├── .gitmodules ├── LICENSE ├── README.md ├── ch10 ├── CMakeLists.txt ├── cmake_modules │ └── FindG2O.cmake ├── pose_graph_g2o_SE3.cpp ├── pose_graph_g2o_lie_algebra.cpp └── sphere.g2o ├── ch11 ├── CMakeLists.txt ├── cmake_modules │ └── FindDBoW3.cmake ├── data │ ├── 1.png │ ├── 10.png │ ├── 2.png │ ├── 3.png │ ├── 4.png │ ├── 5.png │ ├── 6.png │ ├── 7.png │ ├── 8.png │ └── 9.png ├── feature_training.cpp ├── gen_vocab_large.cpp ├── loop_closure.cpp ├── vocab_larger.yml.gz └── vocabulary.yml.gz ├── ch12 ├── CMakeLists.txt ├── dense_RGBD │ ├── CMakeLists.txt │ ├── data │ │ ├── color │ │ │ ├── 1.png │ │ │ ├── 2.png │ │ │ ├── 3.png │ │ │ ├── 4.png │ │ │ └── 5.png │ │ ├── depth │ │ │ ├── 1.png │ │ │ ├── 2.png │ │ │ ├── 3.png │ │ │ ├── 4.png │ │ │ └── 5.png │ │ └── pose.txt │ ├── octomap_mapping.cpp │ ├── pointcloud_mapping.cpp │ └── surfel_mapping.cpp └── dense_mono │ ├── CMakeLists.txt │ └── dense_mapping.cpp ├── ch13 ├── CMakeLists.txt ├── app │ ├── CMakeLists.txt │ └── run_kitti_stereo.cpp ├── cmake_modules │ ├── FindCSparse.cmake │ ├── FindG2O.cmake │ └── FindGlog.cmake ├── config │ └── default.yaml ├── include │ └── myslam │ │ ├── algorithm.h │ │ ├── backend.h │ │ ├── camera.h │ │ ├── common_include.h │ │ ├── config.h │ │ ├── dataset.h │ │ ├── feature.h │ │ ├── frame.h │ │ ├── frontend.h │ │ ├── g2o_types.h │ │ ├── map.h │ │ ├── mappoint.h │ │ ├── viewer.h │ │ └── visual_odometry.h ├── src │ ├── CMakeLists.txt │ ├── backend.cpp │ ├── camera.cpp │ ├── config.cpp │ ├── dataset.cpp │ ├── feature.cpp │ ├── frame.cpp │ ├── frontend.cpp │ ├── map.cpp │ ├── mappoint.cpp │ ├── viewer.cpp │ └── visual_odometry.cpp └── test │ ├── CMakeLists.txt │ └── test_triangulation.cpp ├── ch2 ├── CMakeLists.txt ├── helloSLAM.cpp ├── libHelloSLAM.cpp ├── libHelloSLAM.h └── useHello.cpp ├── ch3 ├── CMakeLists.txt ├── examples │ ├── .idea │ │ ├── examples.iml │ │ ├── misc.xml │ │ ├── modules.xml │ │ ├── vcs.xml │ │ └── workspace.xml │ ├── CMakeLists.txt │ ├── coordinateTransform.cpp │ ├── plotTrajectory.cpp │ └── trajectory.txt ├── useEigen │ ├── .idea │ │ ├── misc.xml │ │ ├── modules.xml │ │ ├── useEigen.iml │ │ ├── vcs.xml │ │ └── workspace.xml │ ├── CMakeLists.txt │ ├── eigenMatrix.cpp │ └── eigenMatrix_practice.cpp ├── useGeometry │ ├── .idea │ │ ├── .name │ │ ├── misc.xml │ │ ├── modules.xml │ │ ├── useGeometry.iml │ │ ├── vcs.xml │ │ └── workspace.xml │ ├── CMakeLists.txt │ ├── eigenGeometry.cpp │ └── eigenGeometry_practice.cpp └── visualizeGeometry │ ├── .idea │ ├── misc.xml │ ├── modules.xml │ ├── vcs.xml │ ├── visualizeGeometry.iml │ └── workspace.xml │ ├── CMakeLists.txt │ ├── Readme.txt │ ├── visualizeGeometry.cpp │ └── visualizeGeometry_practice.cpp ├── ch4 ├── CMakeLists.txt ├── example │ ├── CMakeLists.txt │ ├── estimated.txt │ ├── groundtruth.txt │ └── trajectoryError.cpp └── useSophus.cpp ├── ch5 ├── CMakeLists.txt ├── imageBasics │ ├── CMakeLists.txt │ ├── distorted.png │ ├── imageBasics.cpp │ ├── ubuntu.png │ └── undistortImage.cpp ├── rgbd │ ├── CMakeLists.txt │ ├── color │ │ ├── 1.png │ │ ├── 2.png │ │ ├── 3.png │ │ ├── 4.png │ │ └── 5.png │ ├── depth │ │ ├── 1.pgm │ │ ├── 2.pgm │ │ ├── 3.pgm │ │ ├── 4.pgm │ │ └── 5.pgm │ ├── joinMap.cpp │ └── pose.txt └── stereo │ ├── CMakeLists.txt │ ├── left.png │ ├── right.png │ └── stereoVision.cpp ├── ch6 ├── CMakeLists.txt ├── ceresCurveFitting.cpp ├── cmake │ ├── CeresConfig.cmake.in │ └── FindG2O.cmake ├── g2oCurveFitting.cpp └── gaussNewton.cpp ├── ch7 ├── 1.png ├── 1_depth.png ├── 2.png ├── 2_depth.png ├── CMakeLists.txt ├── cmake │ └── FindG2O.cmake ├── orb_cv.cpp ├── orb_self.cpp ├── pose_estimation_2d2d.cpp ├── pose_estimation_3d2d.cpp ├── pose_estimation_3d3d.cpp └── triangulation.cpp ├── ch8 ├── 000001.png ├── 000002.png ├── 000003.png ├── 000004.png ├── 000005.png ├── CMakeLists.txt ├── LK1.png ├── LK2.png ├── direct_method.cpp ├── disparity.png ├── left.png └── optical_flow.cpp ├── ch9 ├── CMakeLists.txt ├── SnavelyReprojectionError.h ├── 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