├── .gitignore ├── .qglviewer.xml ├── CMakeLists.txt ├── Default.cfg ├── README.md ├── cmake ├── FindBoost.cmake ├── FindCholmod.cmake ├── FindEigen3.cmake ├── FindG2O.cmake ├── FindOPENGL.cmake ├── FindOpenCV3.cmake ├── FindPIL.cmake ├── FindQGLViewer.cmake ├── FindQt.cmake ├── FindSiftGPU.cmake ├── FindSystem.cmake ├── PICMake.cmake ├── shared_export.map └── static_export.sym ├── data ├── ORB_New.voc └── images │ └── gslam_orbslam.gif └── src ├── Converter.cpp ├── Converter.h ├── DBoW2 ├── BowVector.cpp ├── BowVector.h ├── CNN_Vocabulary.h ├── FCNN.cpp ├── FCNN.h ├── FClass.h ├── FORB.cpp ├── FORB.h ├── FeatureVector.cpp ├── FeatureVector.h ├── LICENSE.txt ├── ORB_Vocabulary.h ├── Random.cpp ├── Random.h ├── ScoringObject.cpp ├── ScoringObject.h ├── TemplatedVocabulary.h ├── Timestamp.cpp └── Timestamp.h ├── Frame.cpp ├── Frame.h ├── Initializer.cpp ├── Initializer.h ├── KeyFrame.cpp ├── KeyFrame.h ├── KeyFrameDatabase.cpp ├── KeyFrameDatabase.h ├── LocalMapping.cpp ├── LocalMapping.h ├── LoopClosing.cpp ├── LoopClosing.h ├── Makefile ├── Map.cpp ├── Map.h ├── MapPoint.cpp ├── MapPoint.h ├── ORBSLAM.cpp ├── ORBSLAM.h ├── ORBVocabulary.h ├── ORBextractor.cpp ├── ORBextractor.h ├── ORBmatcher.cpp ├── ORBmatcher.h ├── OSLAM.h ├── Optimizer.cpp ├── Optimizer.h ├── PnPsolver.cpp ├── PnPsolver.h ├── Sim3Solver.cpp ├── Sim3Solver.h ├── Tracking.cpp ├── Tracking.h └── g2o ├── config.h ├── 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 ├── 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 ├── timeutil.cpp └── timeutil.h └── types ├── se3_ops.h ├── se3_ops.hpp ├── se3quat.h ├── sim3.h ├── types_sba.cpp ├── types_sba.h ├── types_seven_dof_expmap.cpp ├── types_seven_dof_expmap.h ├── types_six_dof_expmap.cpp └── types_six_dof_expmap.h /.gitignore: -------------------------------------------------------------------------------- 1 | *build 2 | *.user 3 | *temp* 4 | ThirdParty/internal/GSLAM 5 | -------------------------------------------------------------------------------- /.qglviewer.xml: 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