├── LICENSE ├── README.md ├── analysis ├── manifest.xml ├── rviz_config.vcg └── visualize_points.py ├── communication ├── ardrone_driver.py ├── libardrone │ ├── __init__.py │ ├── arcommandergui.py │ ├── ardrone.jpg │ ├── arnetwork.py │ ├── arvideo.py │ ├── libardrone.py │ ├── no_ardrone.jpg │ ├── rostargetdispatcher.py │ └── spacebarcatcher.py ├── libcom │ ├── __init__.py │ ├── conversionlib.py │ ├── publishlib.py │ └── settings.py ├── manifest.xml ├── record_ardrone_data.py └── replay_ardrone_data.py ├── controller ├── drone.launch ├── exploring_controller.py ├── hybriddata.py ├── manifest.xml ├── multimap_controller.py ├── wall_detection │ ├── 1_other_techniques │ │ ├── evaluate_wmm.py │ │ ├── hough │ │ │ ├── from_hough_to_lines.m │ │ │ ├── hough.py │ │ │ └── test.py │ │ └── simulator │ │ │ ├── __init__.py │ │ │ ├── evaluator.py │ │ │ ├── line_def.py │ │ │ ├── plotter.py │ │ │ ├── points_dataset_fish_robot_room.py │ │ │ ├── points_dataset_real.py │ │ │ ├── points_dataset_real2.py │ │ │ ├── points_dataset_reception.py │ │ │ ├── points_dataset_robot.py │ │ │ ├── points_generator.py │ │ │ └── test.py │ ├── __init__.py │ ├── outlierfilter │ │ ├── __init__.py │ │ ├── outlierfilterlib.py │ │ ├── points.py │ │ └── test.py │ ├── prefilterlib.py │ ├── test.py │ ├── walldetectionlib.py │ └── wmm │ │ ├── EOptimizer.py │ │ ├── Line.py │ │ ├── __init__.py │ │ ├── plots │ │ ├── intersection.py │ │ ├── intersection1.pdf │ │ ├── intersection2.pdf │ │ ├── pdf.png │ │ ├── pdf.py │ │ ├── pdf2.png │ │ └── pdf2.py │ │ ├── points.py │ │ ├── test.py │ │ └── wmmlib.py └── wall_detector.py ├── ptamm ├── ARData │ ├── Models │ │ ├── Cat_A │ │ │ ├── A.png │ │ │ ├── Cone │ │ │ │ ├── cone.3ds │ │ │ │ └── cone.png │ │ │ ├── Cube │ │ │ │ ├── cube.3ds │ │ │ │ └── cube.png │ │ │ ├── Sphere │ │ │ │ ├── sphere.3ds │ │ │ │ └── sphere.png │ │ │ └── Torus │ │ │ │ ├── torus.3ds │ │ │ │ └── torus.png │ │ ├── Cat_B │ │ │ └── B.png │ │ ├── Cat_C │ │ │ └── C.png │ │ ├── Cat_D │ │ │ └── D.png │ │ ├── Cat_E │ │ │ └── E.png │ │ └── models.xml │ └── Overlays │ │ ├── add.png │ │ ├── add_a.png │ │ ├── back.png │ │ ├── back_a.png │ │ ├── delete.png │ │ ├── delete_a.png │ │ ├── delete_all.png │ │ ├── delete_all_a.png │ │ ├── down.png │ │ ├── down_a.png │ │ ├── forward.png │ │ ├── forward_a.png │ │ ├── hide.png │ │ ├── hide_a.png │ │ ├── hidear.png │ │ ├── hidear_a.png │ │ ├── left.png │ │ ├── left_a.png │ │ ├── model_browser.png │ │ ├── next.png │ │ ├── next_a.png │ │ ├── pitch_minus.png │ │ ├── pitch_minus_a.png │ │ ├── pitch_plus.png │ │ ├── pitch_plus_a.png │ │ ├── points.png │ │ ├── points_a.png │ │ ├── prev.png │ │ ├── prev_a.png │ │ ├── reset.png │ │ ├── reset_a.png │ │ ├── right.png │ │ ├── right_a.png │ │ ├── roll_minus.png │ │ ├── roll_minus_a.png │ │ ├── roll_plus.png │ │ ├── roll_plus_a.png │ │ ├── scale_minus.png │ │ ├── scale_minus_a.png │ │ ├── scale_plus.png │ │ ├── scale_plus_a.png │ │ ├── searching.png │ │ ├── selected.png │ │ ├── snap.png │ │ ├── snap_a.png │ │ ├── up.png │ │ ├── up_a.png │ │ ├── yaw_minus.png │ │ ├── yaw_minus_a.png │ │ ├── yaw_plus.png │ │ └── yaw_plus_a.png ├── ARDriver.cc ├── ARDriver.h ├── ATANCamera.cc ├── ATANCamera.h ├── Build │ ├── Linux │ │ ├── Makefile │ │ ├── VideoSource_Linux_DV.cc │ │ └── VideoSource_Linux_V4L.cc │ ├── OSX │ │ ├── Makefile │ │ ├── OSX_resource_file.r │ │ ├── VideoSource_OSX.cc │ │ └── configure-10.5-32bit │ └── Win32 │ │ ├── CameraCalibrator.vcproj │ │ ├── PTAMM.sln │ │ ├── PTAMM.vcproj │ │ └── VideoSource_Win32_CMU1394.cc ├── Bundle.cc ├── Bundle.h ├── CHANGELOG.txt ├── CalibCornerPatch.cc ├── CalibCornerPatch.h ├── CalibImage.cc ├── CalibImage.h ├── CameraCalibrator ├── CameraCalibrator.cc ├── CameraCalibrator.h ├── CustomSettings.h ├── EyeGame.cc ├── EyeGame.h ├── GLWindow2.cc ├── GLWindow2.h ├── GLWindowMenu.cc ├── GLWindowMenu.h ├── Game.h ├── Games.cc ├── Games.h ├── HomographyInit.cc ├── HomographyInit.h ├── KeyFrame.cc ├── KeyFrame.h ├── LICENSE.txt ├── LevelHelpers.h ├── MD5.cc ├── MD5.h ├── MD5Wrapper.cc ├── MD5Wrapper.h ├── MEstimator.h ├── MGButton.cc ├── MGButton.h ├── Makefile ├── Map.cc ├── Map.h ├── MapLockManager.cc ├── MapLockManager.h ├── MapMaker.cc ├── MapMaker.h ├── MapPoint.cc ├── MapPoint.h ├── MapSerializer.cc ├── MapSerializer.h ├── MapViewer.cc ├── MapViewer.h ├── MiniPatch.cc ├── MiniPatch.h ├── Model3ds.cc ├── Model3ds.h ├── ModelBrowser.cc ├── ModelBrowser.h ├── ModelControls.cc ├── ModelControls.h ├── ModelsGame.cc ├── ModelsGame.h ├── ModelsGameData.cc ├── ModelsGameData.h ├── OpenGL.h ├── PTAMM ├── PatchFinder.cc ├── PatchFinder.h ├── README.txt ├── Relocaliser.cc ├── Relocaliser.h ├── ShiTomasi.cc ├── ShiTomasi.h ├── ShooterGame.cc ├── ShooterGame.h ├── ShooterGameTarget.cc ├── ShooterGameTarget.h ├── SmallBlurryImage.cc ├── SmallBlurryImage.h ├── SmallMatrixOpts.h ├── System.cc ├── System.h ├── Tracker.cc ├── Tracker.h ├── TrackerData.h ├── Utils.cc ├── Utils.h ├── VideoSource.h ├── VideoSource_ROS.cc ├── calib_pattern.pdf ├── calibrator_settings.cfg ├── camera.cfg ├── main.cc ├── manifest.xml ├── manual.pdf ├── settings.cfg ├── tinyxml.cc ├── tinyxml.h ├── tinyxmlerror.cc └── tinyxmlparser.cc ├── py_shared ├── CMakeLists.txt ├── Makefile ├── manifest.xml ├── src │ ├── floorseparator.py │ ├── principalplane.py │ ├── py_shared │ │ ├── __init__.py │ │ └── srv │ │ │ ├── _PrincipalPlane.py │ │ │ ├── __init__.py │ │ │ └── _getPrincipalplaneParams.py │ ├── saveloadlib.py │ └── utility.py └── srv │ └── getPrincipalplaneParams.srv ├── shm_socket ├── CMakeLists.txt ├── Makefile ├── include │ └── shm_socket │ │ └── shm_socket.h ├── mainpage.dox ├── manifest.xml └── src │ └── shm_socket.cpp ├── thesis.pdf └── wallviz ├── manifest.xml ├── map └── 0_template │ ├── KeyFrames │ └── 000000.png │ ├── map.xml │ ├── principalplane │ ├── slamtometric │ └── walls ├── mapmaker ├── __init__.py ├── concave.py ├── mapmaker.py ├── mapparser.py ├── multimaplib.py └── projectionlib.py ├── pyggel ├── __init__.py ├── camera.py ├── 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