├── CMakeLists.txt ├── Data └── ORB_SLAM2 │ ├── Calibration │ ├── images │ │ └── list.xml │ ├── patterns │ │ ├── acircles_pattern.png │ │ └── pattern.png │ └── settings.xml │ ├── Monocular │ ├── KITTI.yaml │ ├── TUM1.yaml │ ├── USBCam.yaml │ └── USBCam_1280.yaml │ └── Vocabulary │ └── ORBvoc.bin ├── Dependencies.md ├── Examples ├── Monocular │ ├── KITTI00-02.yaml │ ├── KITTI03.yaml │ ├── KITTI04-12.yaml │ ├── Main.cc │ ├── TUM1.yaml │ ├── TUM2.yaml │ ├── TUM3.yaml │ ├── bin_vocabulary.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 ├── Eigen3.2.8 │ └── Eigen │ │ ├── Array │ │ ├── CMakeLists.txt │ │ ├── Cholesky │ │ ├── CholmodSupport │ │ ├── Core │ │ ├── Dense │ │ ├── Eigen │ │ ├── Eigen2Support │ │ ├── Eigenvalues │ │ ├── Geometry │ │ ├── Householder │ │ ├── IterativeLinearSolvers │ │ ├── Jacobi │ │ ├── LU │ │ ├── LeastSquares │ │ ├── MetisSupport │ │ ├── OrderingMethods │ │ ├── PaStiXSupport │ │ ├── PardisoSupport │ │ ├── QR │ │ ├── QtAlignedMalloc │ │ ├── SPQRSupport │ │ ├── SVD │ │ ├── Sparse │ │ ├── SparseCholesky │ │ ├── SparseCore │ │ ├── SparseLU │ │ ├── SparseQR │ │ ├── StdDeque │ │ ├── StdList │ │ ├── StdVector │ │ ├── SuperLUSupport │ │ ├── UmfPackSupport │ │ └── src │ │ ├── CMakeLists.txt │ │ ├── Cholesky │ │ ├── CMakeLists.txt │ │ ├── LDLT.h │ │ ├── LLT.h │ │ └── LLT_MKL.h │ │ ├── CholmodSupport │ │ ├── CMakeLists.txt │ │ └── CholmodSupport.h │ │ ├── Core │ │ ├── Array.h │ │ ├── ArrayBase.h │ │ ├── ArrayWrapper.h │ │ ├── Assign.h │ │ ├── Assign_MKL.h │ │ ├── BandMatrix.h │ │ ├── Block.h │ │ ├── BooleanRedux.h │ │ ├── CMakeLists.txt │ │ ├── CommaInitializer.h │ │ ├── CoreIterators.h │ │ ├── CwiseBinaryOp.h │ │ ├── CwiseNullaryOp.h │ │ ├── CwiseUnaryOp.h │ │ ├── CwiseUnaryView.h │ │ ├── DenseBase.h │ │ ├── DenseCoeffsBase.h │ │ ├── DenseStorage.h │ │ ├── Diagonal.h │ │ ├── DiagonalMatrix.h │ │ ├── DiagonalProduct.h │ │ ├── Dot.h │ │ ├── EigenBase.h │ │ ├── Flagged.h │ │ ├── ForceAlignedAccess.h │ │ ├── Functors.h │ │ ├── Fuzzy.h │ │ ├── GeneralProduct.h │ │ ├── GenericPacketMath.h │ │ ├── GlobalFunctions.h │ │ ├── IO.h │ │ ├── Map.h │ │ ├── MapBase.h │ │ ├── MathFunctions.h │ │ ├── Matrix.h │ │ ├── MatrixBase.h │ │ ├── NestByValue.h │ │ ├── NoAlias.h │ │ ├── NumTraits.h │ │ ├── PermutationMatrix.h │ │ ├── PlainObjectBase.h │ │ ├── ProductBase.h │ │ ├── Random.h │ │ ├── Redux.h │ │ ├── Ref.h │ │ ├── Replicate.h │ │ ├── ReturnByValue.h │ │ ├── Reverse.h │ │ ├── Select.h │ │ ├── SelfAdjointView.h │ │ ├── SelfCwiseBinaryOp.h │ │ ├── SolveTriangular.h │ │ ├── StableNorm.h │ │ ├── Stride.h │ │ ├── Swap.h │ │ ├── Transpose.h │ │ ├── Transpositions.h │ │ ├── TriangularMatrix.h │ │ ├── VectorBlock.h │ │ ├── VectorwiseOp.h │ │ ├── Visitor.h │ │ ├── arch │ │ │ ├── AltiVec │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── Complex.h │ │ │ │ └── PacketMath.h │ │ │ ├── CMakeLists.txt │ │ │ ├── Default │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── Settings.h │ │ │ ├── NEON │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── Complex.h │ │ │ │ └── PacketMath.h │ │ │ └── SSE │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ └── PacketMath.h │ │ ├── products │ │ │ ├── CMakeLists.txt │ │ │ ├── CoeffBasedProduct.h │ │ │ ├── GeneralBlockPanelKernel.h │ │ │ ├── GeneralMatrixMatrix.h │ │ │ ├── GeneralMatrixMatrixTriangular.h │ │ │ ├── GeneralMatrixMatrixTriangular_MKL.h │ │ │ ├── GeneralMatrixMatrix_MKL.h │ │ │ ├── GeneralMatrixVector.h │ │ │ ├── GeneralMatrixVector_MKL.h │ │ │ ├── Parallelizer.h │ │ │ ├── SelfadjointMatrixMatrix.h │ │ │ ├── SelfadjointMatrixMatrix_MKL.h │ │ │ ├── SelfadjointMatrixVector.h │ │ │ ├── SelfadjointMatrixVector_MKL.h │ │ │ ├── SelfadjointProduct.h │ │ │ ├── SelfadjointRank2Update.h │ │ │ ├── TriangularMatrixMatrix.h │ │ │ ├── TriangularMatrixMatrix_MKL.h │ │ │ ├── TriangularMatrixVector.h │ │ │ ├── TriangularMatrixVector_MKL.h │ │ │ ├── TriangularSolverMatrix.h │ │ │ ├── TriangularSolverMatrix_MKL.h │ │ │ └── TriangularSolverVector.h │ │ └── util │ │ │ ├── BlasUtil.h │ │ │ ├── CMakeLists.txt │ │ │ ├── Constants.h │ │ │ ├── DisableStupidWarnings.h │ │ │ ├── ForwardDeclarations.h │ │ │ ├── MKL_support.h │ │ │ ├── Macros.h │ │ │ ├── Memory.h │ │ │ ├── Meta.h │ │ │ ├── NonMPL2.h │ │ │ ├── ReenableStupidWarnings.h │ │ │ ├── StaticAssert.h │ │ │ └── XprHelper.h │ │ ├── Eigen2Support │ │ ├── Block.h │ │ ├── CMakeLists.txt │ │ ├── Cwise.h │ │ ├── CwiseOperators.h │ │ ├── Geometry │ │ │ ├── AlignedBox.h │ │ │ ├── All.h │ │ │ ├── AngleAxis.h │ │ │ ├── CMakeLists.txt │ │ │ ├── Hyperplane.h │ │ │ ├── ParametrizedLine.h │ │ │ ├── Quaternion.h │ │ │ ├── Rotation2D.h │ │ │ ├── RotationBase.h │ │ │ ├── Scaling.h │ │ │ ├── Transform.h │ │ │ └── Translation.h │ │ ├── LU.h │ │ ├── Lazy.h │ │ ├── LeastSquares.h │ │ ├── Macros.h │ │ ├── MathFunctions.h │ │ ├── Memory.h │ │ ├── Meta.h │ │ ├── Minor.h │ │ ├── QR.h │ │ ├── SVD.h │ │ ├── TriangularSolver.h │ │ └── VectorBlock.h │ │ ├── Eigenvalues │ │ ├── CMakeLists.txt │ │ ├── ComplexEigenSolver.h │ │ ├── ComplexSchur.h │ │ ├── ComplexSchur_MKL.h │ │ ├── EigenSolver.h │ │ ├── GeneralizedEigenSolver.h │ │ ├── GeneralizedSelfAdjointEigenSolver.h │ │ ├── HessenbergDecomposition.h │ │ ├── MatrixBaseEigenvalues.h │ │ ├── RealQZ.h │ │ ├── RealSchur.h │ │ ├── RealSchur_MKL.h │ │ ├── SelfAdjointEigenSolver.h │ │ ├── SelfAdjointEigenSolver_MKL.h │ │ └── Tridiagonalization.h │ │ ├── Geometry │ │ ├── AlignedBox.h │ │ ├── AngleAxis.h │ │ ├── CMakeLists.txt │ │ ├── EulerAngles.h │ │ ├── Homogeneous.h │ │ ├── Hyperplane.h │ │ ├── OrthoMethods.h │ │ ├── ParametrizedLine.h │ │ ├── Quaternion.h │ │ ├── Rotation2D.h │ │ ├── RotationBase.h │ │ ├── Scaling.h │ │ ├── Transform.h │ │ ├── Translation.h │ │ ├── Umeyama.h │ │ └── arch │ │ │ ├── CMakeLists.txt │ │ │ └── Geometry_SSE.h │ │ ├── Householder │ │ ├── BlockHouseholder.h │ │ ├── CMakeLists.txt │ │ ├── Householder.h │ │ └── HouseholderSequence.h │ │ ├── IterativeLinearSolvers │ │ ├── BasicPreconditioners.h │ │ ├── BiCGSTAB.h │ │ ├── CMakeLists.txt │ │ ├── ConjugateGradient.h │ │ ├── IncompleteLUT.h │ │ └── IterativeSolverBase.h │ │ ├── Jacobi │ │ ├── CMakeLists.txt │ │ └── Jacobi.h │ │ ├── LU │ │ ├── CMakeLists.txt │ │ ├── Determinant.h │ │ ├── FullPivLU.h │ │ ├── Inverse.h │ │ ├── PartialPivLU.h │ │ ├── PartialPivLU_MKL.h │ │ └── arch │ │ │ ├── CMakeLists.txt │ │ │ └── Inverse_SSE.h │ │ ├── MetisSupport │ │ ├── CMakeLists.txt │ │ └── MetisSupport.h │ │ ├── OrderingMethods │ │ ├── Amd.h │ │ ├── CMakeLists.txt │ │ ├── Eigen_Colamd.h │ │ └── Ordering.h │ │ ├── PaStiXSupport │ │ ├── CMakeLists.txt │ │ └── PaStiXSupport.h │ │ ├── PardisoSupport │ │ ├── CMakeLists.txt │ │ └── PardisoSupport.h │ │ ├── QR │ │ ├── CMakeLists.txt │ │ ├── ColPivHouseholderQR.h │ │ ├── ColPivHouseholderQR_MKL.h │ │ ├── FullPivHouseholderQR.h │ │ ├── HouseholderQR.h │ │ └── HouseholderQR_MKL.h │ │ ├── SPQRSupport │ │ ├── CMakeLists.txt │ │ └── SuiteSparseQRSupport.h │ │ ├── SVD │ │ ├── CMakeLists.txt │ │ ├── JacobiSVD.h │ │ ├── JacobiSVD_MKL.h │ │ └── UpperBidiagonalization.h │ │ ├── SparseCholesky │ │ ├── CMakeLists.txt │ │ ├── SimplicialCholesky.h │ │ └── SimplicialCholesky_impl.h │ │ ├── SparseCore │ │ ├── AmbiVector.h │ │ ├── CMakeLists.txt │ │ ├── CompressedStorage.h │ │ ├── ConservativeSparseSparseProduct.h │ │ ├── MappedSparseMatrix.h │ │ ├── SparseBlock.h │ │ ├── SparseColEtree.h │ │ ├── SparseCwiseBinaryOp.h │ │ ├── SparseCwiseUnaryOp.h │ │ ├── SparseDenseProduct.h │ │ ├── SparseDiagonalProduct.h │ │ ├── SparseDot.h │ │ ├── SparseFuzzy.h │ │ ├── SparseMatrix.h │ │ ├── SparseMatrixBase.h │ │ ├── SparsePermutation.h │ │ ├── SparseProduct.h │ │ ├── SparseRedux.h │ │ ├── SparseSelfAdjointView.h │ │ ├── SparseSparseProductWithPruning.h │ │ ├── SparseTranspose.h │ │ ├── SparseTriangularView.h │ │ ├── SparseUtil.h │ │ ├── SparseVector.h │ │ ├── SparseView.h │ │ └── TriangularSolver.h │ │ ├── SparseLU │ │ ├── CMakeLists.txt │ │ ├── SparseLU.h │ │ ├── SparseLUImpl.h │ │ ├── SparseLU_Memory.h │ │ ├── SparseLU_Structs.h │ │ ├── SparseLU_SupernodalMatrix.h │ │ ├── SparseLU_Utils.h │ │ ├── SparseLU_column_bmod.h │ │ ├── SparseLU_column_dfs.h │ │ ├── SparseLU_copy_to_ucol.h │ │ ├── SparseLU_gemm_kernel.h │ │ ├── SparseLU_heap_relax_snode.h │ │ ├── SparseLU_kernel_bmod.h │ │ ├── SparseLU_panel_bmod.h │ │ ├── SparseLU_panel_dfs.h │ │ ├── SparseLU_pivotL.h │ │ ├── SparseLU_pruneL.h │ │ └── SparseLU_relax_snode.h │ │ ├── SparseQR │ │ ├── CMakeLists.txt │ │ └── SparseQR.h │ │ ├── StlSupport │ │ ├── CMakeLists.txt │ │ ├── StdDeque.h │ │ ├── StdList.h │ │ ├── StdVector.h │ │ └── details.h │ │ ├── SuperLUSupport │ │ ├── CMakeLists.txt │ │ └── SuperLUSupport.h │ │ ├── UmfPackSupport │ │ ├── CMakeLists.txt │ │ └── UmfPackSupport.h │ │ ├── misc │ │ ├── CMakeLists.txt │ │ ├── Image.h │ │ ├── Kernel.h │ │ ├── Solve.h │ │ ├── SparseSolve.h │ │ └── blas.h │ │ └── plugins │ │ ├── ArrayCwiseBinaryOps.h │ │ ├── ArrayCwiseUnaryOps.h │ │ ├── BlockMethods.h │ │ ├── CMakeLists.txt │ │ ├── CommonCwiseBinaryOps.h │ │ ├── CommonCwiseUnaryOps.h │ │ ├── MatrixCwiseBinaryOps.h │ │ └── MatrixCwiseUnaryOps.h ├── OpenCV │ ├── cv2.so │ ├── libopencv_calib3d.a │ ├── libopencv_contrib.a │ ├── libopencv_core.a │ ├── libopencv_features2d.a │ ├── libopencv_flann.a │ ├── libopencv_gpu.a │ ├── libopencv_haartraining_engine.a │ ├── libopencv_highgui.a │ ├── libopencv_imgproc.a │ ├── libopencv_legacy.a │ ├── libopencv_ml.a │ ├── libopencv_nonfree.a │ ├── libopencv_objdetect.a │ ├── libopencv_ocl.a │ ├── libopencv_photo.a │ ├── libopencv_stitching.a │ ├── libopencv_superres.a │ ├── libopencv_ts.a │ ├── libopencv_video.a │ ├── libopencv_videostab.a │ ├── opencv │ │ ├── cv.h │ │ ├── cv.hpp │ │ ├── cvaux.h │ │ ├── cvaux.hpp │ │ ├── cvwimage.h │ │ ├── cxcore.h │ │ ├── cxcore.hpp │ │ ├── cxeigen.hpp │ │ ├── cxmisc.h │ │ ├── highgui.h │ │ └── ml.h │ └── opencv2 │ │ ├── calib3d │ │ └── calib3d.hpp │ │ ├── contrib │ │ ├── contrib.hpp │ │ ├── detection_based_tracker.hpp │ │ ├── hybridtracker.hpp │ │ ├── openfabmap.hpp │ │ └── retina.hpp │ │ ├── core │ │ ├── core.hpp │ │ ├── core_c.h │ │ ├── cuda_devptrs.hpp │ │ ├── devmem2d.hpp │ │ ├── eigen.hpp │ │ ├── gpumat.hpp │ │ ├── internal.hpp │ │ ├── mat.hpp │ │ ├── opengl_interop.hpp │ │ ├── opengl_interop_deprecated.hpp │ │ ├── operations.hpp │ │ ├── types_c.h │ │ ├── version.hpp │ │ └── wimage.hpp │ │ ├── features2d │ │ └── features2d.hpp │ │ ├── flann │ │ ├── all_indices.h │ │ ├── allocator.h │ │ ├── any.h │ │ ├── autotuned_index.h │ │ ├── composite_index.h │ │ ├── config.h │ │ ├── defines.h │ │ ├── dist.h │ │ ├── dummy.h │ │ ├── dynamic_bitset.h │ │ ├── flann.hpp │ │ ├── flann_base.hpp │ │ ├── general.h │ │ ├── ground_truth.h │ │ ├── hdf5.h │ │ ├── heap.h │ │ ├── hierarchical_clustering_index.h │ │ ├── index_testing.h │ │ ├── kdtree_index.h │ │ ├── kdtree_single_index.h │ │ ├── kmeans_index.h │ │ ├── linear_index.h │ │ ├── logger.h │ │ ├── lsh_index.h │ │ ├── lsh_table.h │ │ ├── matrix.h │ │ ├── miniflann.hpp │ │ ├── nn_index.h │ │ ├── object_factory.h │ │ ├── params.h │ │ ├── random.h │ │ ├── result_set.h │ │ ├── sampling.h │ │ ├── saving.h │ │ ├── simplex_downhill.h │ │ └── timer.h │ │ ├── highgui │ │ ├── cap_ios.h │ │ ├── highgui.hpp │ │ ├── highgui_c.h │ │ └── ios.h │ │ ├── imgproc │ │ ├── imgproc.hpp │ │ ├── imgproc_c.h │ │ └── types_c.h │ │ ├── legacy │ │ ├── blobtrack.hpp │ │ ├── compat.hpp │ │ ├── legacy.hpp │ │ └── streams.hpp │ │ ├── ml │ │ └── ml.hpp │ │ ├── nonfree │ │ ├── features2d.hpp │ │ ├── gpu.hpp │ │ ├── nonfree.hpp │ │ └── ocl.hpp │ │ ├── objdetect │ │ └── objdetect.hpp │ │ ├── opencv.hpp │ │ ├── opencv_modules.hpp │ │ ├── photo │ │ ├── photo.hpp │ │ └── photo_c.h │ │ ├── stitching │ │ ├── detail │ │ │ ├── autocalib.hpp │ │ │ ├── blenders.hpp │ │ │ ├── camera.hpp │ │ │ ├── exposure_compensate.hpp │ │ │ ├── matchers.hpp │ │ │ ├── motion_estimators.hpp │ │ │ ├── seam_finders.hpp │ │ │ ├── util.hpp │ │ │ ├── util_inl.hpp │ │ │ ├── warpers.hpp │ │ │ └── warpers_inl.hpp │ │ ├── stitcher.hpp │ │ └── warpers.hpp │ │ ├── video │ │ ├── background_segm.hpp │ │ ├── tracking.hpp │ │ └── video.hpp │ │ ├── videostab │ │ ├── deblurring.hpp │ │ ├── fast_marching.hpp │ │ ├── fast_marching_inl.hpp │ │ ├── frame_source.hpp │ │ ├── global_motion.hpp │ │ ├── inpainting.hpp │ │ ├── log.hpp │ │ ├── motion_stabilizing.hpp │ │ ├── optical_flow.hpp │ │ ├── stabilizer.hpp │ │ └── videostab.hpp │ │ └── world │ │ └── world.hpp ├── 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 ├── libIlmImf.a ├── libjasper.a ├── libjpeg.a ├── libpng.a └── libtiff.a ├── Tools ├── calibrateCamera.cpp ├── images.xml └── settings.xml ├── Vocabulary └── ORBvoc.txt.tar.gz ├── Xcode ├── ORB_SLAM2.xcodeproj │ ├── project.pbxproj │ └── project.xcworkspace │ │ ├── contents.xcworkspacedata │ │ └── xcshareddata │ │ └── ORB_SLAM2.xcscmblueprint ├── ORB_SLAM2.xcworkspace │ ├── contents.xcworkspacedata │ └── xcshareddata │ │ └── ORB_SLAM2.xcscmblueprint └── Tools.xcodeproj │ └── project.pbxproj ├── cmake_modules └── FindEigen3.cmake ├── include ├── Converter.h ├── Frame.h ├── FrameDrawer.h ├── Initializer.h ├── KeyFrame.h ├── KeyFrameDatabase.h ├── LocalMapping.h ├── LoopClosing.h ├── Map.h ├── MapDrawer.h ├── MapPoint.h ├── ORBVocabulary.h ├── ORBextractor.h ├── ORBmatcher.h ├── Optimizer.h ├── PnPsolver.h ├── Sim3Solver.h ├── System.h ├── Tracking.h └── Viewer.h └── src ├── Converter.cc ├── Frame.cc ├── FrameDrawer.cc ├── Initializer.cc ├── KeyFrame.cc ├── KeyFrameDatabase.cc ├── LocalMapping.cc ├── LoopClosing.cc ├── Map.cc ├── MapDrawer.cc ├── MapPoint.cc ├── ORBextractor.cc ├── ORBmatcher.cc ├── Optimizer.cc ├── PnPsolver.cc ├── Sim3Solver.cc ├── System.cc ├── Tracking.cc └── Viewer.cc /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/skylook/ORB_SLAM2_OSX/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /Data/ORB_SLAM2/Calibration/images/list.xml: 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