├── .gitignore ├── README.md ├── doc ├── algo_process.png ├── app.jpg └── map_loc.jpg ├── ios └── MapLoc │ ├── .gitignore │ ├── GlobalMap.xcodeproj │ ├── project.pbxproj │ ├── project.xcworkspace │ │ ├── contents.xcworkspacedata │ │ ├── xcshareddata │ │ │ └── IDEWorkspaceChecks.plist │ │ └── xcuserdata │ │ │ └── chamo.xcuserdatad │ │ │ └── IDEFindNavigatorScopes.plist │ ├── xcshareddata │ │ └── xcschemes │ │ │ └── MapLoc.xcscheme │ └── xcuserdata │ │ └── chamo.xcuserdatad │ │ ├── xcdebugger │ │ └── Breakpoints_v2.xcbkptlist │ │ └── xcschemes │ │ └── xcschememanagement.plist │ └── MapLoc │ ├── AppDelegate.h │ ├── AppDelegate.m │ ├── Assets.xcassets │ ├── AppIcon.appiconset │ │ └── Contents.json │ └── Contents.json │ ├── Base.lproj │ ├── LaunchScreen.storyboard │ └── Main.storyboard │ ├── DetailViewController.h │ ├── DetailViewController.mm │ ├── Info.plist │ ├── RecordViewController.h │ ├── RecordViewController.mm │ ├── UIListDelegate.h │ ├── UIListDelegate.mm │ ├── ViewController.h │ ├── ViewController.mm │ ├── common_header.h │ ├── delegate_header.h │ ├── main.m │ └── try_mm.mm ├── run_script ├── build_iphone_out.sh ├── get_mapids.py ├── run_all_build_map.sh ├── run_backend.sh ├── run_bag_tool.sh ├── run_conv_map.sh ├── run_global_match_test.sh ├── run_globalmap_api.sh ├── run_merge_new.sh ├── run_vslam.sh ├── temp_script.sh └── test_bash.sh └── src ├── backend ├── CMakeLists.txt ├── include │ └── backend │ │ └── header.h ├── package.xml └── src │ ├── ba.cc │ ├── ba_imu.cc │ ├── cal_subgroup.cc │ ├── culling_frame.cc │ ├── find_correspond.cc │ ├── main.cc │ ├── map_tool.cc │ └── pose_graph_opti.cc ├── bag_tool ├── CMakeLists.txt ├── include │ └── bag_tool │ │ └── extract_bag.h ├── package.xml └── src │ ├── extract_bag.cpp │ └── extract_bag_exe.cpp ├── build_all ├── CMakeLists.txt └── package.xml ├── chamo_common ├── CMakeLists.txt ├── include │ └── chamo_common │ │ └── common.h ├── package.xml └── src │ └── common.cc ├── convert_to_visual_map ├── CMakeLists.txt ├── include │ └── convert_to_visual_map │ │ └── convert_to_visual_map.h ├── package.xml └── src │ ├── convert_to_visual_map.cc │ └── main.cc ├── dbow2 ├── CMakeLists.txt ├── DBoW2 │ ├── BowVector.cpp │ ├── FFREAK.cpp │ ├── FORB.cpp │ ├── FeatureVector.cpp │ └── ScoringObject.cpp ├── DUtils │ ├── Random.cpp │ └── Timestamp.cpp ├── include │ ├── BowVector.h │ ├── FClass.h │ ├── FFREAK.h │ ├── FORB.h │ ├── FeatureVector.h │ ├── Random.h │ ├── ScoringObject.h │ ├── TemplatedVocabulary.h │ └── Timestamp.h └── package.xml ├── descriptor-projection ├── CMakeLists.txt ├── include │ └── descriptor-projection │ │ ├── build-projection-matrix.h │ │ └── flags.h ├── package.xml └── src │ ├── build-projection-matrix.cc │ └── flags.cc ├── display_map ├── CMakeLists.txt ├── package.xml └── src │ └── main.cc ├── g2o_catkin ├── .gitignore ├── CMakeLists.txt ├── include │ └── 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.h │ │ ├── block_solver.h │ │ ├── block_solver.hpp │ │ ├── cache.h │ │ ├── creators.h │ │ ├── eigen_types.h │ │ ├── estimate_propagator.h │ │ ├── factory.h │ │ ├── hyper_dijkstra.h │ │ ├── hyper_graph.h │ │ ├── hyper_graph_action.h │ │ ├── jacobian_workspace.h │ │ ├── linear_solver.h │ │ ├── marginal_covariance_cholesky.h │ │ ├── matrix_operations.h │ │ ├── matrix_structure.h │ │ ├── openmp_mutex.h │ │ ├── optimizable_graph.h │ │ ├── optimization_algorithm.h │ │ ├── optimization_algorithm_dogleg.h │ │ ├── optimization_algorithm_factory.h │ │ ├── optimization_algorithm_gauss_newton.h │ │ ├── optimization_algorithm_levenberg.h │ │ ├── optimization_algorithm_property.h │ │ ├── optimization_algorithm_with_hessian.h │ │ ├── parameter.h │ │ ├── parameter_container.h │ │ ├── robust_kernel.h │ │ ├── robust_kernel_factory.h │ │ ├── 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_optimizer.h │ │ ├── solvers │ │ ├── linear_solver_dense.h │ │ └── linear_solver_eigen.h │ │ ├── stuff │ │ ├── color_macros.h │ │ ├── macros.h │ │ ├── misc.h │ │ ├── os_specific.h │ │ ├── property.h │ │ ├── string_tools.h │ │ └── timeutil.h │ │ └── types │ │ ├── se3_ops.h │ │ ├── se3_ops.hpp │ │ ├── se3quat.h │ │ ├── sim3.h │ │ ├── types_sba.h │ │ ├── types_seven_dof_expmap.h │ │ └── types_six_dof_expmap.h ├── package.xml └── src │ ├── core │ ├── batch_stats.cpp │ ├── cache.cpp │ ├── estimate_propagator.cpp │ ├── factory.cpp │ ├── hyper_dijkstra.cpp │ ├── hyper_graph.cpp │ ├── hyper_graph_action.cpp │ ├── jacobian_workspace.cpp │ ├── marginal_covariance_cholesky.cpp │ ├── matrix_structure.cpp │ ├── optimizable_graph.cpp │ ├── optimization_algorithm.cpp │ ├── optimization_algorithm_dogleg.cpp │ ├── optimization_algorithm_factory.cpp │ ├── optimization_algorithm_gauss_newton.cpp │ ├── optimization_algorithm_levenberg.cpp │ ├── optimization_algorithm_with_hessian.cpp │ ├── parameter.cpp │ ├── parameter_container.cpp │ ├── robust_kernel.cpp │ ├── robust_kernel_factory.cpp │ ├── robust_kernel_impl.cpp │ ├── solver.cpp │ ├── sparse_block_matrix_test.cpp │ └── sparse_optimizer.cpp │ ├── stuff │ ├── os_specific.c │ ├── property.cpp │ ├── string_tools.cpp │ └── timeutil.cpp │ └── types │ ├── types_sba.cpp │ ├── types_seven_dof_expmap.cpp │ └── types_six_dof_expmap.cpp ├── global_map ├── CMakeLists.txt ├── include │ └── global_map │ │ ├── frame.h │ │ ├── global_map.h │ │ ├── global_map_common.h │ │ ├── global_map_seri.h │ │ └── map_point.h ├── package.xml └── src │ ├── frame.cc │ ├── global_map.cc │ ├── global_map_seri.cc │ ├── main.cc │ └── map_point.cc ├── global_map_api ├── CMakeLists.txt ├── include │ └── global_map_api │ │ └── global_map_api.h ├── package.xml └── src │ ├── global_map_api.cc │ └── main.cc ├── global_match ├── CMakeLists.txt ├── include │ └── global_match │ │ └── global_match.h ├── package.xml └── src │ └── global_match.cc ├── global_match_test ├── CMakeLists.txt ├── package.xml └── src │ ├── main.cc │ └── test_positioning.cc ├── gps_tool ├── CMakeLists.txt ├── include │ └── CoorConv.h ├── package.xml └── src │ └── CoorConv.cpp ├── imu_visual_lib ├── CMakeLists.txt ├── include │ ├── IMUConverter.h │ ├── IMUPreintegrator.h │ ├── NavState.h │ ├── configparam.h │ ├── g2otypes.h │ ├── imu_tools.h │ ├── imudata.h │ └── so3.h ├── package.xml └── src │ ├── IMUConverter.cc │ ├── IMUPreintegrator.cpp │ ├── NavState.cpp │ ├── configparam.cpp │ ├── g2otypes.cpp │ ├── imu_tools.cpp │ ├── imudata.cpp │ └── so3.cpp ├── inverted-multi-index ├── CMakeLists.txt ├── include │ └── inverted-multi-index │ │ ├── inverted-multi-index-common.h │ │ └── inverted-multi-index.h ├── package.xml └── src │ └── inverted-multi-index.cc ├── merge_new ├── CMakeLists.txt ├── include │ └── merge_new │ │ └── merge_new.h ├── package.xml └── src │ ├── main.cc │ └── merge_new.cc ├── orb_loc └── orb_loc.cc ├── separate_map ├── CMakeLists.txt ├── include │ └── separate_map.h ├── package.xml └── src │ ├── separate_map.cc │ └── separate_map_S2.cc ├── sim3_ransac ├── CMakeLists.txt ├── include │ └── sim3_ransac │ │ └── sim3_match.h ├── package.xml └── src │ └── sim3_match.cc ├── tool ├── convert_rtk_to_xyz │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ └── main.cpp ├── display_traj │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ └── main.cc └── show_pc │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ └── main.cc ├── try └── try_global_map │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ └── main.cc ├── visualization ├── .gitignore ├── CMakeLists.txt ├── README.md ├── default.rviz ├── include │ └── visualization │ │ ├── color-palette.h │ │ ├── color.h │ │ ├── common-rviz-visualization.h │ │ ├── eigen-visualization.h │ │ ├── rviz-visualization-sink-inl.h │ │ ├── rviz-visualization-sink.h │ │ └── viz-primitives.h ├── package.xml └── src │ ├── common-rviz-visualization.cc │ └── rviz-visualization-sink.cc └── vslam ├── CMakeLists.txt ├── Examples └── Monocular │ ├── create_vol.cc │ └── mono_kitti.cc ├── include ├── Converter.h ├── Frame.h ├── Initializer.h ├── KeyFrame.h ├── KeyFrameDatabase.h ├── LocalMapping.h ├── LoopClosing.h ├── Map.h ├── MapPoint.h ├── ORBVocabulary.h ├── ORBextractor.h ├── ORBmatcher.h ├── Optimizer.h ├── PnPsolver.h ├── Sim3Solver.h ├── System.h └── Tracking.h ├── package.xml └── src ├── Converter.cc ├── Frame.cc ├── Initializer.cc ├── KeyFrame.cc ├── KeyFrameDatabase.cc ├── LocalMapping.cc ├── LoopClosing.cc ├── Map.cc ├── MapPoint.cc ├── ORBextractor.cc ├── ORBmatcher.cc ├── Optimizer.cc ├── PnPsolver.cc ├── Sim3Solver.cc ├── System.cc └── Tracking.cc /.gitignore: -------------------------------------------------------------------------------- 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