├── .gitignore ├── CMakeLists.txt ├── Dependencies.md ├── Examples ├── Monocular │ ├── EuRoC.yaml │ ├── EuRoC_TimeStamps │ │ ├── MH01.txt │ │ ├── MH02.txt │ │ ├── MH03.txt │ │ ├── MH04.txt │ │ ├── MH05.txt │ │ ├── V101.txt │ │ ├── V102.txt │ │ ├── V103.txt │ │ ├── V201.txt │ │ ├── V202.txt │ │ └── V203.txt │ ├── KITTI00-02.yaml │ ├── KITTI03.yaml │ ├── KITTI04-12.yaml │ ├── TUM1.yaml │ ├── TUM2.yaml │ ├── TUM3.yaml │ ├── mono_euroc.cc │ ├── mono_kitti.cc │ └── mono_tum.cc ├── RGB-D │ ├── TUM1.yaml │ ├── TUM2.yaml │ ├── TUM3.yaml │ ├── associations │ │ ├── fr1_desk.txt │ │ ├── fr1_desk2.txt │ │ ├── fr1_room.txt │ │ ├── fr1_xyz.txt │ │ ├── fr2_desk.txt │ │ ├── fr2_xyz.txt │ │ ├── fr3_nstr_tex_near.txt │ │ ├── fr3_office.txt │ │ ├── fr3_str_tex_far.txt │ │ └── fr3_str_tex_near.txt │ └── rgbd_tum.cc ├── ROS │ └── ORB_SLAM2 │ │ ├── CMakeLists.txt │ │ ├── manifest.xml │ │ └── src │ │ ├── ros_mono.cc │ │ ├── ros_rgbd.cc │ │ └── ros_stereo.cc └── Stereo │ ├── EuRoC.yaml │ ├── KITTI00-02.yaml │ ├── KITTI03.yaml │ ├── KITTI04-12.yaml │ └── stereo_kitti.cc ├── LICENSE.txt ├── License-gpl.txt ├── README.md ├── Thirdparty ├── DBoW2 │ ├── CMakeLists.txt │ ├── DBoW2 │ │ ├── BowVector.cpp │ │ ├── BowVector.h │ │ ├── FClass.h │ │ ├── FORB.cpp │ │ ├── FORB.h │ │ ├── FeatureVector.cpp │ │ ├── FeatureVector.h │ │ ├── ScoringObject.cpp │ │ ├── ScoringObject.h │ │ └── TemplatedVocabulary.h │ ├── DUtils │ │ ├── Random.cpp │ │ ├── Random.h │ │ ├── Timestamp.cpp │ │ └── Timestamp.h │ ├── LICENSE.txt │ └── README.txt ├── EDLines │ ├── BoyAndGirl.pgm │ ├── EDLinesLib.a │ ├── EDLinesTest-x64.tar.gz │ ├── LS.h │ ├── License.txt │ ├── Makefile │ ├── Timer.h │ ├── chairs.pgm │ ├── cigar.pgm │ ├── house.pgm │ ├── libopencv_core.so.2.4.5 │ ├── libopencv_imgproc.so.2.4.5 │ ├── main.cpp │ ├── pasta.pgm │ ├── street.pgm │ └── zebra.pgm ├── EDTest │ ├── CannySR-EdgeMap.pgm │ ├── CannySR.pdf │ ├── CannySRPF-EdgeMap.pgm │ ├── ED-EdgeMap.pgm │ ├── ED.pdf │ ├── EDLib.a │ ├── EDLib.h │ ├── EDPF-EdgeMap.pgm │ ├── EDPF.pdf │ ├── EdgeMap.h │ ├── License.txt │ ├── Makefile │ ├── Timer.h │ ├── lena.pgm │ ├── libopencv_core.so.2.4.5 │ ├── libopencv_imgproc.so.2.4.5 │ └── main.cpp ├── Line3Dpp │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── clustering.cc │ ├── clustering.h │ ├── cmake │ │ ├── FindCUDA.cmake │ │ ├── FindCUDA │ │ │ ├── .svn │ │ │ │ ├── all-wcprops │ │ │ │ ├── entries │ │ │ │ ├── prop-base │ │ │ │ │ ├── make2cmake.cmake.svn-base │ │ │ │ │ ├── parse_cubin.cmake.svn-base │ │ │ │ │ └── run_nvcc.cmake.svn-base │ │ │ │ └── text-base │ │ │ │ │ ├── make2cmake.cmake.svn-base │ │ │ │ │ ├── parse_cubin.cmake.svn-base │ │ │ │ │ └── run_nvcc.cmake.svn-base │ │ │ ├── make2cmake.cmake │ │ │ ├── parse_cubin.cmake │ │ │ └── run_nvcc.cmake │ │ ├── FindCUDASDK.cmake │ │ ├── FindEigen.cmake │ │ └── FindQwt.cmake │ ├── commons.h │ ├── configLIBS.h.in │ ├── cudawrapper.cu │ ├── cudawrapper.h │ ├── dataArray.h │ ├── helper_math.h │ ├── libs │ │ └── precompiled │ │ │ └── ceres │ │ │ ├── include │ │ │ └── ceres │ │ │ │ ├── autodiff_cost_function.h │ │ │ │ ├── autodiff_local_parameterization.h │ │ │ │ ├── c_api.h │ │ │ │ ├── ceres.h │ │ │ │ ├── conditioned_cost_function.h │ │ │ │ ├── cost_function.h │ │ │ │ ├── cost_function_to_functor.h │ │ │ │ ├── covariance.h │ │ │ │ ├── crs_matrix.h │ │ │ │ ├── dynamic_autodiff_cost_function.h │ │ │ │ ├── dynamic_numeric_diff_cost_function.h │ │ │ │ ├── fpclassify.h │ │ │ │ ├── gradient_checker.h │ │ │ │ ├── internal │ │ │ │ ├── autodiff.h │ │ │ │ ├── eigen.h │ │ │ │ ├── fixed_array.h │ │ │ │ ├── macros.h │ │ │ │ ├── manual_constructor.h │ │ │ │ ├── miniglog │ │ │ │ │ └── glog │ │ │ │ │ │ └── logging.h │ │ │ │ ├── numeric_diff.h │ │ │ │ ├── port.h │ │ │ │ ├── scoped_ptr.h │ │ │ │ └── variadic_evaluate.h │ │ │ │ ├── iteration_callback.h │ │ │ │ ├── jet.h │ │ │ │ ├── local_parameterization.h │ │ │ │ ├── loss_function.h │ │ │ │ ├── normal_prior.h │ │ │ │ ├── numeric_diff_cost_function.h │ │ │ │ ├── numeric_diff_functor.h │ │ │ │ ├── ordered_groups.h │ │ │ │ ├── problem.h │ │ │ │ ├── rotation.h │ │ │ │ ├── sized_cost_function.h │ │ │ │ ├── solver.h │ │ │ │ └── types.h │ │ │ └── lib64 │ │ │ └── vc10 │ │ │ └── ceres.lib │ ├── line3D.cc │ ├── line3D.h │ ├── lsd │ │ ├── lsd.cpp │ │ ├── lsd.hpp │ │ ├── lsd_opencv.cpp │ │ ├── lsd_opencv.hpp │ │ ├── lsd_wrap.cpp │ │ └── lsd_wrap.hpp │ ├── main_bundler.cpp │ ├── main_colmap.cpp │ ├── main_mavmap.cpp │ ├── main_openmvg.cpp │ ├── main_pix4d.cpp │ ├── main_vsfm.cpp │ ├── optimization.cc │ ├── optimization.h │ ├── segment3D.h │ ├── serialization.h │ ├── sparsematrix.cc │ ├── sparsematrix.h │ ├── teaser.png │ ├── testdata │ │ ├── Line3D++_ref │ │ │ ├── Line3D++__W_FULL__N_10__sigmaP_2.5__sigmaA_10__epiOverlap_0.25__kNN_10__OPTIMIZED__vis_3.bin │ │ │ ├── Line3D++__W_FULL__N_10__sigmaP_2.5__sigmaA_10__epiOverlap_0.25__kNN_10__OPTIMIZED__vis_3.stl │ │ │ ├── Line3D++__W_FULL__N_10__sigmaP_2.5__sigmaA_10__epiOverlap_0.25__kNN_10__OPTIMIZED__vis_3.txt │ │ │ ├── Line3D++__W_FULL__N_10__sigmaP_2.5__sigmaA_10__epiOverlap_0.25__kNN_10__vis_3.bin │ │ │ ├── Line3D++__W_FULL__N_10__sigmaP_2.5__sigmaA_10__epiOverlap_0.25__kNN_10__vis_3.stl │ │ │ └── Line3D++__W_FULL__N_10__sigmaP_2.5__sigmaA_10__epiOverlap_0.25__kNN_10__vis_3.txt │ │ ├── img000055.jpg │ │ ├── img000056.jpg │ │ ├── img000057.jpg │ │ ├── img000058.jpg │ │ ├── img000059.jpg │ │ ├── img000060.jpg │ │ ├── img000061.jpg │ │ ├── img000062.jpg │ │ ├── img000063.jpg │ │ ├── img000064.jpg │ │ ├── img000065.jpg │ │ ├── img000066.jpg │ │ ├── img000067.jpg │ │ ├── img000068.jpg │ │ ├── img000069.jpg │ │ ├── img000070.jpg │ │ ├── img000071.jpg │ │ ├── img000072.jpg │ │ ├── img000073.jpg │ │ ├── img000074.jpg │ │ ├── img000075.jpg │ │ ├── img000076.jpg │ │ ├── img000077.jpg │ │ ├── img000078.jpg │ │ ├── img000079.jpg │ │ ├── img000080.jpg │ │ └── vsfm_result.nvm │ ├── universe.h │ ├── view.cc │ └── view.h └── g2o │ ├── CMakeLists.txt │ ├── README.txt │ ├── cmake_modules │ ├── FindBLAS.cmake │ ├── FindEigen3.cmake │ └── FindLAPACK.cmake │ ├── config.h.in │ ├── g2o │ ├── core │ │ ├── base_binary_edge.h │ │ ├── base_binary_edge.hpp │ │ ├── base_edge.h │ │ ├── base_multi_edge.h │ │ ├── base_multi_edge.hpp │ │ ├── base_unary_edge.h │ │ ├── base_unary_edge.hpp │ │ ├── base_vertex.h │ │ ├── base_vertex.hpp │ │ ├── batch_stats.cpp │ │ ├── batch_stats.h │ │ ├── block_solver.h │ │ ├── block_solver.hpp │ │ ├── cache.cpp │ │ ├── cache.h │ │ ├── creators.h │ │ ├── eigen_types.h │ │ ├── estimate_propagator.cpp │ │ ├── estimate_propagator.h │ │ ├── factory.cpp │ │ ├── factory.h │ │ ├── hyper_dijkstra.cpp │ │ ├── hyper_dijkstra.h │ │ ├── hyper_graph.cpp │ │ ├── hyper_graph.h │ │ ├── hyper_graph_action.cpp │ │ ├── hyper_graph_action.h │ │ ├── jacobian_workspace.cpp │ │ ├── jacobian_workspace.h │ │ ├── linear_solver.h │ │ ├── marginal_covariance_cholesky.cpp │ │ ├── marginal_covariance_cholesky.h │ │ ├── matrix_operations.h │ │ ├── matrix_structure.cpp │ │ ├── matrix_structure.h │ │ ├── openmp_mutex.h │ │ ├── optimizable_graph.cpp │ │ ├── optimizable_graph.h │ │ ├── optimization_algorithm.cpp │ │ ├── optimization_algorithm.h │ │ ├── optimization_algorithm_dogleg.cpp │ │ ├── optimization_algorithm_dogleg.h │ │ ├── optimization_algorithm_factory.cpp │ │ ├── optimization_algorithm_factory.h │ │ ├── optimization_algorithm_gauss_newton.cpp │ │ ├── optimization_algorithm_gauss_newton.h │ │ ├── optimization_algorithm_levenberg.cpp │ │ ├── optimization_algorithm_levenberg.h │ │ ├── optimization_algorithm_property.h │ │ ├── optimization_algorithm_with_hessian.cpp │ │ ├── optimization_algorithm_with_hessian.h │ │ ├── parameter.cpp │ │ ├── parameter.h │ │ ├── parameter_container.cpp │ │ ├── parameter_container.h │ │ ├── robust_kernel.cpp │ │ ├── robust_kernel.h │ │ ├── robust_kernel_factory.cpp │ │ ├── robust_kernel_factory.h │ │ ├── robust_kernel_impl.cpp │ │ ├── robust_kernel_impl.h │ │ ├── solver.cpp │ │ ├── solver.h │ │ ├── sparse_block_matrix.h │ │ ├── sparse_block_matrix.hpp │ │ ├── sparse_block_matrix_ccs.h │ │ ├── sparse_block_matrix_diagonal.h │ │ ├── sparse_block_matrix_test.cpp │ │ ├── sparse_optimizer.cpp │ │ └── sparse_optimizer.h │ ├── solvers │ │ ├── linear_solver_dense.h │ │ └── linear_solver_eigen.h │ ├── stuff │ │ ├── color_macros.h │ │ ├── macros.h │ │ ├── misc.h │ │ ├── os_specific.c │ │ ├── os_specific.h │ │ ├── property.cpp │ │ ├── property.h │ │ ├── string_tools.cpp │ │ ├── string_tools.h │ │ ├── timeutil.cpp │ │ └── timeutil.h │ └── types │ │ ├── se3_ops.h │ │ ├── se3_ops.hpp │ │ ├── se3quat.h │ │ ├── sim3.h │ │ ├── types_sba.cpp │ │ ├── types_sba.h │ │ ├── types_seven_dof_expmap.cpp │ │ ├── types_seven_dof_expmap.h │ │ ├── types_six_dof_expmap.cpp │ │ └── types_six_dof_expmap.h │ └── license-bsd.txt ├── Vocabulary └── ORBvoc.txt.tar.gz ├── cmake_modules └── FindEigen3.cmake ├── eval ├── README ├── downsample.m ├── euclideanDistanceTwoPointClouds.m ├── evaluate.m ├── register.m └── scaling.m ├── include ├── CARV │ ├── Exception.h │ ├── FreespaceDelaunayAlgorithm.h │ ├── GraphWrapper_Boost.h │ ├── Matrix.h │ ├── Matrix_vect_private.cc │ ├── SFMTranscript.h │ ├── SFMTranscriptInterface_Delaunay.h │ ├── SFMTranscriptInterface_ORBSLAM.h │ ├── StringFunctions.h │ ├── lapack_declarations.h │ └── lovimath.h ├── Converter.h ├── Frame.h ├── FrameDrawer.h ├── Initializer.h ├── KeyFrame.h ├── KeyFrameDatabase.h ├── LineDetector.h ├── LocalMapping.h ├── LoopClosing.h ├── Map.h ├── MapDrawer.h ├── MapPoint.h ├── Modeler.h ├── ORBVocabulary.h ├── ORBextractor.h ├── ORBmatcher.h ├── Optimizer.h ├── PnPsolver.h ├── ProbabilityMapping.h ├── Sim3Solver.h ├── System.h ├── Tracking.h └── Viewer.h ├── src ├── CARV │ ├── Exception.cpp │ ├── FreespaceDelaunayAlgorithm.cc │ ├── GraphWrapper_Boost.cc │ ├── Matrix.cc │ ├── SFMTranscript.cpp │ ├── SFMTranscriptInterface_Delaunay.cpp │ ├── SFMTranscriptInterface_ORBSLAM.cpp │ ├── StringFunctions.cpp │ └── lovimath.cc ├── Converter.cc ├── Frame.cc ├── FrameDrawer.cc ├── 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