├── .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_office_val.txt │ │ ├── fr3_str_tex_far.txt │ │ └── fr3_str_tex_near.txt │ └── rgbd_tum.cc ├── ROS │ └── ORB_SLAM2 │ │ ├── Asus.yaml │ │ ├── CMakeLists.txt │ │ ├── manifest.xml │ │ └── src │ │ ├── AR │ │ ├── ViewerAR.cc │ │ ├── ViewerAR.h │ │ └── ros_mono_ar.cc │ │ ├── ros_mono.cc │ │ ├── ros_rgbd.cc │ │ └── ros_stereo.cc └── Stereo │ ├── 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 │ ├── stereo_euroc.cc │ └── 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 │ └── win │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ └── main.cc └── g2o │ └── config.h.in ├── Vocabulary └── ORBvoc.txt.tar.gz ├── app ├── .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_office_val.txt │ │ │ ├── fr3_str_tex_far.txt │ │ │ └── fr3_str_tex_near.txt │ │ └── rgbd_tum.cc │ ├── ROS │ │ └── ORB_SLAM2 │ │ │ ├── Asus.yaml │ │ │ ├── CMakeLists.txt │ │ │ ├── manifest.xml │ │ │ └── src │ │ │ ├── AR │ │ │ ├── ViewerAR.cc │ │ │ ├── ViewerAR.h │ │ │ └── ros_mono_ar.cc │ │ │ ├── ros_mono.cc │ │ │ ├── ros_rgbd.cc │ │ │ └── ros_stereo.cc │ └── Stereo │ │ ├── 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 │ │ ├── stereo_euroc.cc │ │ └── 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 │ │ └── win │ │ │ ├── .gitignore │ │ │ ├── CMakeLists.txt │ │ │ └── main.cc │ └── g2o │ │ └── config.h.in ├── Vocabulary │ └── ORBvoc.txt.tar.gz ├── build.sh ├── build_ros.sh ├── cmake_modules │ └── FindEigen3.cmake ├── include │ ├── Atlas.h │ ├── CameraModels │ │ ├── GeometricCamera.h │ │ ├── KannalaBrandt8.h │ │ └── Pinhole.h │ ├── Converter.h │ ├── Frame.h │ ├── FrameDrawer.h │ ├── G2oTypes.h │ ├── ImuTypes.h │ ├── Initializer.h │ ├── KeyFrame.h │ ├── KeyFrameDatabase.h │ ├── LocalMapping.h │ ├── Log.h │ ├── LoopClosing.h │ ├── MLPnPsolver.h │ ├── Map.h │ ├── MapDrawer.h │ ├── MapPoint.h │ ├── ORBVocabulary.h │ ├── ORBextractor.h │ ├── ORBmatcher.h │ ├── OptimizableTypes.h │ ├── Optimizer.h │ ├── PnPsolver.h │ ├── Sim3Solver.h │ ├── SlamJni.h │ ├── System.h │ ├── Tracking.h │ ├── TwoViewReconstruction.h │ ├── Utility.h │ ├── Viewer.h │ └── spdlog │ │ ├── async_logger.h │ │ ├── common.h │ │ ├── details │ │ ├── async_log_helper.h │ │ ├── async_logger_impl.h │ │ ├── file_helper.h │ │ ├── log_msg.h │ │ ├── logger_impl.h │ │ ├── mpmc_bounded_q.h │ │ ├── null_mutex.h │ │ ├── os.h │ │ ├── pattern_formatter_impl.h │ │ ├── registry.h │ │ └── spdlog_impl.h │ │ ├── fmt │ │ ├── bundled │ │ │ ├── LICENSE.rst │ │ │ ├── format.cc │ │ │ ├── format.h │ │ │ ├── ostream.cc │ │ │ ├── ostream.h │ │ │ ├── posix.cc │ │ │ ├── posix.h │ │ │ ├── printf.cc │ │ │ ├── printf.h │ │ │ └── time.h │ │ ├── fmt.h │ │ └── ostr.h │ │ ├── formatter.h │ │ ├── logger.h │ │ ├── sinks │ │ ├── android_sink.h │ │ ├── ansicolor_sink.h │ │ ├── base_sink.h │ │ ├── dist_sink.h │ │ ├── file_sinks.h │ │ ├── msvc_sink.h │ │ ├── null_sink.h │ │ ├── ostream_sink.h │ │ ├── sink.h │ │ ├── stdout_sinks.h │ │ ├── syslog_sink.h │ │ ├── wincolor_sink.h │ │ └── windebug_sink.h │ │ ├── spdlog.h │ │ └── tweakme.h ├── orb.yaml └── src │ ├── Atlas.cc │ ├── CameraModels │ ├── KannalaBrandt8.cpp │ └── Pinhole.cpp │ ├── Converter.cc │ ├── Frame.cc │ ├── FrameDrawer.cc │ ├── G2oTypes.cc │ ├── ImuTypes.cc │ ├── Initializer.cc │ ├── KeyFrame.cc │ ├── KeyFrameDatabase.cc │ ├── LocalMapping.cc │ ├── Log.cc │ ├── LoopClosing.cc │ ├── MLPnPsolver.cpp │ ├── Map.cc │ ├── MapDrawer.cc │ ├── MapPoint.cc │ ├── ORBextractor.cc │ ├── ORBmatcher.cc │ ├── OptimizableTypes.cpp │ ├── Optimizer.cc │ ├── PnPsolver.cc │ ├── Sim3Solver.cc │ ├── SlamJni.cc │ ├── System.cc │ ├── Tracking.cc │ ├── TwoViewReconstruction.cc │ ├── Utility.cc │ └── Viewer.cc ├── cmake_modules └── FindEigen3.cmake ├── include ├── Atlas.h ├── CameraModels │ ├── GeometricCamera.h │ ├── KannalaBrandt8.h │ └── Pinhole.h ├── Converter.h ├── Frame.h ├── FrameDrawer.h ├── G2oTypes.h ├── ImuTypes.h ├── Initializer.h ├── KeyFrame.h ├── KeyFrameDatabase.h ├── LocalMapping.h ├── Log.h ├── LoopClosing.h ├── MLPnPsolver.h ├── Map.h ├── MapDrawer.h ├── MapPoint.h ├── ORBVocabulary.h ├── ORBextractor.h ├── ORBmatcher.h ├── OptimizableTypes.h ├── Optimizer.h ├── PnPsolver.h ├── Sim3Solver.h ├── SlamJni.h ├── System.h ├── Tracking.h ├── TwoViewReconstruction.h ├── Utility.h ├── Viewer.h └── spdlog │ ├── async_logger.h │ ├── common.h │ ├── details │ ├── async_log_helper.h │ ├── async_logger_impl.h │ ├── file_helper.h │ ├── log_msg.h │ ├── logger_impl.h │ ├── mpmc_bounded_q.h │ ├── null_mutex.h │ ├── os.h │ ├── pattern_formatter_impl.h │ ├── registry.h │ └── spdlog_impl.h │ ├── fmt │ ├── bundled │ │ ├── LICENSE.rst │ │ ├── format.cc │ │ ├── format.h │ │ ├── ostream.cc │ │ ├── ostream.h │ │ ├── posix.cc │ │ ├── posix.h │ │ ├── printf.cc │ │ ├── printf.h │ │ └── time.h │ ├── fmt.h │ └── ostr.h │ ├── formatter.h │ ├── logger.h │ ├── sinks │ ├── android_sink.h │ ├── ansicolor_sink.h │ ├── base_sink.h │ ├── dist_sink.h │ ├── file_sinks.h │ ├── msvc_sink.h │ ├── null_sink.h │ ├── ostream_sink.h │ ├── sink.h │ ├── stdout_sinks.h │ ├── syslog_sink.h │ ├── wincolor_sink.h │ └── windebug_sink.h │ ├── spdlog.h │ └── tweakme.h ├── orb.yaml └── src ├── Atlas.cc ├── CameraModels ├── KannalaBrandt8.cpp └── 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