├── .gitignore ├── LICENSE ├── README.md ├── assets ├── ba_lidar.gif ├── ba_rgbd.gif ├── slam_lidar.gif └── slam_rgbd.gif ├── configs ├── lidar │ ├── cloister_os0128_configuration.json │ ├── long_os164_configuration.json │ ├── quad-easy_os0128_configuration.json │ ├── stairs_os0128_configuration.json │ └── standard_os0128_configuration.json └── rgbd │ ├── d455_configuration.json │ ├── eth3d_configuration.json │ └── freiburg_configuration.json ├── dl.conf ├── docker ├── Dockerfile ├── README.md ├── build.sh ├── dl.conf └── run.sh ├── final_paper_and_supplementary_material.pdf ├── installation └── README.md ├── md_slam ├── CMakeLists.txt ├── CMakeModules │ ├── CudaAutoDetect.cmake │ └── CudaComputeTargetFlags.cmake ├── apps │ ├── CMakeLists.txt │ ├── ba.cpp │ ├── dataset_manipulators │ │ ├── eth_dataset_manipulator.cpp │ │ ├── lidar_config_object.h │ │ ├── manip_utils.h │ │ └── newer_college_dataset_manipulator.cpp │ ├── graph_converter.cpp │ ├── show_graph.cpp │ ├── slam.cpp │ ├── utils │ │ ├── colorpointcloud.cpp │ │ ├── gt_mapper.cpp │ │ ├── pcldistancemaptraj.cpp │ │ ├── srrg2pcl.cpp │ │ ├── srrg2pclfull.cpp │ │ ├── standard_ba_configuration.h │ │ ├── trajrosbagcloud2srrg.cpp │ │ ├── utils.h │ │ └── variable_noise_adder.cpp │ └── viewer │ │ ├── camera_pose_vbo.cpp │ │ ├── camera_pose_vbo.h │ │ ├── cloud_vbo.cpp │ │ ├── cloud_vbo.h │ │ ├── drawable_base_vbo.cpp │ │ ├── drawable_base_vbo.h │ │ ├── drawable_factor_graph_vbo.cpp │ │ ├── drawable_factor_graph_vbo.h │ │ ├── drawable_pyramid_variable_se3.cpp │ │ ├── drawable_pyramid_variable_se3.h │ │ ├── factors_binary_vbo.cpp │ │ ├── factors_binary_vbo.h │ │ ├── get_pcl_offset.h │ │ ├── md_ba_viewer.h │ │ ├── md_slam_viewer.cpp │ │ ├── md_slam_viewer.h │ │ ├── spline.cpp │ │ ├── spline.h │ │ ├── vbo_base.cpp │ │ └── vbo_base.h ├── package.xml ├── src │ ├── CMakeLists.txt │ └── md_slam │ │ ├── CMakeLists.txt │ │ ├── cuda_utils.cuh │ │ ├── dual_matrix.cu │ │ ├── dual_matrix.cuh │ │ ├── factor.cpp │ │ ├── factor.cu │ │ ├── factor.cuh │ │ ├── factor_bi.cpp │ │ ├── factor_bi.cu │ │ ├── factor_bi.cuh │ │ ├── factor_common.cpp │ │ ├── factor_common.cu │ │ ├── factor_common.cuh │ │ ├── factor_stack.cpp │ │ ├── factor_stack.h │ │ ├── frame.cpp │ │ ├── frame.h │ │ ├── graph_manager.cpp │ │ ├── graph_manager.h │ │ ├── image_pyramid.cpp │ │ ├── image_pyramid.h │ │ ├── instances.cpp │ │ ├── instances.h │ │ ├── linear_system_entry.cuh │ │ ├── loop_closer.cpp │ │ ├── loop_closer.h │ │ ├── loop_detector_base.cpp │ │ ├── loop_detector_base.h │ │ ├── loop_detector_hbst.cpp │ │ ├── loop_detector_hbst.h │ │ ├── loop_validator.cpp │ │ ├── loop_validator.h │ │ ├── orientation_estimator.h │ │ ├── pairwise_aligner.cpp │ │ ├── pairwise_aligner.h │ │ ├── pyramid_generator.cpp │ │ ├── pyramid_generator.h │ │ ├── pyramid_level.cpp │ │ ├── pyramid_level.cu │ │ ├── pyramid_level.cuh │ │ ├── pyramid_message.cpp │ │ ├── pyramid_message.h │ │ ├── pyramid_variable_se3.cpp │ │ ├── pyramid_variable_se3.h │ │ ├── sum_reduce.cu │ │ ├── tracker.cpp │ │ ├── tracker.h │ │ ├── tracker_status_message.cpp │ │ ├── tracker_status_message.h │ │ ├── tracker_viewer.cpp │ │ ├── tracker_viewer.h │ │ ├── utils.cpp │ │ └── utils.cuh └── tests │ ├── CMakeLists.txt │ ├── test_dual_buffer.cu │ ├── test_factor.cpp │ ├── test_factor_bi.cpp │ ├── test_projection.cu │ └── test_sum_reduction.cu └── test_data ├── camera.depth.image_raw_00002102.pgm ├── camera.rgb.image_raw_00002102.png ├── d.pgm ├── i.pgm ├── ld.pgm ├── li.png ├── os1_depth.png └── os1_intensity.png /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/README.md -------------------------------------------------------------------------------- /assets/ba_lidar.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/assets/ba_lidar.gif -------------------------------------------------------------------------------- /assets/ba_rgbd.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/assets/ba_rgbd.gif -------------------------------------------------------------------------------- /assets/slam_lidar.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/assets/slam_lidar.gif -------------------------------------------------------------------------------- /assets/slam_rgbd.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/assets/slam_rgbd.gif -------------------------------------------------------------------------------- /configs/lidar/cloister_os0128_configuration.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/configs/lidar/cloister_os0128_configuration.json -------------------------------------------------------------------------------- /configs/lidar/long_os164_configuration.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/configs/lidar/long_os164_configuration.json -------------------------------------------------------------------------------- /configs/lidar/quad-easy_os0128_configuration.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/configs/lidar/quad-easy_os0128_configuration.json -------------------------------------------------------------------------------- /configs/lidar/stairs_os0128_configuration.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/configs/lidar/stairs_os0128_configuration.json -------------------------------------------------------------------------------- /configs/lidar/standard_os0128_configuration.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/configs/lidar/standard_os0128_configuration.json -------------------------------------------------------------------------------- /configs/rgbd/d455_configuration.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/configs/rgbd/d455_configuration.json -------------------------------------------------------------------------------- /configs/rgbd/eth3d_configuration.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/configs/rgbd/eth3d_configuration.json -------------------------------------------------------------------------------- /configs/rgbd/freiburg_configuration.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/configs/rgbd/freiburg_configuration.json -------------------------------------------------------------------------------- /dl.conf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/dl.conf -------------------------------------------------------------------------------- /docker/Dockerfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/docker/Dockerfile -------------------------------------------------------------------------------- /docker/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/docker/README.md -------------------------------------------------------------------------------- /docker/build.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/docker/build.sh -------------------------------------------------------------------------------- /docker/dl.conf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/docker/dl.conf -------------------------------------------------------------------------------- /docker/run.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/docker/run.sh -------------------------------------------------------------------------------- /final_paper_and_supplementary_material.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/final_paper_and_supplementary_material.pdf -------------------------------------------------------------------------------- /installation/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/installation/README.md -------------------------------------------------------------------------------- /md_slam/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/CMakeLists.txt -------------------------------------------------------------------------------- /md_slam/CMakeModules/CudaAutoDetect.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/CMakeModules/CudaAutoDetect.cmake -------------------------------------------------------------------------------- /md_slam/CMakeModules/CudaComputeTargetFlags.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/CMakeModules/CudaComputeTargetFlags.cmake -------------------------------------------------------------------------------- /md_slam/apps/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/CMakeLists.txt -------------------------------------------------------------------------------- /md_slam/apps/ba.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/ba.cpp -------------------------------------------------------------------------------- /md_slam/apps/dataset_manipulators/eth_dataset_manipulator.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/dataset_manipulators/eth_dataset_manipulator.cpp -------------------------------------------------------------------------------- /md_slam/apps/dataset_manipulators/lidar_config_object.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/dataset_manipulators/lidar_config_object.h -------------------------------------------------------------------------------- /md_slam/apps/dataset_manipulators/manip_utils.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/dataset_manipulators/manip_utils.h -------------------------------------------------------------------------------- /md_slam/apps/dataset_manipulators/newer_college_dataset_manipulator.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/dataset_manipulators/newer_college_dataset_manipulator.cpp -------------------------------------------------------------------------------- /md_slam/apps/graph_converter.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/graph_converter.cpp -------------------------------------------------------------------------------- /md_slam/apps/show_graph.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/show_graph.cpp -------------------------------------------------------------------------------- /md_slam/apps/slam.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/slam.cpp -------------------------------------------------------------------------------- /md_slam/apps/utils/colorpointcloud.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/utils/colorpointcloud.cpp -------------------------------------------------------------------------------- /md_slam/apps/utils/gt_mapper.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/utils/gt_mapper.cpp -------------------------------------------------------------------------------- /md_slam/apps/utils/pcldistancemaptraj.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/utils/pcldistancemaptraj.cpp -------------------------------------------------------------------------------- /md_slam/apps/utils/srrg2pcl.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/utils/srrg2pcl.cpp -------------------------------------------------------------------------------- /md_slam/apps/utils/srrg2pclfull.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/utils/srrg2pclfull.cpp -------------------------------------------------------------------------------- /md_slam/apps/utils/standard_ba_configuration.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/utils/standard_ba_configuration.h -------------------------------------------------------------------------------- /md_slam/apps/utils/trajrosbagcloud2srrg.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/utils/trajrosbagcloud2srrg.cpp -------------------------------------------------------------------------------- /md_slam/apps/utils/utils.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/utils/utils.h -------------------------------------------------------------------------------- /md_slam/apps/utils/variable_noise_adder.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/utils/variable_noise_adder.cpp -------------------------------------------------------------------------------- /md_slam/apps/viewer/camera_pose_vbo.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/viewer/camera_pose_vbo.cpp -------------------------------------------------------------------------------- /md_slam/apps/viewer/camera_pose_vbo.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/viewer/camera_pose_vbo.h -------------------------------------------------------------------------------- /md_slam/apps/viewer/cloud_vbo.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/viewer/cloud_vbo.cpp -------------------------------------------------------------------------------- /md_slam/apps/viewer/cloud_vbo.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/viewer/cloud_vbo.h -------------------------------------------------------------------------------- /md_slam/apps/viewer/drawable_base_vbo.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/viewer/drawable_base_vbo.cpp -------------------------------------------------------------------------------- /md_slam/apps/viewer/drawable_base_vbo.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/viewer/drawable_base_vbo.h -------------------------------------------------------------------------------- /md_slam/apps/viewer/drawable_factor_graph_vbo.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/viewer/drawable_factor_graph_vbo.cpp -------------------------------------------------------------------------------- /md_slam/apps/viewer/drawable_factor_graph_vbo.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/viewer/drawable_factor_graph_vbo.h -------------------------------------------------------------------------------- /md_slam/apps/viewer/drawable_pyramid_variable_se3.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/viewer/drawable_pyramid_variable_se3.cpp -------------------------------------------------------------------------------- /md_slam/apps/viewer/drawable_pyramid_variable_se3.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/viewer/drawable_pyramid_variable_se3.h -------------------------------------------------------------------------------- /md_slam/apps/viewer/factors_binary_vbo.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/viewer/factors_binary_vbo.cpp -------------------------------------------------------------------------------- /md_slam/apps/viewer/factors_binary_vbo.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/viewer/factors_binary_vbo.h -------------------------------------------------------------------------------- /md_slam/apps/viewer/get_pcl_offset.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/viewer/get_pcl_offset.h -------------------------------------------------------------------------------- /md_slam/apps/viewer/md_ba_viewer.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/viewer/md_ba_viewer.h -------------------------------------------------------------------------------- /md_slam/apps/viewer/md_slam_viewer.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/viewer/md_slam_viewer.cpp -------------------------------------------------------------------------------- /md_slam/apps/viewer/md_slam_viewer.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/viewer/md_slam_viewer.h -------------------------------------------------------------------------------- /md_slam/apps/viewer/spline.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/viewer/spline.cpp -------------------------------------------------------------------------------- /md_slam/apps/viewer/spline.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/viewer/spline.h -------------------------------------------------------------------------------- /md_slam/apps/viewer/vbo_base.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/viewer/vbo_base.cpp -------------------------------------------------------------------------------- /md_slam/apps/viewer/vbo_base.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/apps/viewer/vbo_base.h -------------------------------------------------------------------------------- /md_slam/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/package.xml -------------------------------------------------------------------------------- /md_slam/src/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | add_subdirectory(md_slam) -------------------------------------------------------------------------------- /md_slam/src/md_slam/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/CMakeLists.txt -------------------------------------------------------------------------------- /md_slam/src/md_slam/cuda_utils.cuh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/cuda_utils.cuh -------------------------------------------------------------------------------- /md_slam/src/md_slam/dual_matrix.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/dual_matrix.cu -------------------------------------------------------------------------------- /md_slam/src/md_slam/dual_matrix.cuh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/dual_matrix.cuh -------------------------------------------------------------------------------- /md_slam/src/md_slam/factor.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/factor.cpp -------------------------------------------------------------------------------- /md_slam/src/md_slam/factor.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/factor.cu -------------------------------------------------------------------------------- /md_slam/src/md_slam/factor.cuh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/factor.cuh -------------------------------------------------------------------------------- /md_slam/src/md_slam/factor_bi.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/factor_bi.cpp -------------------------------------------------------------------------------- /md_slam/src/md_slam/factor_bi.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/factor_bi.cu -------------------------------------------------------------------------------- /md_slam/src/md_slam/factor_bi.cuh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/factor_bi.cuh -------------------------------------------------------------------------------- /md_slam/src/md_slam/factor_common.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/factor_common.cpp -------------------------------------------------------------------------------- /md_slam/src/md_slam/factor_common.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/factor_common.cu -------------------------------------------------------------------------------- /md_slam/src/md_slam/factor_common.cuh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/factor_common.cuh -------------------------------------------------------------------------------- /md_slam/src/md_slam/factor_stack.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/factor_stack.cpp -------------------------------------------------------------------------------- /md_slam/src/md_slam/factor_stack.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/factor_stack.h -------------------------------------------------------------------------------- /md_slam/src/md_slam/frame.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/frame.cpp -------------------------------------------------------------------------------- /md_slam/src/md_slam/frame.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/frame.h -------------------------------------------------------------------------------- /md_slam/src/md_slam/graph_manager.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/graph_manager.cpp -------------------------------------------------------------------------------- /md_slam/src/md_slam/graph_manager.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/graph_manager.h -------------------------------------------------------------------------------- /md_slam/src/md_slam/image_pyramid.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/image_pyramid.cpp -------------------------------------------------------------------------------- /md_slam/src/md_slam/image_pyramid.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/image_pyramid.h -------------------------------------------------------------------------------- /md_slam/src/md_slam/instances.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/instances.cpp -------------------------------------------------------------------------------- /md_slam/src/md_slam/instances.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/instances.h -------------------------------------------------------------------------------- /md_slam/src/md_slam/linear_system_entry.cuh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/linear_system_entry.cuh -------------------------------------------------------------------------------- /md_slam/src/md_slam/loop_closer.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/loop_closer.cpp -------------------------------------------------------------------------------- /md_slam/src/md_slam/loop_closer.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/loop_closer.h -------------------------------------------------------------------------------- /md_slam/src/md_slam/loop_detector_base.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/loop_detector_base.cpp -------------------------------------------------------------------------------- /md_slam/src/md_slam/loop_detector_base.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/loop_detector_base.h -------------------------------------------------------------------------------- /md_slam/src/md_slam/loop_detector_hbst.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/loop_detector_hbst.cpp -------------------------------------------------------------------------------- /md_slam/src/md_slam/loop_detector_hbst.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/loop_detector_hbst.h -------------------------------------------------------------------------------- /md_slam/src/md_slam/loop_validator.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/loop_validator.cpp -------------------------------------------------------------------------------- /md_slam/src/md_slam/loop_validator.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/loop_validator.h -------------------------------------------------------------------------------- /md_slam/src/md_slam/orientation_estimator.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/orientation_estimator.h -------------------------------------------------------------------------------- /md_slam/src/md_slam/pairwise_aligner.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/pairwise_aligner.cpp -------------------------------------------------------------------------------- /md_slam/src/md_slam/pairwise_aligner.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/pairwise_aligner.h -------------------------------------------------------------------------------- /md_slam/src/md_slam/pyramid_generator.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/pyramid_generator.cpp -------------------------------------------------------------------------------- /md_slam/src/md_slam/pyramid_generator.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/pyramid_generator.h -------------------------------------------------------------------------------- /md_slam/src/md_slam/pyramid_level.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/pyramid_level.cpp -------------------------------------------------------------------------------- /md_slam/src/md_slam/pyramid_level.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/pyramid_level.cu -------------------------------------------------------------------------------- /md_slam/src/md_slam/pyramid_level.cuh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/pyramid_level.cuh -------------------------------------------------------------------------------- /md_slam/src/md_slam/pyramid_message.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/pyramid_message.cpp -------------------------------------------------------------------------------- /md_slam/src/md_slam/pyramid_message.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/pyramid_message.h -------------------------------------------------------------------------------- /md_slam/src/md_slam/pyramid_variable_se3.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/pyramid_variable_se3.cpp -------------------------------------------------------------------------------- /md_slam/src/md_slam/pyramid_variable_se3.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/pyramid_variable_se3.h -------------------------------------------------------------------------------- /md_slam/src/md_slam/sum_reduce.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/sum_reduce.cu -------------------------------------------------------------------------------- /md_slam/src/md_slam/tracker.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/tracker.cpp -------------------------------------------------------------------------------- /md_slam/src/md_slam/tracker.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/tracker.h -------------------------------------------------------------------------------- /md_slam/src/md_slam/tracker_status_message.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/tracker_status_message.cpp -------------------------------------------------------------------------------- /md_slam/src/md_slam/tracker_status_message.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/tracker_status_message.h -------------------------------------------------------------------------------- /md_slam/src/md_slam/tracker_viewer.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/tracker_viewer.cpp -------------------------------------------------------------------------------- /md_slam/src/md_slam/tracker_viewer.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/tracker_viewer.h -------------------------------------------------------------------------------- /md_slam/src/md_slam/utils.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/utils.cpp -------------------------------------------------------------------------------- /md_slam/src/md_slam/utils.cuh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/src/md_slam/utils.cuh -------------------------------------------------------------------------------- /md_slam/tests/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/tests/CMakeLists.txt -------------------------------------------------------------------------------- /md_slam/tests/test_dual_buffer.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/tests/test_dual_buffer.cu -------------------------------------------------------------------------------- /md_slam/tests/test_factor.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/tests/test_factor.cpp -------------------------------------------------------------------------------- /md_slam/tests/test_factor_bi.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/tests/test_factor_bi.cpp -------------------------------------------------------------------------------- /md_slam/tests/test_projection.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/tests/test_projection.cu -------------------------------------------------------------------------------- /md_slam/tests/test_sum_reduction.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/md_slam/tests/test_sum_reduction.cu -------------------------------------------------------------------------------- /test_data/camera.depth.image_raw_00002102.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/test_data/camera.depth.image_raw_00002102.pgm -------------------------------------------------------------------------------- /test_data/camera.rgb.image_raw_00002102.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/test_data/camera.rgb.image_raw_00002102.png -------------------------------------------------------------------------------- /test_data/d.pgm: -------------------------------------------------------------------------------- 1 | camera.depth.image_raw_00002102.pgm -------------------------------------------------------------------------------- /test_data/i.pgm: -------------------------------------------------------------------------------- 1 | camera.rgb.image_raw_00002102.png -------------------------------------------------------------------------------- /test_data/ld.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/test_data/ld.pgm -------------------------------------------------------------------------------- /test_data/li.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/test_data/li.png -------------------------------------------------------------------------------- /test_data/os1_depth.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/test_data/os1_depth.png -------------------------------------------------------------------------------- /test_data/os1_intensity.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/ba-mdslam/HEAD/test_data/os1_intensity.png --------------------------------------------------------------------------------