Pangolin │ ├── Keyframe.h │ ├── PangolinOutput3DWrapper.cpp │ └── PangolinOutput3DWrapper.h ├── Timestamp.cpp ├── Timestamp.h └── TimestampedObject.h ├── LSD.cpp ├── LiveSLAMWrapper.cpp ├── LiveSLAMWrapper.h ├── SlamSystem.cpp ├── SlamSystem.h ├── Tracking ├── Relocalizer.cpp ├── Relocalizer.h ├── SE3Tracker.cpp ├── SE3Tracker.h ├── Sim3Tracker.cpp ├── Sim3Tracker.h ├── TrackingReference.cpp ├── TrackingReference.h ├── least_squares.cpp └── least_squares.h ├── cmake ├── FindEigen3.cmake └── FindSuiteParse.cmake ├── thirdparty ├── Sophus │ ├── CMakeLists.txt │ ├── FindEigen3.cmake │ ├── README │ ├── SophusConfig.cmake.in │ ├── cmake_modules │ │ └── FindEigen3.cmake │ └── sophus │ │ ├── rxso3.hpp │ │ ├── se2.hpp │ │ ├── se3.hpp │ │ ├── sim3.hpp │ │ ├── so2.hpp │ │ ├── so3.hpp │ │ ├── sophus.hpp │ │ ├── test_rxso3.cpp │ │ ├── test_se2.cpp │ │ ├── test_se3.cpp │ │ ├── test_sim3.cpp │ │ ├── test_so2.cpp │ │ ├── test_so3.cpp │ │ └── tests.hpp └── openFabMap │ ├── CMakeLists.txt │ ├── FindOpenCV.cmake │ ├── README.txt │ ├── gpl.txt │ ├── include │ └── openfabmap.hpp │ ├── samples │ ├── openFABMAPcli.cpp │ └── settings.yml │ ├── src │ ├── BOWMSCTrainer.cpp │ ├── ChowLiuTree.cpp │ └── FabMap.cpp │ └── 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