├── .gitignore ├── Dockerfile ├── README.md ├── docker_shared ├── dataset │ ├── KITTI │ │ ├── 10 │ │ │ ├── bag │ │ │ │ └── .bag │ │ │ ├── gt │ │ │ │ ├── 10_gt.tum │ │ │ │ └── 10_gt_lidar.txt │ │ │ ├── init_tum │ │ │ │ └── loam_opensource.tum │ │ │ └── process_bag.py │ │ ├── 00 │ │ │ ├── bag │ │ │ │ └── .bag │ │ │ ├── gt │ │ │ │ ├── 00_gt.tum │ │ │ │ └── 00_gt_lidar.tum │ │ │ ├── init_tum │ │ │ │ └── loam_opensource.tum │ │ │ └── process_bag.py │ │ ├── 01 │ │ │ ├── bag │ │ │ │ └── .bag │ │ │ ├── gt │ │ │ │ ├── 01_gt.tum │ │ │ │ └── 01_gt_lidar.txt │ │ │ ├── init_tum │ │ │ │ └── loam_opensource.tum │ │ │ └── process_bag.py │ │ ├── 02 │ │ │ ├── bag │ │ │ │ └── .bag │ │ │ ├── gt │ │ │ │ ├── 02_gt.tum │ │ │ │ └── 02_gt_lidar.txt │ │ │ ├── init_tum │ │ │ │ └── loam_opensource.tum │ │ │ └── process_bag.py │ │ ├── 03 │ │ │ ├── bag │ │ │ │ └── .bag │ │ │ ├── gt │ │ │ │ ├── 03_gt.tum │ │ │ │ └── 03_gt_lidar.txt │ │ │ ├── init_tum │ │ │ │ └── loam_opensource.tum │ │ │ └── process_bag.py │ │ ├── 04 │ │ │ ├── bag │ │ │ │ └── .bag │ │ │ ├── gt │ │ │ │ ├── 04_gt.tum │ │ │ │ └── 04_gt_lidar.txt │ │ │ ├── init_tum │ │ │ │ └── loam_opensource.tum │ │ │ └── process_bag.py │ │ ├── 05 │ │ │ ├── bag │ │ │ │ └── .bag │ │ │ ├── gt │ │ │ │ ├── 05_gt.tum │ │ │ │ └── 05_gt_lidar.txt │ │ │ ├── init_tum │ │ │ │ └── loam_opensource.tum │ │ │ └── process_bag.py │ │ ├── 06 │ │ │ ├── bag │ │ │ │ └── .bag │ │ │ ├── gt │ │ │ │ ├── 06_gt.tum │ │ │ │ └── 06_gt_lidar.txt │ │ │ ├── init_tum │ │ │ │ └── loam_opensource.tum │ │ │ └── process_bag.py │ │ ├── 07 │ │ │ ├── bag │ │ │ │ └── .bag │ │ │ ├── gt │ │ │ │ ├── 07_gt.tum │ │ │ │ └── 07_gt_lidar.txt │ │ │ ├── init_tum │ │ │ │ └── loam_opensource.tum │ │ │ └── process_bag.py │ │ ├── 08 │ │ │ ├── bag │ │ │ │ └── .bag │ │ │ ├── gt │ │ │ │ ├── 08_gt.tum │ │ │ │ └── 08_gt_lidar.txt │ │ │ ├── init_tum │ │ │ │ └── loam_opensource.tum │ │ │ └── process_bag.py │ │ └── 09 │ │ │ ├── bag │ │ │ └── .bag │ │ │ ├── gt │ │ │ ├── 09_gt.tum │ │ │ └── 09_gt_lidar.txt │ │ │ ├── init_tum │ │ │ └── loam_opensource.tum │ │ │ └── process_bag.py │ ├── NewerCollege │ │ ├── cloister │ │ │ ├── bag │ │ │ │ └── .bag │ │ │ ├── gt │ │ │ │ └── gt-nc-cloister.csv │ │ │ ├── init_tum │ │ │ │ └── loam_opensource.tum │ │ │ └── process_bag.py │ │ ├── maths_institute │ │ │ ├── bag │ │ │ │ └── .bag │ │ │ ├── gt │ │ │ │ ├── gt_math_easy.csv │ │ │ │ └── tum │ │ │ │ │ └── gt_math_easy.csv │ │ │ ├── init_tum │ │ │ │ └── loam_opensource.tum │ │ │ └── process_bag.py │ │ ├── park │ │ │ ├── bag │ │ │ │ └── .bag │ │ │ ├── gt │ │ │ │ └── gt-nc-park.tum │ │ │ ├── init_tum │ │ │ │ └── loam_opensource.tum │ │ │ └── process_bag.py │ │ ├── quad_easy │ │ │ ├── bag │ │ │ │ ├── .bag │ │ │ │ └── download_quad.sh │ │ │ ├── gt │ │ │ │ └── gt-nc-quad-easy.tum │ │ │ ├── init_tum │ │ │ │ └── loam_opensource.tum │ │ │ └── process_bag.py │ │ ├── stairs │ │ │ ├── bag │ │ │ │ └── .bag │ │ │ ├── gt │ │ │ │ └── gt-nc-stairs.csv │ │ │ ├── init_tum │ │ │ │ └── loam_opensource.tum │ │ │ └── process_bag.py │ │ └── underground_mine │ │ │ ├── bag │ │ │ └── .bag │ │ │ ├── gt │ │ │ └── easy_gt_state_tum.csv │ │ │ ├── init_tum │ │ │ └── loam_opensource.tum │ │ │ └── process_bag.py │ └── VBR │ │ ├── Campus │ │ ├── bag │ │ │ └── download_campus.sh │ │ ├── gt │ │ │ └── campus_train0_gt.txt │ │ ├── init_tum │ │ │ └── loam_opensource.tum │ │ └── process_bag.py │ │ ├── Ciampino │ │ ├── bag │ │ │ └── download_ciampino.sh │ │ ├── gt │ │ │ └── ciampino_train0_gt.txt │ │ ├── init_tum │ │ │ └── loam_opensource.tum │ │ └── process_bag.py │ │ ├── Colosseo │ │ ├── bag │ │ │ ├── download_colloseo.sh │ │ │ └── filter.sh │ │ ├── gt │ │ │ └── colosseo_train0_gt.txt │ │ ├── init_tum │ │ │ └── loam_opensource.tum │ │ └── process_bag.py │ │ ├── DIAG │ │ ├── bag │ │ │ └── download_diag.sh │ │ ├── gt │ │ │ └── diag_train0_gt.txt │ │ ├── init_tum │ │ │ └── loam_opensource.tum │ │ └── process_bag.py │ │ ├── Pincio │ │ ├── bag │ │ │ ├── .bag │ │ │ └── download_pincio.sh │ │ ├── gt │ │ │ └── pincio_train0_gt.txt │ │ ├── init_tum │ │ │ └── loam_opensource.tum │ │ └── process_bag.py │ │ └── Spagna │ │ ├── bag │ │ └── download_spagna.sh │ │ ├── gt │ │ └── spagna_train0_gt.txt │ │ ├── init_tum │ │ └── loam_opensource.tum │ │ └── process_bag.py └── output │ └── .out └── modules ├── mad_ba ├── .vscode │ └── settings.json ├── CMakeLists.txt ├── apps │ ├── CMakeLists.txt │ └── main_app.cpp ├── config │ ├── KITTI │ │ ├── kitti_00_odom.config │ │ ├── kitti_01_odom.config │ │ ├── kitti_02_odom.config │ │ ├── kitti_03_odom.config │ │ ├── kitti_04_odom.config │ │ ├── kitti_05_odom.config │ │ ├── kitti_06_odom.config │ │ ├── kitti_07_odom.config │ │ ├── kitti_08_odom.config │ │ ├── kitti_09_odom.config │ │ └── kitti_10_odom.config │ ├── NewerCollege │ │ ├── cloister.config │ │ ├── maths_institute.config │ │ ├── park.config │ │ ├── quad_easy.config │ │ ├── quad_easy_fast.config │ │ ├── stairs.config │ │ └── underground_mine_easy.config │ └── VBR │ │ ├── campus.config │ │ ├── ciampino.config │ │ ├── colosseo.config │ │ ├── diag.config │ │ ├── pincio.config │ │ └── spagna.config ├── dl.conf ├── package.xml └── src │ ├── CMakeLists.txt │ ├── mad_ba │ ├── CMakeLists.txt │ ├── data_association.cpp │ ├── data_association.h │ ├── instances.cpp │ ├── instances.h │ ├── kd_utils.h │ ├── kdtree.cuh │ ├── kdtree.hpp │ ├── point_cloud_proc.cpp │ ├── point_cloud_proc.h │ ├── point_cloud_proc_visual.cpp │ ├── surfel.cpp │ ├── surfel.h │ ├── surfel_matches.h │ ├── surfelv2.h │ ├── utils.cpp │ └── utils.h │ └── types │ ├── CMakeLists.txt │ ├── instances.cpp │ ├── instances.h │ ├── se3_pose_surfel_factor_ad.cpp │ ├── se3_pose_surfel_factor_ad.h │ ├── variable_se3.cpp │ ├── variable_se3.h │ ├── variable_se3_ad.cpp │ ├── variable_se3_ad.h │ ├── variable_surfel.cpp │ ├── variable_surfel.h │ ├── variable_surfel_ad.cpp │ └── variable_surfel_ad.h ├── rviz_visual_tools ├── .clang-format ├── .clang-tidy ├── .travis.yml ├── CHANGELOG.rst ├── CMakeLists.txt ├── Dockerfile ├── MIGRATION.md ├── README.md ├── icons │ └── classes │ │ └── KeyTool.svg ├── include │ └── rviz_visual_tools │ │ ├── deprecation.h │ │ ├── imarker_simple.h │ │ ├── remote_control.h │ │ ├── remote_reciever.h │ │ ├── rviz_visual_tools.h │ │ └── tf_visual_tools.h ├── launch │ ├── demo.launch │ ├── demo.rviz │ ├── demo_combined.launch │ ├── demo_rviz.launch │ └── rvt_test.launch ├── package.xml ├── plugin_description.xml ├── resources │ └── frame_locking.gif ├── src │ ├── imarker_simple.cpp │ ├── imarker_simple_demo.cpp │ ├── key_tool.cpp │ ├── key_tool.h │ ├── remote_control.cpp │ ├── rviz_visual_tools.cpp │ ├── rviz_visual_tools_demo.cpp │ ├── rviz_visual_tools_gui.cpp │ ├── rviz_visual_tools_gui.h │ └── tf_visual_tools.cpp └── tests │ └── rvt_test.cpp ├── srrg ├── srrg2_core │ ├── LICENSE │ ├── README.md │ ├── docker │ │ ├── Dockerfile │ │ └── build.sh │ ├── srrg2_core │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── apps │ │ │ ├── CMakeLists.txt │ │ │ ├── converter_clf_to_srrg.cpp │ │ │ ├── converter_euroc_to_srrg.cpp │ │ │ ├── converter_icl_to_srrg.cpp │ │ │ ├── converter_kitti_to_srrg.cpp │ │ │ ├── converter_malaga_to_srrg.cpp │ │ │ ├── converter_tum_to_srrg.cpp │ │ │ ├── extract_gt_from_srrg.cpp │ │ │ ├── geigerzaehler.cpp │ │ │ ├── image_matcher_features.cpp │ │ │ └── image_matcher_frobenius.cpp │ │ ├── deprecated │ │ │ ├── ad_multivariate.h │ │ │ ├── srrg_autodiff_bivariate_example.cpp │ │ │ ├── srrg_autodiff_multivariate_example.cpp │ │ │ └── srrg_autodiff_simple_example.cpp │ │ ├── package.xml │ │ ├── slides │ │ │ └── 2018_srrg_core.odp │ │ ├── src │ │ │ ├── CMakeLists.txt │ │ │ ├── TODO.txt │ │ │ ├── examples │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── boss_example.cpp │ │ │ │ ├── boss_indexed_blob_example.cpp │ │ │ │ ├── boss_property_example.cpp │ │ │ │ ├── boss_shared_example.cpp │ │ │ │ ├── command_line_example.cpp │ │ │ │ ├── container_pack_example.cpp │ │ │ │ ├── deprecated │ │ │ │ │ ├── abstract_container_example.cpp │ │ │ │ │ ├── geometry_example.cpp │ │ │ │ │ ├── image_data_example.cpp │ │ │ │ │ ├── matrix_bilinear_interpolation_example.cpp │ │ │ │ │ └── messages_example.cpp │ │ │ │ ├── field_pack_example.cpp │ │ │ │ ├── image_loading.cpp │ │ │ │ ├── kdtree_example.cpp │ │ │ │ ├── matrix_example.cpp │ │ │ │ ├── message_sorter_example.cpp │ │ │ │ ├── message_synchronizer_example.cpp │ │ │ │ ├── messages_read_example.cpp │ │ │ │ ├── messages_write_example.cpp │ │ │ │ ├── point_cloud_example.cpp │ │ │ │ ├── point_cloud_ops_example.cpp │ │ │ │ ├── shell_colors_example.cpp │ │ │ │ └── timestamp_filter_example.cpp │ │ │ ├── misc_tests │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── test_cloud_intensity.cpp │ │ │ │ ├── test_distance_map.cpp │ │ │ │ ├── test_key_events.cpp │ │ │ │ ├── test_normal_computation.cpp │ │ │ │ ├── test_platform_synthetic_joints.cpp │ │ │ │ ├── test_platform_synthetic_transforms.cpp │ │ │ │ ├── test_point_cloud_pinhole.cpp │ │ │ │ ├── test_point_cloud_polar.cpp │ │ │ │ ├── test_point_matrix_processor.cpp │ │ │ │ ├── test_point_ops.cpp │ │ │ │ ├── test_viewer_buffer_manager.cpp │ │ │ │ ├── test_viewer_packets_factory.cpp │ │ │ │ ├── test_viewer_packets_serialization.cpp │ │ │ │ └── test_viewer_shared_memory.cpp │ │ │ ├── srrg_benchmark │ │ │ │ ├── slam_benchmark_suite.hpp │ │ │ │ ├── slam_benchmark_suite_carmen.hpp │ │ │ │ ├── slam_benchmark_suite_euroc.hpp │ │ │ │ ├── slam_benchmark_suite_icl.hpp │ │ │ │ ├── slam_benchmark_suite_kitti.hpp │ │ │ │ ├── slam_benchmark_suite_malaga.hpp │ │ │ │ ├── slam_benchmark_suite_tum.hpp │ │ │ │ └── trajectory_writers.h │ │ │ ├── srrg_boss │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── blob.cpp │ │ │ │ ├── blob.h │ │ │ │ ├── deserializer.cpp │ │ │ │ ├── deserializer.h │ │ │ │ ├── id_context.cpp │ │ │ │ ├── id_context.h │ │ │ │ ├── id_placeholder.cpp │ │ │ │ ├── id_placeholder.h │ │ │ │ ├── identifiable.cpp │ │ │ │ ├── identifiable.h │ │ │ │ ├── json_object_writer.cpp │ │ │ │ ├── json_object_writer.h │ │ │ │ ├── json_recursive_object_parser.cpp │ │ │ │ ├── json_recursive_object_parser.h │ │ │ │ ├── object_data.cpp │ │ │ │ ├── object_data.h │ │ │ │ ├── object_parser.cpp │ │ │ │ ├── object_parser.h │ │ │ │ ├── object_writer.cpp │ │ │ │ ├── object_writer.h │ │ │ │ ├── serializable.cpp │ │ │ │ ├── serializable.h │ │ │ │ ├── serialization_context.cpp │ │ │ │ ├── serialization_context.h │ │ │ │ ├── serializer.cpp │ │ │ │ ├── serializer.h │ │ │ │ ├── stream.cpp │ │ │ │ ├── stream.h │ │ │ │ └── trusted_loaders.h │ │ │ ├── srrg_config │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── configurable.cpp │ │ │ │ ├── configurable.h │ │ │ │ ├── configurable_command.h │ │ │ │ ├── configurable_manager.h │ │ │ │ ├── configurable_shell.cpp │ │ │ │ ├── configurable_shell.h │ │ │ │ ├── linenoise.c │ │ │ │ ├── linenoise.h │ │ │ │ ├── param_macros.h │ │ │ │ ├── pipeline_runner.cpp │ │ │ │ ├── pipeline_runner.h │ │ │ │ ├── preemptible.cpp │ │ │ │ ├── preemptible.h │ │ │ │ ├── preemptible_example.cpp │ │ │ │ ├── property_configurable.h │ │ │ │ └── property_configurable_vector.h │ │ │ ├── srrg_data_structures │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── abstract_map.h │ │ │ │ ├── abstract_map_view.h │ │ │ │ ├── abstract_ptr_map.h │ │ │ │ ├── container_pack.h │ │ │ │ ├── correspondence.h │ │ │ │ ├── events.h │ │ │ │ ├── field_pack.h │ │ │ │ ├── file_handle.cpp │ │ │ │ ├── file_handle.h │ │ │ │ ├── file_vector_interface.h │ │ │ │ ├── file_vector_interface_test.cpp │ │ │ │ ├── generic_class_method_caller.h │ │ │ │ ├── graph.cpp │ │ │ │ ├── graph.h │ │ │ │ ├── grid_map_2d.cpp │ │ │ │ ├── grid_map_2d.h │ │ │ │ ├── indexed_container_interface.h │ │ │ │ ├── iterator_interface.h │ │ │ │ ├── kd_tree.h │ │ │ │ ├── kd_tree_impl.cpp │ │ │ │ ├── link.cpp │ │ │ │ ├── link.h │ │ │ │ ├── matrix.h │ │ │ │ ├── matrix.hpp │ │ │ │ ├── memory_mapped_file.cpp │ │ │ │ ├── memory_vector_interface.h │ │ │ │ ├── path_matrix.cpp │ │ │ │ ├── path_matrix.h │ │ │ │ ├── path_matrix_astar_search.cpp │ │ │ │ ├── path_matrix_astar_search.h │ │ │ │ ├── path_matrix_clusterer_search.cpp │ │ │ │ ├── path_matrix_clusterer_search.h │ │ │ │ ├── path_matrix_cost_search.cpp │ │ │ │ ├── path_matrix_cost_search.h │ │ │ │ ├── path_matrix_dijkstra_search.cpp │ │ │ │ ├── path_matrix_dijkstra_search.h │ │ │ │ ├── path_matrix_distance_search.cpp │ │ │ │ ├── path_matrix_distance_search.h │ │ │ │ ├── path_matrix_search_base.h │ │ │ │ ├── platform.cpp │ │ │ │ ├── platform.h │ │ │ │ ├── pointer_traits.h │ │ │ │ ├── traverse_line.h │ │ │ │ ├── traverse_line_main.cpp │ │ │ │ └── vector_interface.h │ │ │ ├── srrg_geometry │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── ad.h │ │ │ │ ├── ad_quaternion.h │ │ │ │ ├── deprecated │ │ │ │ │ ├── point_types.cpp │ │ │ │ │ └── point_types.h │ │ │ │ ├── epipolar.cpp │ │ │ │ ├── epipolar.h │ │ │ │ ├── geometry2d.h │ │ │ │ ├── geometry3d.h │ │ │ │ ├── geometry_defs.h │ │ │ │ ├── kahan_adder.h │ │ │ │ ├── permutation_sampler.cpp │ │ │ │ ├── permutation_sampler.h │ │ │ │ └── similiarity.hpp │ │ │ ├── srrg_image │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── image.cpp │ │ │ │ ├── image.h │ │ │ │ ├── image.hpp │ │ │ │ ├── image_data.cpp │ │ │ │ └── image_data.h │ │ │ ├── srrg_matchable │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── descriptor_owner.h │ │ │ │ ├── instances.cpp │ │ │ │ ├── instances.h │ │ │ │ ├── matchable.h │ │ │ │ ├── matchable.hpp │ │ │ │ └── visual_matchable.h │ │ │ ├── srrg_messages │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── deprecated │ │ │ │ │ ├── joint_state_message.cpp │ │ │ │ │ ├── joint_state_message.h │ │ │ │ │ ├── static_transform.cpp │ │ │ │ │ ├── static_transform.h │ │ │ │ │ ├── static_transform_tree.cpp │ │ │ │ │ ├── static_transform_tree.h │ │ │ │ │ ├── static_transform_tree_message.cpp │ │ │ │ │ ├── static_transform_tree_message.h │ │ │ │ │ ├── transform_stamped_message.cpp │ │ │ │ │ └── transform_stamped_message.h │ │ │ │ ├── instances.cpp │ │ │ │ ├── instances.h │ │ │ │ ├── message_handlers │ │ │ │ │ ├── image_message_viewer.cpp │ │ │ │ │ ├── image_message_viewer.h │ │ │ │ │ ├── message_container_odom_accumulator_sink.cpp │ │ │ │ │ ├── message_container_odom_accumulator_sink.h │ │ │ │ │ ├── message_file_sink.cpp │ │ │ │ │ ├── message_file_sink.h │ │ │ │ │ ├── message_file_sink_base.cpp │ │ │ │ │ ├── message_file_sink_base.h │ │ │ │ │ ├── message_file_source.cpp │ │ │ │ │ ├── message_file_source.h │ │ │ │ │ ├── message_file_source_base.cpp │ │ │ │ │ ├── message_file_source_base.h │ │ │ │ │ ├── message_filter_base.cpp │ │ │ │ │ ├── message_filter_base.h │ │ │ │ │ ├── message_odom_subsampler_sink.cpp │ │ │ │ │ ├── message_odom_subsampler_sink.h │ │ │ │ │ ├── message_odom_subsampler_source.cpp │ │ │ │ │ ├── message_odom_subsampler_source.h │ │ │ │ │ ├── message_pack.cpp │ │ │ │ │ ├── message_pack.h │ │ │ │ │ ├── message_platform_listener_sink.cpp │ │ │ │ │ ├── message_platform_listener_sink.h │ │ │ │ │ ├── message_selector_sink.cpp │ │ │ │ │ ├── message_selector_sink.h │ │ │ │ │ ├── message_sink_base.cpp │ │ │ │ │ ├── message_sink_base.h │ │ │ │ │ ├── message_sorted_sink.cpp │ │ │ │ │ ├── message_sorted_sink.h │ │ │ │ │ ├── message_sorted_source.cpp │ │ │ │ │ ├── message_sorted_source.h │ │ │ │ │ ├── message_source_base.cpp │ │ │ │ │ ├── message_source_base.h │ │ │ │ │ ├── message_source_platform.cpp │ │ │ │ │ ├── message_source_platform.h │ │ │ │ │ ├── message_synchronized_sink.cpp │ │ │ │ │ ├── message_synchronized_sink.h │ │ │ │ │ ├── message_synchronized_source.cpp │ │ │ │ │ └── message_synchronized_source.h │ │ │ │ └── messages │ │ │ │ │ ├── base_sensor_message.cpp │ │ │ │ │ ├── base_sensor_message.h │ │ │ │ │ ├── camera_info_message.cpp │ │ │ │ │ ├── camera_info_message.h │ │ │ │ │ ├── cmd_vel_message.cpp │ │ │ │ │ ├── cmd_vel_message.h │ │ │ │ │ ├── grid_map_message.cpp │ │ │ │ │ ├── grid_map_message.h │ │ │ │ │ ├── image_message.cpp │ │ │ │ │ ├── image_message.h │ │ │ │ │ ├── imu_message.cpp │ │ │ │ │ ├── imu_message.h │ │ │ │ │ ├── joints_message.cpp │ │ │ │ │ ├── joints_message.h │ │ │ │ │ ├── laser_message.cpp │ │ │ │ │ ├── laser_message.h │ │ │ │ │ ├── navsat_fix_message.cpp │ │ │ │ │ ├── navsat_fix_message.h │ │ │ │ │ ├── odometry_message.cpp │ │ │ │ │ ├── odometry_message.h │ │ │ │ │ ├── path_message.cpp │ │ │ │ │ ├── path_message.h │ │ │ │ │ ├── planner_status_message.cpp │ │ │ │ │ ├── planner_status_message.h │ │ │ │ │ ├── point_cloud2_message.cpp │ │ │ │ │ ├── point_cloud2_message.h │ │ │ │ │ ├── point_field.cpp │ │ │ │ │ ├── point_field.h │ │ │ │ │ ├── point_stamped_message.cpp │ │ │ │ │ ├── point_stamped_message.h │ │ │ │ │ ├── pose_array_message.cpp │ │ │ │ │ ├── pose_array_message.h │ │ │ │ │ ├── pose_message.cpp │ │ │ │ │ ├── pose_message.h │ │ │ │ │ ├── pose_stamped_message.cpp │ │ │ │ │ ├── pose_stamped_message.h │ │ │ │ │ ├── pose_with_covariance_stamped_message.cpp │ │ │ │ │ ├── pose_with_covariance_stamped_message.h │ │ │ │ │ ├── range_message.cpp │ │ │ │ │ ├── range_message.h │ │ │ │ │ ├── ticks_message.cpp │ │ │ │ │ ├── ticks_message.h │ │ │ │ │ ├── transform_events_message.cpp │ │ │ │ │ ├── transform_events_message.h │ │ │ │ │ ├── twist_stamped_message.cpp │ │ │ │ │ └── twist_stamped_message.h │ │ │ ├── srrg_pcl │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── camera_matrix_owner.h │ │ │ │ ├── instances.cpp │ │ │ │ ├── instances.h │ │ │ │ ├── lidar_3d_utils │ │ │ │ │ ├── lidar_3d_lookup_projector.h │ │ │ │ │ ├── lidar_3d_lookup_projector.hpp │ │ │ │ │ ├── lidar_3d_sensor.h │ │ │ │ │ ├── lidar_3d_utils.h │ │ │ │ │ ├── spacing.cpp │ │ │ │ │ └── spacing.h │ │ │ │ ├── normal_computator.h │ │ │ │ ├── normal_computator.hpp │ │ │ │ ├── point.h │ │ │ │ ├── point_base.h │ │ │ │ ├── point_cloud.h │ │ │ │ ├── point_color.h │ │ │ │ ├── point_default_field.h │ │ │ │ ├── point_defs.h │ │ │ │ ├── point_derived.h │ │ │ │ ├── point_descriptor_field.cpp │ │ │ │ ├── point_descriptor_field.h │ │ │ │ ├── point_example.h │ │ │ │ ├── point_fields.h │ │ │ │ ├── point_id.h │ │ │ │ ├── point_intensity.h │ │ │ │ ├── point_intensity_descriptor.h │ │ │ │ ├── point_matrix_processor.h │ │ │ │ ├── point_matrix_processor.hpp │ │ │ │ ├── point_normal.h │ │ │ │ ├── point_normal_color.h │ │ │ │ ├── point_normal_curvature.h │ │ │ │ ├── point_normal_curvature_color.h │ │ │ │ ├── point_normal_intensity.h │ │ │ │ ├── point_ops.h │ │ │ │ ├── point_projector.h │ │ │ │ ├── point_projector_lidar3d.h │ │ │ │ ├── point_projector_lidar3d.hpp │ │ │ │ ├── point_projector_lidar3d_types.h │ │ │ │ ├── point_projector_pinhole.h │ │ │ │ ├── point_projector_polar.h │ │ │ │ ├── point_projector_types.h │ │ │ │ ├── point_scalar_field.h │ │ │ │ ├── point_statistics_field.h │ │ │ │ ├── point_types.h │ │ │ │ ├── point_types_data.h │ │ │ │ ├── point_unprojector.h │ │ │ │ ├── point_unprojector_lidar3d.h │ │ │ │ ├── point_unprojector_lidar3d.hpp │ │ │ │ ├── point_unprojector_lidar3d_types.h │ │ │ │ ├── point_unprojector_types.h │ │ │ │ ├── point_utils.h │ │ │ │ └── point_vector_field.h │ │ │ ├── srrg_property │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── property.cpp │ │ │ │ ├── property.h │ │ │ │ ├── property_container.cpp │ │ │ │ ├── property_container.h │ │ │ │ ├── property_container_manager.cpp │ │ │ │ ├── property_container_manager.h │ │ │ │ ├── property_eigen.cpp │ │ │ │ ├── property_eigen.h │ │ │ │ ├── property_identifiable.cpp │ │ │ │ ├── property_identifiable.h │ │ │ │ ├── property_macros.h │ │ │ │ ├── property_pair.h │ │ │ │ ├── property_serializable.h │ │ │ │ ├── property_vector.h │ │ │ │ └── vector_data.h │ │ │ ├── srrg_system_utils │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── char_array.h │ │ │ │ ├── chrono.cpp │ │ │ │ ├── chrono.h │ │ │ │ ├── env.cpp │ │ │ │ ├── env.h │ │ │ │ ├── parse_command_line.cpp │ │ │ │ ├── parse_command_line.h │ │ │ │ ├── profiler.cpp │ │ │ │ ├── profiler.h │ │ │ │ ├── shell_colors.h │ │ │ │ ├── stream_helpers.h │ │ │ │ ├── stream_helpers_hex.h │ │ │ │ ├── system_utils.cpp │ │ │ │ ├── system_utils.h │ │ │ │ └── timestamp_filter.h │ │ │ ├── srrg_test │ │ │ │ ├── synthetic_world.hpp │ │ │ │ └── test_helper.hpp │ │ │ └── srrg_viewer │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── active_drawable.cpp │ │ │ │ ├── active_drawable.h │ │ │ │ ├── drawable_base.cpp │ │ │ │ ├── drawable_base.h │ │ │ │ ├── viewer_canvas.cpp │ │ │ │ ├── viewer_canvas.h │ │ │ │ ├── viewer_context_base.cpp │ │ │ │ ├── viewer_context_base.h │ │ │ │ ├── viewer_context_shared.cpp │ │ │ │ ├── viewer_context_shared.h │ │ │ │ ├── viewer_core │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── buffer_deque.h │ │ │ │ ├── buffer_manager.cpp │ │ │ │ ├── buffer_manager.h │ │ │ │ ├── buffer_memory.cpp │ │ │ │ ├── buffer_memory.h │ │ │ │ ├── buffer_sink.h │ │ │ │ ├── buffer_sink_shared.cpp │ │ │ │ ├── buffer_sink_shared.h │ │ │ │ ├── buffer_source.h │ │ │ │ ├── buffer_source_shared.cpp │ │ │ │ ├── buffer_source_shared.h │ │ │ │ ├── color_palette.h │ │ │ │ ├── packet_deserializer.cpp │ │ │ │ ├── packet_deserializer.h │ │ │ │ ├── packet_factory.h │ │ │ │ ├── packet_processor.h │ │ │ │ ├── packet_serializer.cpp │ │ │ │ ├── packet_serializer.h │ │ │ │ ├── packets.h │ │ │ │ ├── packets │ │ │ │ │ ├── packet_array.h │ │ │ │ │ ├── packet_base.h │ │ │ │ │ ├── packet_cv_mat.h │ │ │ │ │ ├── packet_eigen_object.h │ │ │ │ │ ├── packet_gl_list.h │ │ │ │ │ ├── packet_matchable_vector_cloud.h │ │ │ │ │ ├── packet_point_matrix_cloud.h │ │ │ │ │ ├── packet_point_vector_cloud.h │ │ │ │ │ ├── packet_scalar.h │ │ │ │ │ ├── packet_stl_vector.h │ │ │ │ │ ├── packet_string.h │ │ │ │ │ └── readme.md │ │ │ │ ├── semaphore.cpp │ │ │ │ ├── semaphore.h │ │ │ │ ├── viewport.cpp │ │ │ │ └── viewport.h │ │ │ │ ├── viewer_core_base.cpp │ │ │ │ ├── viewer_core_base.h │ │ │ │ ├── viewer_manager_base.cpp │ │ │ │ ├── viewer_manager_base.h │ │ │ │ ├── viewer_manager_shared.cpp │ │ │ │ └── viewer_manager_shared.h │ │ └── tests │ │ │ ├── CMakeLists.txt │ │ │ ├── test_abstract_map.cpp │ │ │ ├── test_epipolar.cpp │ │ │ ├── test_geometry.cpp │ │ │ ├── test_image_data.cpp │ │ │ ├── test_kd_tree.cpp │ │ │ ├── test_matchables.cpp │ │ │ ├── test_matrix_bilinear_interpolation.cpp │ │ │ ├── test_message_sources.cpp │ │ │ ├── test_messages.cpp │ │ │ ├── test_point_intensity_descriptor.cpp │ │ │ ├── test_point_statistics_field.cpp │ │ │ ├── test_points.cpp │ │ │ ├── test_profiler.cpp │ │ │ ├── test_projector.cpp │ │ │ ├── test_similiarity.cpp │ │ │ ├── test_streaming_configurable.cpp │ │ │ ├── test_unprojector.cpp │ │ │ └── test_viewer_packets.cpp │ └── srrg2_core_ros │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── msg │ │ ├── PlannerStatusMessage.msg │ │ └── ViewerBufferMessage.msg │ │ ├── package.xml │ │ └── src │ │ ├── CMakeLists.txt │ │ ├── app │ │ ├── CMakeLists.txt │ │ ├── extract_gt_from_ros.cpp │ │ ├── rosbag_to_srrg_converter_app.cpp │ │ └── srrg_to_rosbag_converter_app.cpp │ │ ├── node │ │ ├── CMakeLists.txt │ │ ├── ros_to_srrg_listener_node.cpp │ │ └── srrg_to_ros_publisher_node.cpp │ │ ├── srrg_benchmark_ros │ │ └── slam_benchmark_suite_simul.hpp │ │ ├── srrg_converters │ │ ├── CMakeLists.txt │ │ ├── converter.cpp │ │ ├── converter.h │ │ └── translator_utils.h │ │ ├── srrg_messages_ros │ │ ├── CMakeLists.txt │ │ ├── instances.cpp │ │ ├── instances.h │ │ └── message_handlers │ │ │ ├── message_ros_sink.cpp │ │ │ ├── message_ros_sink.h │ │ │ ├── message_ros_source.cpp │ │ │ ├── message_ros_source.h │ │ │ ├── message_rosbag_sink.cpp │ │ │ ├── message_rosbag_sink.h │ │ │ ├── message_rosbag_source.cpp │ │ │ └── message_rosbag_source.h │ │ ├── srrg_viewer_ros │ │ ├── CMakeLists.txt │ │ ├── viewer_context_ros.cpp │ │ ├── viewer_context_ros.h │ │ ├── viewer_core_ros │ │ │ ├── CMakeLists.txt │ │ │ ├── buffer_publisher.cpp │ │ │ ├── buffer_publisher.h │ │ │ ├── buffer_sink_ros.cpp │ │ │ ├── buffer_sink_ros.h │ │ │ ├── buffer_source_ros.cpp │ │ │ ├── buffer_source_ros.h │ │ │ ├── buffer_subscriber.cpp │ │ │ └── buffer_subscriber.h │ │ ├── viewer_manager_ros.cpp │ │ └── viewer_manager_ros.h │ │ └── tests │ │ ├── CMakeLists.txt │ │ ├── test_bag_creator.cpp │ │ ├── test_buffer_message.cpp │ │ ├── test_buffer_sink_ros.cpp │ │ ├── test_buffer_source_ros.cpp │ │ ├── test_conversion_in_place.cpp │ │ ├── test_generic_listener_node.cpp │ │ ├── test_get_all_topics.cpp │ │ ├── test_message_source_platform.cpp │ │ ├── test_message_source_ros.cpp │ │ ├── test_rviz.cpp │ │ ├── test_tf_from_source.cpp │ │ ├── test_tf_listener_node.cpp │ │ ├── test_tf_listener_playback.cpp │ │ └── test_tf_publisher_node.cpp ├── srrg2_executor │ ├── LICENSE │ ├── configs │ │ ├── dl.conf │ │ └── mc.conf │ ├── readme.md │ ├── results │ │ └── tum │ │ │ └── ate.txt │ ├── srrg2_executor │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ └── src │ │ │ └── apps │ │ │ ├── auto_dl_finder.cpp │ │ │ └── srrg2_shell.cpp │ └── srrg2_executor_nogui │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ └── src │ │ └── apps │ │ └── srrg2_shell.cpp ├── srrg2_qgl_viewport │ ├── .clang-format │ ├── .gitignore │ ├── .gitlab-ci-disabled.yml │ ├── LICENSE │ ├── srrg2_qgl_viewport │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── package.xml │ │ └── src │ │ │ ├── CMakeLists.txt │ │ │ ├── srrg_qgl_viewport │ │ │ ├── CMakeLists.txt │ │ │ ├── gl_helpers.cpp │ │ │ ├── gl_helpers.h │ │ │ ├── qgl_packet_processor.cpp │ │ │ ├── qgl_packet_processor.h │ │ │ ├── qgl_viewport.cpp │ │ │ ├── qgl_viewport.h │ │ │ ├── viewer_core_base_qgl.cpp │ │ │ ├── viewer_core_base_qgl.h │ │ │ ├── viewer_core_shared_qgl.cpp │ │ │ └── viewer_core_shared_qgl.h │ │ │ └── tests │ │ │ ├── CMakeLists.txt │ │ │ ├── qt_image_viewport.cpp │ │ │ ├── qt_image_viewport.h │ │ │ ├── test_cv_gl_interaction.cpp │ │ │ ├── test_image_rendering.cpp │ │ │ ├── test_multicanvas.cpp │ │ │ ├── test_opencv_shared.cpp │ │ │ ├── test_viewer_core_multicanvas.cpp │ │ │ ├── test_viewer_manager_shared.cpp │ │ │ └── test_viewport.cpp │ └── srrg2_qgl_viewport_ros │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── package.xml │ │ └── src │ │ ├── CMakeLists.txt │ │ ├── app │ │ ├── CMakeLists.txt │ │ └── srrg_viewer_ros_client.cpp │ │ ├── srrg_qgl_viewport_ros │ │ ├── CMakeLists.txt │ │ ├── viewer_core_ros_qgl.cpp │ │ └── viewer_core_ros_qgl.h │ │ └── tests │ │ ├── CMakeLists.txt │ │ ├── test_viewer_core_client.cpp │ │ ├── test_viewer_core_server.cpp │ │ ├── test_viewer_core_server_multicanvas.cpp │ │ ├── test_viewer_manager_client.cpp │ │ └── test_viewer_manager_server.cpp ├── srrg2_solver │ ├── .clang-format │ ├── .gitignore │ ├── .gitlab-ci-disabled.yml │ ├── LICENSE │ ├── docker │ │ ├── Dockerfile │ │ ├── build.sh │ │ └── dl.conf │ ├── readme.md │ └── srrg2_solver │ │ ├── CMakeLists.txt │ │ ├── app │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── converter │ │ │ ├── CMakeLists.txt │ │ │ ├── g2o_converter.cpp │ │ │ ├── g2o_converter.h │ │ │ ├── g2o_converter_action_base.h │ │ │ ├── g2o_converter_action_se2.cpp │ │ │ ├── g2o_converter_action_se2.h │ │ │ ├── g2o_converter_action_se3.cpp │ │ │ ├── g2o_converter_action_se3.h │ │ │ ├── g2o_converter_actions.h │ │ │ └── solver_app_graph_converter.cpp │ │ ├── graph_manipulators │ │ │ ├── CMakeLists.txt │ │ │ ├── factor_noise_adder.h │ │ │ ├── solver_app_graph_evaluator.cpp │ │ │ ├── solver_app_graph_gt_generator.cpp │ │ │ ├── solver_app_graph_incremental_reader.cpp │ │ │ ├── solver_app_graph_initializer.cpp │ │ │ ├── solver_app_graph_sorter.cpp │ │ │ ├── solver_app_info_overwrite.cpp │ │ │ └── solver_app_noise_adder.cpp │ │ ├── optimizer │ │ │ ├── CMakeLists.txt │ │ │ ├── solver_app_graph_optimizer.cpp │ │ │ └── solver_app_incremental_optimizer.cpp │ │ ├── plgo_simulator │ │ │ ├── CMakeLists.txt │ │ │ ├── graph_generator.cpp │ │ │ ├── graph_generator.h │ │ │ ├── plgo_simulator.cpp │ │ │ ├── plgo_simulator.h │ │ │ ├── sim_record.cpp │ │ │ ├── sim_record.h │ │ │ ├── solver_app_plgo_simulator.cpp │ │ │ ├── trajectory_generator.cpp │ │ │ └── trajectory_generator.h │ │ ├── plgo_simulator2 │ │ │ ├── CMakeLists.txt │ │ │ ├── instances.cpp │ │ │ ├── instances.h │ │ │ ├── sim.conf │ │ │ ├── sim_robot.cpp │ │ │ ├── sim_robot.h │ │ │ ├── sim_sensor_3d_points_base.cpp │ │ │ ├── sim_sensor_3d_points_base.h │ │ │ ├── sim_sensor_3d_points_fov_limited.cpp │ │ │ ├── sim_sensor_3d_points_fov_limited.h │ │ │ ├── sim_sensor_3d_poses.cpp │ │ │ ├── sim_sensor_3d_poses.h │ │ │ ├── sim_sensor_base.h │ │ │ ├── sim_sensor_mode_3d_landmarks.cpp │ │ │ ├── sim_sensor_mode_3d_landmarks.h │ │ │ ├── sim_sensor_mode_3d_poses.cpp │ │ │ ├── sim_sensor_mode_3d_poses.h │ │ │ ├── sim_sensor_mode_base.cpp │ │ │ ├── sim_sensor_mode_base.h │ │ │ ├── sim_sensor_omnicam.cpp │ │ │ ├── sim_sensor_omnicam.h │ │ │ ├── sim_sensor_pinhole_camera.cpp │ │ │ ├── sim_sensor_pinhole_camera.h │ │ │ ├── sim_sensor_rectified_stereo.cpp │ │ │ ├── sim_sensor_rectified_stereo.h │ │ │ ├── sim_sensors.h │ │ │ ├── solver_app_plgo_simulator.cpp │ │ │ ├── trajectory_generator.cpp │ │ │ └── trajectory_generator.h │ │ └── sfm │ │ │ ├── CMakeLists.txt │ │ │ ├── essential2orientations.cpp │ │ │ ├── essential2orientations_constrained.cpp │ │ │ ├── essential2translations.cpp │ │ │ ├── essential_translation_factor.cpp │ │ │ ├── essential_translation_factor.h │ │ │ ├── off_line_monocular_sfm_test.cpp │ │ │ ├── ovt.conf │ │ │ ├── plgo2sfm.cpp │ │ │ ├── script.sh │ │ │ ├── se3_epipolar_ba_factor_test.cpp │ │ │ ├── sfm2ba.cpp │ │ │ ├── sfm2eba.cpp │ │ │ ├── sfm2essential.cpp │ │ │ ├── sfm_common.cpp │ │ │ └── sfm_common.h │ │ ├── doc │ │ └── Doxygen │ │ ├── examples │ │ ├── .gitlab-ci.yml │ │ ├── CMakeLists.txt │ │ ├── data │ │ │ ├── KittiGps.txt │ │ │ ├── KittiImuBiased.txt │ │ │ ├── KittiImuBiasedMetadata.txt │ │ │ ├── matchable_graph.boss │ │ │ ├── odometry_imu_data1.txt │ │ │ ├── odometry_imu_data2.txt │ │ │ ├── pose_graph_100.boss │ │ │ ├── pose_graph_100.g2o │ │ │ └── pose_matchable_graph.g2o │ │ ├── example_constrained_estimation.cpp │ │ ├── example_factor_graph_visit.cpp │ │ ├── example_kitti_imu_gps.cpp │ │ ├── example_se2_bearing_only_slam.cpp │ │ ├── example_se2_icp.cpp │ │ ├── example_se3_pgo.cpp │ │ └── example_sparse_solver_block_inverse.cpp │ │ ├── package.xml │ │ ├── slides │ │ └── 2018_srrg_solver.odp │ │ ├── src │ │ ├── CMakeLists.txt │ │ └── srrg_solver │ │ │ ├── CMakeLists.txt │ │ │ ├── README.txt │ │ │ ├── solver_core │ │ │ ├── CMakeLists.txt │ │ │ ├── ad_constraint_factor.h │ │ │ ├── ad_constraint_factor_impl.cpp │ │ │ ├── ad_error_factor.h │ │ │ ├── ad_error_factor_impl.cpp │ │ │ ├── ad_variable.h │ │ │ ├── constraint_factor.h │ │ │ ├── constraint_factor_impl.cpp │ │ │ ├── error_factor.h │ │ │ ├── error_factor_impl.cpp │ │ │ ├── factor.h │ │ │ ├── factor_base.cpp │ │ │ ├── factor_base.h │ │ │ ├── factor_correspondence_driven.h │ │ │ ├── factor_correspondence_driven_dynamic.h │ │ │ ├── factor_graph.cpp │ │ │ ├── factor_graph.h │ │ │ ├── factor_graph_interface.cpp │ │ │ ├── factor_graph_interface.h │ │ │ ├── factor_graph_view.cpp │ │ │ ├── factor_graph_view.h │ │ │ ├── factor_impl.cpp │ │ │ ├── factor_updaters.h │ │ │ ├── instance_macros.h │ │ │ ├── instances.cpp │ │ │ ├── instances.h │ │ │ ├── internals │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── linear_solvers │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── instances.cpp │ │ │ │ │ ├── instances.h │ │ │ │ │ ├── quotient_graph.cpp │ │ │ │ │ ├── quotient_graph.h │ │ │ │ │ ├── sparse_block_linear_solver.cpp │ │ │ │ │ ├── sparse_block_linear_solver.h │ │ │ │ │ ├── sparse_block_linear_solver_cholesky.cpp │ │ │ │ │ ├── sparse_block_linear_solver_cholesky.h │ │ │ │ │ ├── sparse_block_linear_solver_cholesky_cholmod.cpp │ │ │ │ │ ├── sparse_block_linear_solver_cholesky_cholmod.h │ │ │ │ │ ├── sparse_block_linear_solver_cholesky_csparse.cpp │ │ │ │ │ ├── sparse_block_linear_solver_cholesky_csparse.h │ │ │ │ │ ├── sparse_block_linear_solver_cholesky_diagonal.cpp │ │ │ │ │ ├── sparse_block_linear_solver_cholesky_diagonal.h │ │ │ │ │ ├── sparse_block_linear_solver_cholesky_emd.cpp │ │ │ │ │ ├── sparse_block_linear_solver_cholesky_emd.h │ │ │ │ │ ├── sparse_block_linear_solver_cholmod_full.cpp │ │ │ │ │ ├── sparse_block_linear_solver_cholmod_full.h │ │ │ │ │ ├── sparse_block_linear_solver_ldl.cpp │ │ │ │ │ ├── sparse_block_linear_solver_ldl.h │ │ │ │ │ ├── sparse_block_linear_solver_nullspace.cpp │ │ │ │ │ └── sparse_block_linear_solver_nullspace.h │ │ │ │ └── sparse_block_matrix │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── c_matrix_ops.hpp │ │ │ │ │ ├── matrix_block.cpp │ │ │ │ │ ├── matrix_block.h │ │ │ │ │ ├── matrix_block_factory.cpp │ │ │ │ │ ├── matrix_block_factory.h │ │ │ │ │ ├── sparse_block_cholesky.cpp │ │ │ │ │ ├── sparse_block_cholesky.h │ │ │ │ │ ├── sparse_block_matrix.cpp │ │ │ │ │ └── sparse_block_matrix.h │ │ │ ├── iteration_algorithm_base.cpp │ │ │ ├── iteration_algorithm_base.h │ │ │ ├── iteration_algorithm_ddl.cpp │ │ │ ├── iteration_algorithm_ddl.h │ │ │ ├── iteration_algorithm_dl.cpp │ │ │ ├── iteration_algorithm_dl.h │ │ │ ├── iteration_algorithm_gn.cpp │ │ │ ├── iteration_algorithm_gn.h │ │ │ ├── iteration_algorithm_gn_ls.cpp │ │ │ ├── iteration_algorithm_gn_ls.h │ │ │ ├── iteration_algorithm_gn_pd.cpp │ │ │ ├── iteration_algorithm_gn_pd.h │ │ │ ├── iteration_algorithm_lm.cpp │ │ │ ├── iteration_algorithm_lm.h │ │ │ ├── measurement_owner.h │ │ │ ├── measurement_owner_impl.cpp │ │ │ ├── robustifier.cpp │ │ │ ├── robustifier.h │ │ │ ├── robustifier_policy.cpp │ │ │ ├── robustifier_policy.h │ │ │ ├── solver.cpp │ │ │ ├── solver.h │ │ │ ├── solver.hpp │ │ │ ├── solver_action_base.cpp │ │ │ ├── solver_action_base.h │ │ │ ├── solver_action_draw.cpp │ │ │ ├── solver_action_draw.h │ │ │ ├── solver_stats.cpp │ │ │ ├── solver_stats.h │ │ │ ├── solvers_all_impl.cpp │ │ │ ├── termination_criteria.cpp │ │ │ ├── termination_criteria.h │ │ │ ├── unscented.h │ │ │ ├── unscented_approx.h │ │ │ ├── variable.h │ │ │ ├── variable_impl.cpp │ │ │ └── variable_ptr_tuple.h │ │ │ ├── solver_incremental │ │ │ ├── CMakeLists.txt │ │ │ ├── factor_graph_incremental_sorter.cpp │ │ │ ├── factor_graph_incremental_sorter.h │ │ │ ├── instances.cpp │ │ │ ├── instances.h │ │ │ ├── solver_incremental.cpp │ │ │ ├── solver_incremental.h │ │ │ ├── solver_incremental_base.cpp │ │ │ ├── solver_incremental_base.h │ │ │ ├── solver_incremental_runner.cpp │ │ │ ├── solver_incremental_runner.h │ │ │ ├── solver_incremental_running_environment.cpp │ │ │ └── solver_incremental_running_environment.h │ │ │ ├── utils │ │ │ ├── CMakeLists.txt │ │ │ ├── factor_graph_closure_validator.cpp │ │ │ ├── factor_graph_closure_validator.h │ │ │ ├── factor_graph_initializer.cpp │ │ │ ├── factor_graph_initializer.h │ │ │ ├── factor_graph_initializer_rule.cpp │ │ │ ├── factor_graph_initializer_rule.h │ │ │ ├── factor_graph_visit.cpp │ │ │ ├── factor_graph_visit.h │ │ │ ├── factor_graph_visit_cost.cpp │ │ │ ├── factor_graph_visit_cost.h │ │ │ ├── factor_graph_visit_entry.cpp │ │ │ ├── factor_graph_visit_entry.h │ │ │ ├── factor_graph_visit_policy.cpp │ │ │ ├── factor_graph_visit_policy.h │ │ │ ├── instances.cpp │ │ │ ├── instances.h │ │ │ ├── solver_evaluator.cpp │ │ │ ├── solver_evaluator.h │ │ │ └── solver_evaluator_impl.cpp │ │ │ └── variables_and_factors │ │ │ ├── CMakeLists.txt │ │ │ ├── types_2d │ │ │ ├── CMakeLists.txt │ │ │ ├── all_types.h │ │ │ ├── instances.cpp │ │ │ ├── instances.h │ │ │ ├── se2_circumference_constraint_factor.cpp │ │ │ ├── se2_circumference_constraint_factor.h │ │ │ ├── se2_plane2plane_error_factor.cpp │ │ │ ├── se2_plane2plane_error_factor.h │ │ │ ├── se2_point2point_error_factor.cpp │ │ │ ├── se2_point2point_error_factor.h │ │ │ ├── se2_pose_point_bearing_error_factor.cpp │ │ │ ├── se2_pose_point_bearing_error_factor.h │ │ │ ├── se2_pose_point_error_factor.cpp │ │ │ ├── se2_pose_point_error_factor.h │ │ │ ├── se2_pose_point_range_constraint_factor.cpp │ │ │ ├── se2_pose_point_range_constraint_factor.h │ │ │ ├── se2_pose_pose_chordal_error_factor.cpp │ │ │ ├── se2_pose_pose_chordal_error_factor.h │ │ │ ├── se2_pose_pose_geodesic_error_factor.cpp │ │ │ ├── se2_pose_pose_geodesic_error_factor.h │ │ │ ├── se2_prior_error_factor.cpp │ │ │ ├── se2_prior_error_factor.h │ │ │ ├── variable_point2.h │ │ │ ├── variable_point2_ad.h │ │ │ ├── variable_se2.cpp │ │ │ ├── variable_se2.h │ │ │ ├── variable_se2_ad.cpp │ │ │ ├── variable_se2_ad.h │ │ │ ├── variable_so2.cpp │ │ │ ├── variable_so2.h │ │ │ ├── variable_so2_ad.cpp │ │ │ └── variable_so2_ad.h │ │ │ ├── types_3d │ │ │ ├── CMakeLists.txt │ │ │ ├── all_types.h │ │ │ ├── gps_factor_ad.cpp │ │ │ ├── gps_factor_ad.h │ │ │ ├── imu_bias_variable.cpp │ │ │ ├── imu_bias_variable.h │ │ │ ├── imu_factor_ad.cpp │ │ │ ├── imu_factor_ad.h │ │ │ ├── instances.cpp │ │ │ ├── instances.h │ │ │ ├── preintegrated_imu_measurements.cpp │ │ │ ├── preintegrated_imu_measurements.h │ │ │ ├── se3_matchable2matchable_error_factor.cpp │ │ │ ├── se3_matchable2matchable_error_factor.h │ │ │ ├── se3_plane2plane_error_factor.cpp │ │ │ ├── se3_plane2plane_error_factor.h │ │ │ ├── se3_point2point_error_factor.cpp │ │ │ ├── se3_point2point_error_factor.h │ │ │ ├── se3_pose_matchable_error_factor.cpp │ │ │ ├── se3_pose_matchable_error_factor.h │ │ │ ├── se3_pose_motion_error_factor_ad.cpp │ │ │ ├── se3_pose_motion_error_factor_ad.h │ │ │ ├── se3_pose_point_error_factor.cpp │ │ │ ├── se3_pose_point_error_factor.h │ │ │ ├── se3_pose_point_offset_error_factor.cpp │ │ │ ├── se3_pose_point_offset_error_factor.h │ │ │ ├── se3_pose_pose_chordal_error_factor.cpp │ │ │ ├── se3_pose_pose_chordal_error_factor.h │ │ │ ├── se3_pose_pose_chordal_hessian_factor.cpp │ │ │ ├── se3_pose_pose_chordal_hessian_factor.h │ │ │ ├── se3_pose_pose_error_factor_base.cpp │ │ │ ├── se3_pose_pose_error_factor_base.h │ │ │ ├── se3_pose_pose_geodesic_derivatives_helpers.h │ │ │ ├── se3_pose_pose_geodesic_derivatives_helpers.hpp │ │ │ ├── se3_pose_pose_geodesic_error_factor.cpp │ │ │ ├── se3_pose_pose_geodesic_error_factor.h │ │ │ ├── se3_pose_pose_right_chordal_error_factor.cpp │ │ │ ├── se3_pose_pose_right_chordal_error_factor.h │ │ │ ├── se3_prior_error_factor_ad.cpp │ │ │ ├── se3_prior_error_factor_ad.h │ │ │ ├── se3_prior_offset_error_factor_ad.cpp │ │ │ ├── se3_prior_offset_error_factor_ad.h │ │ │ ├── variable_matchable.cpp │ │ │ ├── variable_matchable.h │ │ │ ├── variable_point3.h │ │ │ ├── variable_point3_ad.h │ │ │ ├── variable_se3.cpp │ │ │ ├── variable_se3.h │ │ │ ├── variable_se3_ad.cpp │ │ │ └── variable_se3_ad.h │ │ │ ├── types_calib │ │ │ ├── CMakeLists.txt │ │ │ ├── all_types. │ │ │ ├── all_types.h │ │ │ ├── differential_drive_odom_error_factor_ad.cpp │ │ │ ├── differential_drive_odom_error_factor_ad.h │ │ │ ├── differential_drive_odom_predictor_ad.cpp │ │ │ ├── differential_drive_odom_predictor_ad.h │ │ │ ├── differential_drive_odom_sensor2d_error_factor_ad.cpp │ │ │ ├── differential_drive_odom_sensor2d_error_factor_ad.h │ │ │ ├── differential_drive_odom_sensor3d_error_factor_ad.cpp │ │ │ ├── differential_drive_odom_sensor3d_error_factor_ad.h │ │ │ ├── differential_drive_odom_time_delay_sensor2d_error_factor_ad.cpp │ │ │ ├── differential_drive_odom_time_delay_sensor2d_error_factor_ad.h │ │ │ ├── example_tricycle.cpp │ │ │ ├── instances.cpp │ │ │ ├── instances.h │ │ │ ├── sensor2d_extrinsic_pose_motion_calib_ad.cpp │ │ │ ├── sensor2d_extrinsic_pose_motion_calib_ad.h │ │ │ ├── sensor3d_extrinsic_pose_motion_calib_ad.cpp │ │ │ ├── sensor3d_extrinsic_pose_motion_calib_ad.h │ │ │ ├── sensor3d_pose_time_delay_error_factor_ad.cpp │ │ │ ├── sensor3d_pose_time_delay_error_factor_ad.h │ │ │ ├── variable_time.cpp │ │ │ ├── variable_time.h │ │ │ ├── variable_time_ad.cpp │ │ │ └── variable_time_ad.h │ │ │ ├── types_common │ │ │ ├── CMakeLists.txt │ │ │ ├── all_types.h │ │ │ ├── instances.cpp │ │ │ ├── instances.h │ │ │ ├── variable_matrix.h │ │ │ ├── variable_matrix_ad.h │ │ │ ├── variable_matrix_ad_impl.cpp │ │ │ ├── variable_matrix_impl.cpp │ │ │ ├── variable_vector.h │ │ │ ├── variable_vector_ad.h │ │ │ ├── variable_vector_ad_impl.cpp │ │ │ └── variable_vector_impl.cpp │ │ │ ├── types_projective │ │ │ ├── CMakeLists.txt │ │ │ ├── all_types.h │ │ │ ├── instances.cpp │ │ │ ├── instances.h │ │ │ ├── se3_pose_point_ba_error_factor.h │ │ │ ├── se3_pose_point_omni_ba_error_factor.cpp │ │ │ ├── se3_pose_point_omni_ba_error_factor.h │ │ │ ├── se3_pose_point_pinhole_ba_error_factor.cpp │ │ │ ├── se3_pose_point_pinhole_ba_error_factor.h │ │ │ ├── se3_pose_point_rectified_stereo_error_factor.cpp │ │ │ ├── se3_pose_point_rectified_stereo_error_factor.h │ │ │ ├── se3_projective_depth_error_factor.cpp │ │ │ ├── se3_projective_depth_error_factor.h │ │ │ ├── se3_projective_error_factor.cpp │ │ │ ├── se3_projective_error_factor.h │ │ │ ├── se3_rectified_stereo_projective_error_factor.cpp │ │ │ ├── se3_rectified_stereo_projective_error_factor.h │ │ │ ├── sim3_point2point_error_factor.cpp │ │ │ ├── sim3_point2point_error_factor.h │ │ │ ├── sim3_pose_pose_error_factor_ad.cpp │ │ │ ├── sim3_pose_pose_error_factor_ad.h │ │ │ ├── variable_sim3.cpp │ │ │ ├── variable_sim3.h │ │ │ ├── variable_sim3_ad.cpp │ │ │ └── variable_sim3_ad.h │ │ │ └── types_sfm │ │ │ ├── CMakeLists.txt │ │ │ ├── all_types.h │ │ │ ├── essential_translation_factor.cpp │ │ │ ├── essential_translation_factor.h │ │ │ ├── instances.cpp │ │ │ ├── instances.h │ │ │ ├── se3_epipolar_ba_factor_base.h │ │ │ ├── se3_epipolar_ba_factor_jacobian_helpers.h │ │ │ ├── se3_epipolar_ba_left_factor.cpp │ │ │ ├── se3_epipolar_ba_left_factor.h │ │ │ ├── se3_epipolar_ba_left_factor_impl.cpp │ │ │ ├── se3_epipolar_ba_offset_left_factor.cpp │ │ │ ├── se3_epipolar_ba_offset_left_factor.h │ │ │ ├── se3_epipolar_ba_offset_left_factor_impl.cpp │ │ │ ├── se3_epipolar_ba_right_factor.cpp │ │ │ ├── se3_epipolar_ba_right_factor.h │ │ │ ├── se3_epipolar_ba_right_factor_impl.cpp │ │ │ ├── se3_pairwise_scale_error_factor_ad.cpp │ │ │ ├── se3_pairwise_scale_error_factor_ad.h │ │ │ ├── so3_pose_constraint_factor.cpp │ │ │ ├── so3_pose_constraint_factor.h │ │ │ ├── so3_pose_pose_error_factor.cpp │ │ │ ├── so3_pose_pose_error_factor.h │ │ │ ├── variable_se3_relaxed.h │ │ │ ├── variable_so3.cpp │ │ │ └── variable_so3.h │ │ └── tests │ │ ├── CMakeLists.txt │ │ ├── factor_graph_loop_validator_test.cpp │ │ ├── test_g2o_graph_converter.cpp │ │ ├── test_imu.cpp │ │ ├── test_linear_solver_block_inverse.cpp │ │ ├── test_se2_extrinsic_motion_calib.cpp │ │ ├── test_se2_icp.cpp │ │ ├── test_se2_multi_point_registration.cpp │ │ ├── test_se2_nicp.cpp │ │ ├── test_se2_pgo.cpp │ │ ├── test_se2_prior_factor.cpp │ │ ├── test_se3_extrinsic_motion_calib.cpp │ │ ├── test_se3_icp.cpp │ │ ├── test_se3_matchables.cpp │ │ ├── test_se3_motion_based_calib.cpp │ │ ├── test_se3_multi_point_registration.cpp │ │ ├── test_se3_nicp.cpp │ │ ├── test_se3_pgo.cpp │ │ ├── test_se3_posit.cpp │ │ ├── test_se3_prior_factor.cpp │ │ ├── test_sim3.cpp │ │ ├── test_sim3_icp.cpp │ │ ├── test_sim3_pgo.cpp │ │ └── test_sparse_block_linear_solver_cholmod_full.cpp └── srrg_cmake_modules │ ├── .gitignore │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── ci_scripts │ ├── append_gtest_library.sh │ ├── benchmark │ │ ├── find_dl.sh │ │ ├── pass_bench.py │ │ └── run_benchmark_app.sh │ ├── build.sh │ ├── ci_run │ │ ├── srrg2_packages.txt │ │ ├── start_all_pipelines.sh │ │ ├── start_pipeline.sh │ │ └── stop_all_pipelines.sh │ ├── download_and_extract_file.sh │ ├── drive_download_and_extract_file.sh │ ├── evaluation │ │ └── tum │ │ │ ├── associate.py │ │ │ ├── evaluate_ate.py │ │ │ ├── evaluate_rpe.py │ │ │ └── plot_trajectory_into_image.py │ ├── install_catkin_workspace.sh │ ├── pack_artifacts.sh │ ├── push_benchmark_results.sh │ ├── run_benchmark.sh │ ├── run_benchmarks.sh │ ├── run_executable.sh │ ├── run_unittests.sh │ ├── unpack_all_external_artifacts.sh │ ├── unpack_external_artifacts.sh │ └── unpack_internal_artifacts.sh │ ├── cmake_modules │ ├── CMakeCompileOptions.txt │ ├── FindCholmod.cmake │ ├── FindDBoW2.cmake │ ├── FindEigen3.cmake │ ├── FindFlann.cmake │ ├── FindFreenect.cmake │ ├── FindG2O.cmake │ ├── FindLibWEBSOCKETS.cmake │ ├── FindQGLViewer.cmake │ ├── FindReadline.cmake │ ├── FindSuiteSparse.cmake │ └── FindUmfpack.cmake │ └── package.xml └── surfel_cloud_rviz_plugin ├── CMakeLists.txt ├── README.md ├── package.xml ├── plugin_description.xml ├── shaders ├── depth_circle.frag ├── flat_color_circle.frag ├── glsl120.program ├── include │ ├── circle_impl.frag │ ├── pack_depth.frag │ └── pass_depth.vert ├── pass_color_circle.frag ├── pickcolor_circle.frag ├── point.vert └── point_cloud_surfel.material └── src ├── point_cloud.cpp ├── point_cloud.h ├── point_cloud_common.cpp ├── point_cloud_common.h ├── surfel_cloud_display.cpp └── surfel_cloud_display.h /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/mad-ba/HEAD/.gitignore -------------------------------------------------------------------------------- /Dockerfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rvp-group/mad-ba/HEAD/Dockerfile -------------------------------------------------------------------------------- /README.md: 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