├── .clang-format ├── .github └── workflows │ └── clang-format-check.yml ├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── LICENSE ├── Makefile ├── README.md ├── cmake └── FindSuiteSparse.cmake ├── config ├── 1.json ├── 10_two_phase_off.json ├── 11.json ├── 12.json ├── 2.json ├── 3.json ├── 3_higher_obj_thresh_lower_conf.json ├── 3_higher_obj_threshold.json ├── 4.json ├── 4_higher_obj_thresh_lower_conf.json ├── 4_higher_obj_thresh_lower_conf_fix_traj.json ├── 4_higher_obj_thresh_lower_conf_two_phase_off.json ├── 5.json ├── 6.json ├── 6_data_assoc_only.json ├── 6_two_phase_off.json ├── 7.json ├── 7_data_assoc_only.json ├── 7_data_assoc_only_flir.json ├── 7_data_assoc_only_flir_freq.json ├── 7_two_phase_off.json ├── 8.json ├── 8_two_phase_off.json ├── 9.json ├── 9_two_phase_off.json ├── base.json ├── base2.json ├── base3.json ├── base4.json ├── base4_analytic2.json ├── base4_analytic3.json ├── base4_analytic4.json ├── base4_analytic_single_thread.json ├── base4_mixed_for_timing.json ├── base4_old.json ├── base4_old_single_thread.json ├── base4_old_single_thread_higher_jacobian_threshold.json ├── base5.json ├── base5_old.json ├── base6.json ├── base7.json ├── base7_extra_jacobian_debugging.json ├── base7_fallback.json ├── base7_fallback_enabled.json ├── base7_fallback_enabled_v2.json ├── base7_modified_jacobian.json ├── base7_modified_jacobian_no_imgs_viz.json ├── base7_vis_feat_only.json ├── base7_x_y_merge.json ├── base7a_1.json ├── base7a_1_fallback.json ├── base7a_1_fallback_a_2.json ├── base7a_1_fallback_a_2_first_100.json ├── base7a_1_fallback_a_2_first_100_wide_shape_prior.json ├── base7a_1_fallback_a_2_fix_bb_vis_1.json ├── base7a_1_fallback_a_2_fix_bb_vis_2.json ├── base7a_1_fallback_a_2_fix_bb_vis_3.json ├── base7a_1_fallback_a_2_fix_bb_vis_4.json ├── base7a_1_fallback_a_2_short_phase1.json ├── base7a_1_fallback_a_2_v2.json ├── base7a_1_fallback_a_3.json ├── base7a_1_fallback_b_1.json ├── base7a_1_fallback_b_2.json ├── base7a_1_fallback_b_2_v2.json ├── base7a_1_fallback_b_3.json ├── base7a_1_fallback_c_1.json ├── base7a_1_fallback_c_2.json ├── base7a_1_fallback_c_2_v2.json ├── base7a_1_fallback_c_3.json ├── base7a_1_fallback_v2.json ├── base7a_2.json ├── base7a_2_fallback.json ├── base7a_2_fallback_a_2.json ├── base7a_2_fallback_a_3.json ├── base7a_2_fallback_b_1.json ├── base7a_2_fallback_b_2.json ├── base7a_2_fallback_b_2_v2.json ├── base7a_2_fallback_b_3.json ├── base7a_2_fallback_c_1.json ├── base7a_2_fallback_c_2.json ├── base7a_2_fallback_c_2_v2.json ├── base7a_2_fallback_c_3.json ├── base7a_2_fallback_local.json ├── base7a_2_fallback_lower_rot_cov.json ├── base7a_2_fallback_lower_rot_cov_2.json ├── base7a_2_fallback_lower_vo_cov.json ├── base7a_2_fallback_v2.json ├── base7a_2_v2.json ├── base7a_2_v3.json ├── base7a_2_vis_only.json ├── base7a_3.json ├── base7a_3_fallback.json ├── base7a_4_fallback.json ├── base7b.json ├── base7b_1.json ├── base7b_1_fallback.json ├── base7b_1_fallback_a_2.json ├── base7b_1_fallback_a_3.json ├── base7b_1_fallback_b_1.json ├── base7b_1_fallback_b_2.json ├── base7b_1_fallback_b_3.json ├── base7b_1_fallback_c_1.json ├── base7b_1_fallback_c_2.json ├── base7b_1_fallback_c_3.json ├── base7b_2.json ├── base7b_2_fallback.json ├── base7b_2_fallback_a_2.json ├── base7b_2_fallback_a_3.json ├── base7b_2_fallback_b_1.json ├── base7b_2_fallback_b_2.json ├── base7b_2_fallback_b_3.json ├── base7b_2_fallback_c_1.json ├── base7b_2_fallback_c_2.json ├── base7b_2_fallback_c_3.json ├── base7b_fallback.json ├── no_ltm_base7a_1_fallback_a_2.json ├── no_ltm_base7a_2_fallback_b_2.json ├── no_ltm_base7a_2_fallback_c_2.json ├── no_shape_prior_base7a_1_fallback_a_2.json ├── no_shape_prior_base7a_2_fallback_b_2.json ├── no_shape_prior_base7a_2_fallback_c_2.json ├── revision_base.json ├── revision_modified_convg.json ├── tentative_11.json ├── update_rev_lower_conv_thresholds.json ├── update_revision_base.json ├── update_revision_base_first_200.json ├── update_revision_base_first_200_rebuild.json ├── update_revision_base_first_200_rebuild_single_phase.json ├── update_revision_base_first_200_single_phase.json ├── zed2i_left_camera_topics.txt └── zed_left_camera_topics.txt ├── convenience_scripts ├── debugging │ ├── amanda_copy_key_results_for_run_from_server.sh │ ├── debug_jacobian_hessian_diagonal.sh │ └── debug_jacobian_problems_with_images.sh ├── docker │ ├── droid_slam_data_generator.sh │ ├── droid_slam_metrics_generator.sh │ ├── droid_slam_sequence_executor.sh │ ├── high_res_orbslam2_multibags_executor.sh │ ├── high_res_orbslam3_metrics_generator.sh │ ├── high_res_orbslam3_sequence_executor.sh │ ├── high_res_ut_vslam_sequence_executor.sh │ ├── oa_slam_data_generator.sh │ ├── oa_slam_metrics_generator.sh │ └── oa_slam_sequence_executor.sh ├── experiments │ ├── amanda_local │ │ ├── eer_husky_high_res │ │ │ ├── amanda_laptop_data_association_high_res_trajectory_sequence_executor.sh │ │ │ ├── amanda_laptop_high_res_trajectory_sequence_executor.sh │ │ │ ├── amanda_laptop_lego_loam_sequence.sh │ │ │ ├── amanda_laptop_lego_loam_single_trajectory.sh │ │ │ ├── amanda_laptop_ltm_extraction_only.sh │ │ │ ├── amanda_laptop_orbslam2_sequence_executor.sh │ │ │ ├── amanda_laptop_orbslam3_high_res_sequence_executor.sh │ │ │ ├── amanda_laptop_orbslam3_metrics_generator.sh │ │ │ ├── amanda_laptop_ut_vslam_metrics_generator.sh │ │ │ └── amanda_laptop_waypoint_extractor.sh │ │ ├── eer_husky_low_res │ │ │ ├── amanda_laptop_orbslam3_sequence_executor.sh │ │ │ ├── amanda_laptop_single_trajectory_estimator.sh │ │ │ └── amanda_laptop_trajectory_sequence_executor.sh │ │ ├── eer_jackal_ouster │ │ │ ├── bounding_box_writer_for_sequence.sh │ │ │ ├── droid_slam_metrics_generator.sh │ │ │ ├── lego_loam_sequence.sh │ │ │ ├── lego_loam_single_trajectory.sh │ │ │ ├── ltm_extraction_only.sh │ │ │ ├── oa_slam_object_metrics_generator.sh │ │ │ ├── oaslam_metrics_generator.sh │ │ │ ├── orbslam2_sequence_executor.sh │ │ │ ├── orbslam3_metrics_generator.sh │ │ │ ├── orbslam3_sequence_executor.sh │ │ │ ├── plot_iteration_data.sh │ │ │ ├── post_processing_redo.sh │ │ │ ├── timing_bar_plotter.sh │ │ │ ├── trajectory_sequence_executor.sh │ │ │ ├── ut_vslam_metrics_generator.sh │ │ │ ├── ut_vslam_metrics_plotter.sh │ │ │ ├── ut_vslam_object_metrics_generator.sh │ │ │ └── waypoint_extractor.sh │ │ └── eer_jackal_velodyne │ │ │ ├── amanda_laptop_velodyne_lego_loam_sequence.sh │ │ │ └── amanda_laptop_velodyne_lego_loam_single_trajectory.sh │ ├── amanda_robofleet │ │ └── eer_jackal_ouster │ │ │ ├── orbslam3_sequence_executor.sh │ │ │ ├── trajectory_sequence_executor.sh │ │ │ ├── ut_vslam_metrics_generator.sh │ │ │ └── ut_vslam_object_metrics_generator.sh │ └── start_visualizer_and_play_bag.sh ├── old │ ├── bounding_box_csv_creator.sh │ ├── bounding_box_extractor.sh │ ├── cobot_real_data_ellipsoid_estimator.sh │ ├── consecutive_mapping_executions.sh │ ├── data_assoc_cobot_real_data_ellipsoid_estimator.sh │ ├── eer_real_data_estimator.sh │ ├── localization_rosbag_extraction.sh │ ├── orb_post_processor.sh │ └── run_with_jacobian_data_output_eer_real_data_estimator.sh ├── podman │ ├── droid_slam_data_generator.sh │ ├── droid_slam_metrics_generator.sh │ ├── droid_slam_sequence_executor.sh │ ├── high_res_orbslam2_multibags_executor.sh │ ├── high_res_orbslam3_metrics_generator.sh │ ├── high_res_orbslam3_sequence_executor.sh │ ├── high_res_ut_vslam_sequence_executor.sh │ ├── oa_slam_data_generator.sh │ ├── oa_slam_metrics_generator.sh │ ├── oa_slam_sequence_executor.sh │ ├── trajectory_plotter.sh │ └── ut_vslam_metrics_generator.sh └── tum │ └── taijing │ └── tum_freiburg2_desk_preprocess.sh ├── data ├── TUM_fr2_pioneer_360_consecutive_frame_matching │ ├── 100_curr_1311876807.788131.txt │ ├── 100_prev_1311876807.788131.txt │ ├── 101_curr_1311876807.823106.txt │ ├── 101_prev_1311876807.823106.txt │ ├── 102_curr_1311876807.855114.txt │ ├── 102_prev_1311876807.855114.txt │ ├── 103_curr_1311876807.955190.txt │ ├── 103_prev_1311876807.955190.txt │ ├── 104_curr_1311876807.986941.txt │ ├── 104_prev_1311876807.986941.txt │ ├── 105_curr_1311876808.022922.txt │ ├── 105_prev_1311876808.022922.txt │ ├── 106_curr_1311876808.088456.txt │ ├── 106_prev_1311876808.088456.txt │ ├── 107_curr_1311876808.156335.txt │ ├── 107_prev_1311876808.156335.txt │ ├── 108_curr_1311876808.225394.txt │ ├── 108_prev_1311876808.225394.txt │ ├── 109_curr_1311876808.287989.txt │ ├── 109_prev_1311876808.287989.txt │ ├── 10_curr_1311876800.819443.txt │ ├── 10_prev_1311876800.819443.txt │ ├── 110_curr_1311876808.323447.txt │ ├── 110_prev_1311876808.323447.txt │ ├── 111_curr_1311876808.388632.txt │ ├── 111_prev_1311876808.388632.txt │ ├── 112_curr_1311876808.457250.txt │ ├── 112_prev_1311876808.457250.txt │ ├── 113_curr_1311876808.487179.txt │ ├── 11_curr_1311876800.862919.txt │ ├── 11_prev_1311876800.862919.txt │ ├── 12_curr_1311876800.894672.txt │ ├── 12_prev_1311876800.894672.txt │ ├── 13_curr_1311876800.930094.txt │ ├── 13_prev_1311876800.930094.txt │ ├── 14_curr_1311876800.965940.txt │ ├── 14_prev_1311876800.965940.txt │ ├── 15_curr_1311876801.000625.txt │ ├── 15_prev_1311876801.000625.txt │ ├── 16_curr_1311876801.030613.txt │ ├── 16_prev_1311876801.030613.txt │ ├── 17_curr_1311876801.094705.txt │ ├── 17_prev_1311876801.094705.txt │ ├── 18_curr_1311876801.131759.txt │ ├── 18_prev_1311876801.131759.txt │ ├── 19_curr_1311876801.167161.txt │ ├── 19_prev_1311876801.167161.txt │ ├── 1_prev_1311876800.430058.txt │ ├── 20_curr_1311876801.226755.txt │ ├── 20_prev_1311876801.226755.txt │ ├── 21_curr_1311876801.269894.txt │ ├── 21_prev_1311876801.269894.txt │ ├── 22_curr_1311876801.299344.txt │ ├── 22_prev_1311876801.299344.txt │ ├── 23_curr_1311876801.387394.txt │ ├── 23_prev_1311876801.387394.txt │ ├── 24_curr_1311876801.432714.txt │ ├── 24_prev_1311876801.432714.txt │ ├── 25_curr_1311876801.495114.txt │ ├── 25_prev_1311876801.495114.txt │ ├── 26_curr_1311876801.587561.txt │ ├── 26_prev_1311876801.587561.txt │ ├── 27_curr_1311876801.630278.txt │ ├── 27_prev_1311876801.630278.txt │ ├── 28_curr_1311876801.688018.txt │ ├── 28_prev_1311876801.688018.txt │ ├── 29_curr_1311876801.763774.txt │ ├── 29_prev_1311876801.763774.txt │ ├── 2_curr_1311876800.467526.txt │ ├── 2_prev_1311876800.467526.txt │ ├── 30_curr_1311876801.799465.txt │ ├── 30_prev_1311876801.799465.txt │ ├── 31_curr_1311876801.830965.txt │ ├── 31_prev_1311876801.830965.txt │ ├── 32_curr_1311876801.867700.txt │ ├── 32_prev_1311876801.867700.txt │ ├── 33_curr_1311876801.919866.txt │ ├── 33_prev_1311876801.919866.txt │ ├── 34_curr_1311876801.987874.txt │ ├── 34_prev_1311876801.987874.txt │ ├── 35_curr_1311876802.151775.txt │ ├── 35_prev_1311876802.151775.txt │ ├── 36_curr_1311876802.201191.txt │ ├── 36_prev_1311876802.201191.txt │ ├── 37_curr_1311876802.251654.txt │ ├── 37_prev_1311876802.251654.txt │ ├── 38_curr_1311876802.319528.txt │ ├── 38_prev_1311876802.319528.txt │ ├── 39_curr_1311876802.433363.txt │ ├── 39_prev_1311876802.433363.txt │ ├── 3_curr_1311876800.499177.txt │ ├── 3_prev_1311876800.499177.txt │ ├── 40_curr_1311876802.494648.txt │ ├── 40_prev_1311876802.494648.txt │ ├── 41_curr_1311876802.587849.txt │ ├── 41_prev_1311876802.587849.txt │ ├── 42_curr_1311876802.694713.txt │ ├── 42_prev_1311876802.694713.txt │ ├── 43_curr_1311876802.755016.txt │ ├── 43_prev_1311876802.755016.txt │ ├── 44_curr_1311876802.819205.txt │ ├── 44_prev_1311876802.819205.txt │ ├── 45_curr_1311876802.883942.txt │ ├── 45_prev_1311876802.883942.txt │ ├── 46_curr_1311876802.916598.txt │ ├── 46_prev_1311876802.916598.txt │ ├── 47_curr_1311876802.988212.txt │ ├── 47_prev_1311876802.988212.txt │ ├── 48_curr_1311876803.054696.txt │ ├── 48_prev_1311876803.054696.txt │ ├── 49_curr_1311876803.084170.txt │ ├── 49_prev_1311876803.084170.txt │ ├── 4_curr_1311876800.584578.txt │ ├── 4_prev_1311876800.584578.txt │ ├── 50_curr_1311876803.153709.txt │ ├── 50_prev_1311876803.153709.txt │ ├── 51_curr_1311876803.231775.txt │ ├── 51_prev_1311876803.231775.txt │ ├── 52_curr_1311876803.301791.txt │ ├── 52_prev_1311876803.301791.txt │ ├── 53_curr_1311876803.362647.txt │ ├── 53_prev_1311876803.362647.txt │ ├── 54_curr_1311876803.419612.txt │ ├── 54_prev_1311876803.419612.txt │ ├── 559_prev_1311876848.670580.txt │ ├── 55_curr_1311876803.462684.txt │ ├── 55_prev_1311876803.462684.txt │ ├── 560_curr_1311876848.802866.txt │ ├── 560_prev_1311876848.802866.txt │ ├── 561_curr_1311876848.901982.txt │ ├── 561_prev_1311876848.901982.txt │ ├── 562_curr_1311876848.970179.txt │ ├── 562_prev_1311876848.970179.txt │ ├── 563_curr_1311876848.999333.txt │ ├── 563_prev_1311876848.999333.txt │ ├── 564_curr_1311876849.134760.txt │ ├── 564_prev_1311876849.134760.txt │ ├── 565_curr_1311876849.202528.txt │ ├── 565_prev_1311876849.202528.txt │ ├── 566_curr_1311876849.371023.txt │ ├── 566_prev_1311876849.371023.txt │ ├── 567_curr_1311876849.438105.txt │ ├── 567_prev_1311876849.438105.txt │ ├── 568_curr_1311876849.601825.txt │ ├── 568_prev_1311876849.601825.txt │ ├── 569_curr_1311876849.671478.txt │ ├── 569_prev_1311876849.671478.txt │ ├── 56_curr_1311876803.494765.txt │ ├── 56_prev_1311876803.494765.txt │ ├── 570_curr_1311876849.770426.txt │ ├── 570_prev_1311876849.770426.txt │ ├── 571_curr_1311876849.840247.txt │ ├── 571_prev_1311876849.840247.txt │ ├── 572_curr_1311876850.007562.txt │ ├── 572_prev_1311876850.007562.txt │ ├── 573_curr_1311876850.070552.txt │ ├── 575_prev_1311876850.570090.txt │ ├── 576_curr_1311876850.670332.txt │ ├── 576_prev_1311876850.670332.txt │ ├── 577_curr_1311876850.769666.txt │ ├── 577_prev_1311876850.769666.txt │ ├── 578_curr_1311876850.806661.txt │ ├── 578_prev_1311876850.806661.txt │ ├── 579_curr_1311876851.135830.txt │ ├── 579_prev_1311876851.135830.txt │ ├── 57_curr_1311876803.530164.txt │ ├── 57_prev_1311876803.530164.txt │ ├── 580_curr_1311876851.270876.txt │ ├── 580_prev_1311876851.270876.txt │ ├── 581_curr_1311876851.338544.txt │ ├── 581_prev_1311876851.338544.txt │ ├── 582_curr_1311876851.506443.txt │ ├── 582_prev_1311876851.506443.txt │ ├── 583_curr_1311876852.039562.txt │ ├── 583_prev_1311876852.039562.txt │ ├── 584_curr_1311876852.239443.txt │ ├── 584_prev_1311876852.239443.txt │ ├── 585_curr_1311876852.306716.txt │ ├── 585_prev_1311876852.306716.txt │ ├── 586_curr_1311876852.374664.txt │ ├── 586_prev_1311876852.374664.txt │ ├── 587_curr_1311876852.674397.txt │ ├── 587_prev_1311876852.674397.txt │ ├── 588_curr_1311876852.739144.txt │ ├── 588_prev_1311876852.739144.txt │ ├── 589_curr_1311876853.080784.txt │ ├── 589_prev_1311876853.080784.txt │ ├── 58_curr_1311876803.565720.txt │ ├── 58_prev_1311876803.565720.txt │ ├── 590_curr_1311876853.105035.txt │ ├── 590_prev_1311876853.105035.txt │ ├── 591_curr_1311876853.171852.txt │ ├── 591_prev_1311876853.171852.txt │ ├── 592_curr_1311876853.507892.txt │ ├── 592_prev_1311876853.507892.txt │ ├── 593_curr_1311876853.573340.txt │ ├── 593_prev_1311876853.573340.txt │ ├── 594_curr_1311876853.642747.txt │ ├── 594_prev_1311876853.642747.txt │ ├── 595_curr_1311876853.974425.txt │ ├── 595_prev_1311876853.974425.txt │ ├── 596_curr_1311876854.074383.txt │ ├── 596_prev_1311876854.074383.txt │ ├── 597_curr_1311876854.142288.txt │ ├── 597_prev_1311876854.142288.txt │ ├── 598_curr_1311876854.274107.txt │ ├── 598_prev_1311876854.274107.txt │ ├── 599_curr_1311876854.342671.txt │ ├── 599_prev_1311876854.342671.txt │ ├── 59_curr_1311876803.619383.txt │ ├── 59_prev_1311876803.619383.txt │ ├── 5_curr_1311876800.626767.txt │ ├── 5_prev_1311876800.626767.txt │ ├── 600_curr_1311876854.410197.txt │ ├── 600_prev_1311876854.410197.txt │ ├── 601_curr_1311876854.441567.txt │ ├── 601_prev_1311876854.441567.txt │ ├── 602_curr_1311876854.540143.txt │ ├── 602_prev_1311876854.540143.txt │ ├── 603_curr_1311876854.640374.txt │ ├── 603_prev_1311876854.640374.txt │ ├── 604_curr_1311876854.711030.txt │ ├── 604_prev_1311876854.711030.txt │ ├── 605_curr_1311876854.774641.txt │ ├── 605_prev_1311876854.774641.txt │ ├── 606_curr_1311876854.942654.txt │ ├── 606_prev_1311876854.942654.txt │ ├── 607_curr_1311876854.971459.txt │ ├── 607_prev_1311876854.971459.txt │ ├── 608_curr_1311876855.010905.txt │ ├── 608_prev_1311876855.010905.txt │ ├── 609_curr_1311876855.041049.txt │ ├── 609_prev_1311876855.041049.txt │ ├── 60_curr_1311876803.701165.txt │ ├── 60_prev_1311876803.701165.txt │ ├── 610_curr_1311876855.071619.txt │ ├── 610_prev_1311876855.071619.txt │ ├── 611_curr_1311876855.242653.txt │ ├── 611_prev_1311876855.242653.txt │ ├── 612_curr_1311876855.310197.txt │ ├── 612_prev_1311876855.310197.txt │ ├── 613_curr_1311876855.411518.txt │ ├── 613_prev_1311876855.411518.txt │ ├── 614_curr_1311876855.474041.txt │ ├── 614_prev_1311876855.474041.txt │ ├── 615_curr_1311876855.542633.txt │ ├── 615_prev_1311876855.542633.txt │ ├── 616_curr_1311876855.678995.txt │ ├── 616_prev_1311876855.678995.txt │ ├── 617_curr_1311876855.742040.txt │ ├── 617_prev_1311876855.742040.txt │ ├── 618_curr_1311876855.810710.txt │ ├── 618_prev_1311876855.810710.txt │ ├── 619_curr_1311876855.839122.txt │ ├── 619_prev_1311876855.839122.txt │ ├── 61_curr_1311876803.727658.txt │ ├── 61_prev_1311876803.727658.txt │ ├── 620_curr_1311876855.978639.txt │ ├── 620_prev_1311876855.978639.txt │ ├── 621_curr_1311876856.079088.txt │ ├── 621_prev_1311876856.079088.txt │ ├── 622_curr_1311876856.142181.txt │ ├── 622_prev_1311876856.142181.txt │ ├── 623_curr_1311876856.310274.txt │ ├── 623_prev_1311876856.310274.txt │ ├── 624_curr_1311876856.340464.txt │ ├── 624_prev_1311876856.340464.txt │ ├── 625_curr_1311876856.375995.txt │ ├── 625_prev_1311876856.375995.txt │ ├── 626_curr_1311876856.441504.txt │ ├── 626_prev_1311876856.441504.txt │ ├── 627_curr_1311876856.510859.txt │ ├── 627_prev_1311876856.510859.txt │ ├── 628_curr_1311876856.608950.txt │ ├── 628_prev_1311876856.608950.txt │ ├── 629_curr_1311876856.678185.txt │ ├── 629_prev_1311876856.678185.txt │ ├── 62_curr_1311876803.768974.txt │ ├── 62_prev_1311876803.768974.txt │ ├── 630_curr_1311876856.810757.txt │ ├── 630_prev_1311876856.810757.txt │ ├── 631_curr_1311876856.910157.txt │ ├── 631_prev_1311876856.910157.txt │ ├── 632_curr_1311876856.944746.txt │ ├── 632_prev_1311876856.944746.txt │ ├── 633_curr_1311876857.010538.txt │ ├── 633_prev_1311876857.010538.txt │ ├── 634_curr_1311876857.078875.txt │ ├── 634_prev_1311876857.078875.txt │ ├── 635_curr_1311876857.145927.txt │ ├── 635_prev_1311876857.145927.txt │ ├── 636_curr_1311876857.210212.txt │ ├── 636_prev_1311876857.210212.txt │ ├── 637_curr_1311876857.410310.txt │ ├── 637_prev_1311876857.410310.txt │ ├── 638_curr_1311876857.478223.txt │ ├── 638_prev_1311876857.478223.txt │ ├── 639_curr_1311876857.507932.txt │ ├── 639_prev_1311876857.507932.txt │ ├── 63_curr_1311876803.799699.txt │ ├── 63_prev_1311876803.799699.txt │ ├── 640_curr_1311876857.578396.txt │ ├── 640_prev_1311876857.578396.txt │ ├── 641_curr_1311876857.646130.txt │ ├── 641_prev_1311876857.646130.txt │ ├── 642_curr_1311876857.675924.txt │ ├── 642_prev_1311876857.675924.txt │ ├── 643_curr_1311876857.709018.txt │ ├── 643_prev_1311876857.709018.txt │ ├── 644_curr_1311876857.744937.txt │ ├── 644_prev_1311876857.744937.txt │ ├── 645_curr_1311876857.778187.txt │ ├── 645_prev_1311876857.778187.txt │ ├── 646_curr_1311876857.846362.txt │ ├── 646_prev_1311876857.846362.txt │ ├── 647_curr_1311876857.876062.txt │ ├── 647_prev_1311876857.876062.txt │ ├── 648_curr_1311876857.945964.txt │ ├── 648_prev_1311876857.945964.txt │ ├── 649_curr_1311876858.079010.txt │ ├── 649_prev_1311876858.079010.txt │ ├── 64_curr_1311876803.854887.txt │ ├── 64_prev_1311876803.854887.txt │ ├── 650_curr_1311876858.145958.txt │ ├── 650_prev_1311876858.145958.txt │ ├── 651_curr_1311876858.279263.txt │ ├── 651_prev_1311876858.279263.txt │ ├── 652_curr_1311876858.414276.txt │ ├── 652_prev_1311876858.414276.txt │ ├── 653_curr_1311876858.479515.txt │ ├── 653_prev_1311876858.479515.txt │ ├── 654_curr_1311876858.512991.txt │ ├── 654_prev_1311876858.512991.txt │ ├── 655_curr_1311876858.545283.txt │ ├── 655_prev_1311876858.545283.txt │ ├── 656_curr_1311876858.575458.txt │ ├── 656_prev_1311876858.575458.txt │ ├── 657_curr_1311876858.614856.txt │ ├── 657_prev_1311876858.614856.txt │ ├── 658_curr_1311876858.778778.txt │ ├── 658_prev_1311876858.778778.txt │ ├── 659_curr_1311876858.847145.txt │ ├── 659_prev_1311876858.847145.txt │ ├── 65_curr_1311876803.920070.txt │ ├── 65_prev_1311876803.920070.txt │ ├── 660_curr_1311876858.914881.txt │ ├── 660_prev_1311876858.914881.txt │ ├── 661_curr_1311876859.011597.txt │ ├── 661_prev_1311876859.011597.txt │ ├── 662_curr_1311876859.078696.txt │ ├── 662_prev_1311876859.078696.txt │ ├── 663_curr_1311876859.146710.txt │ ├── 663_prev_1311876859.146710.txt │ ├── 664_curr_1311876859.214656.txt │ ├── 664_prev_1311876859.214656.txt │ ├── 665_curr_1311876859.380353.txt │ ├── 665_prev_1311876859.380353.txt │ ├── 666_curr_1311876859.411647.txt │ ├── 666_prev_1311876859.411647.txt │ ├── 667_curr_1311876859.482807.txt │ ├── 667_prev_1311876859.482807.txt │ ├── 668_curr_1311876859.546487.txt │ ├── 668_prev_1311876859.546487.txt │ ├── 669_curr_1311876859.578973.txt │ ├── 669_prev_1311876859.578973.txt │ ├── 66_curr_1311876804.033986.txt │ ├── 66_prev_1311876804.033986.txt │ ├── 670_curr_1311876859.682826.txt │ ├── 670_prev_1311876859.682826.txt │ ├── 671_curr_1311876859.814738.txt │ ├── 671_prev_1311876859.814738.txt │ ├── 672_curr_1311876859.843623.txt │ ├── 672_prev_1311876859.843623.txt │ ├── 673_curr_1311876859.913945.txt │ ├── 673_prev_1311876859.913945.txt │ ├── 674_curr_1311876859.982243.txt │ ├── 674_prev_1311876859.982243.txt │ ├── 675_curr_1311876860.011157.txt │ ├── 675_prev_1311876860.011157.txt │ ├── 676_curr_1311876860.082196.txt │ ├── 676_prev_1311876860.082196.txt │ ├── 677_curr_1311876860.146788.txt │ ├── 677_prev_1311876860.146788.txt │ ├── 678_curr_1311876860.212932.txt │ ├── 678_prev_1311876860.212932.txt │ ├── 679_curr_1311876860.282185.txt │ ├── 679_prev_1311876860.282185.txt │ ├── 67_curr_1311876804.066072.txt │ ├── 67_prev_1311876804.066072.txt │ ├── 680_curr_1311876860.346047.txt │ ├── 680_prev_1311876860.346047.txt │ ├── 681_curr_1311876860.414273.txt │ ├── 681_prev_1311876860.414273.txt │ ├── 682_curr_1311876860.482217.txt │ ├── 682_prev_1311876860.482217.txt │ ├── 683_curr_1311876860.550197.txt │ ├── 683_prev_1311876860.550197.txt │ ├── 684_curr_1311876860.681293.txt │ ├── 684_prev_1311876860.681293.txt │ ├── 685_curr_1311876860.779283.txt │ ├── 685_prev_1311876860.779283.txt │ ├── 686_curr_1311876860.849732.txt │ ├── 686_prev_1311876860.849732.txt │ ├── 687_curr_1311876860.913768.txt │ ├── 687_prev_1311876860.913768.txt │ ├── 688_curr_1311876861.011741.txt │ ├── 688_prev_1311876861.011741.txt │ ├── 689_curr_1311876861.081508.txt │ ├── 689_prev_1311876861.081508.txt │ ├── 68_curr_1311876804.123566.txt │ ├── 68_prev_1311876804.123566.txt │ ├── 690_curr_1311876861.149463.txt │ ├── 690_prev_1311876861.149463.txt │ ├── 691_curr_1311876861.213429.txt │ ├── 691_prev_1311876861.213429.txt │ ├── 692_curr_1311876861.246251.txt │ ├── 692_prev_1311876861.246251.txt │ ├── 693_curr_1311876861.313164.txt │ ├── 693_prev_1311876861.313164.txt │ ├── 694_curr_1311876861.348623.txt │ ├── 694_prev_1311876861.348623.txt │ ├── 695_curr_1311876861.413024.txt │ ├── 695_prev_1311876861.413024.txt │ ├── 696_curr_1311876861.481014.txt │ ├── 696_prev_1311876861.481014.txt │ ├── 697_curr_1311876861.546103.txt │ ├── 697_prev_1311876861.546103.txt │ ├── 698_curr_1311876861.610298.txt │ ├── 698_prev_1311876861.610298.txt │ ├── 699_curr_1311876861.679735.txt │ ├── 699_prev_1311876861.679735.txt │ ├── 69_curr_1311876804.754802.txt │ ├── 69_prev_1311876804.754802.txt │ ├── 6_curr_1311876800.669072.txt │ ├── 6_prev_1311876800.669072.txt │ ├── 700_curr_1311876861.710418.txt │ ├── 700_prev_1311876861.710418.txt │ ├── 701_curr_1311876861.848267.txt │ ├── 701_prev_1311876861.848267.txt │ ├── 702_curr_1311876861.916645.txt │ ├── 702_prev_1311876861.916645.txt │ ├── 703_curr_1311876861.980341.txt │ ├── 703_prev_1311876861.980341.txt │ ├── 704_curr_1311876862.047268.txt │ ├── 704_prev_1311876862.047268.txt │ ├── 705_curr_1311876862.116338.txt │ ├── 705_prev_1311876862.116338.txt │ ├── 706_curr_1311876862.180485.txt │ ├── 706_prev_1311876862.180485.txt │ ├── 707_curr_1311876862.248152.txt │ ├── 707_prev_1311876862.248152.txt │ ├── 708_curr_1311876862.315936.txt │ ├── 708_prev_1311876862.315936.txt │ ├── 709_curr_1311876862.347808.txt │ ├── 709_prev_1311876862.347808.txt │ ├── 70_curr_1311876804.887607.txt │ ├── 70_prev_1311876804.887607.txt │ ├── 710_curr_1311876862.416120.txt │ ├── 710_prev_1311876862.416120.txt │ ├── 711_curr_1311876862.449567.txt │ ├── 711_prev_1311876862.449567.txt │ ├── 712_curr_1311876862.479667.txt │ ├── 712_prev_1311876862.479667.txt │ ├── 713_curr_1311876862.579624.txt │ ├── 713_prev_1311876862.579624.txt │ ├── 714_curr_1311876862.715050.txt │ ├── 714_prev_1311876862.715050.txt │ ├── 715_curr_1311876862.777911.txt │ ├── 715_prev_1311876862.777911.txt │ ├── 716_curr_1311876862.849418.txt │ ├── 716_prev_1311876862.849418.txt │ ├── 717_curr_1311876862.914851.txt │ ├── 717_prev_1311876862.914851.txt │ ├── 718_curr_1311876862.984320.txt │ ├── 718_prev_1311876862.984320.txt │ ├── 719_curr_1311876863.013979.txt │ ├── 719_prev_1311876863.013979.txt │ ├── 71_curr_1311876804.955344.txt │ ├── 71_prev_1311876804.955344.txt │ ├── 720_curr_1311876863.045871.txt │ ├── 720_prev_1311876863.045871.txt │ ├── 721_curr_1311876863.187463.txt │ ├── 721_prev_1311876863.187463.txt │ ├── 722_curr_1311876863.281806.txt │ ├── 722_prev_1311876863.281806.txt │ ├── 723_curr_1311876863.315616.txt │ ├── 723_prev_1311876863.315616.txt │ ├── 724_curr_1311876863.345746.txt │ ├── 724_prev_1311876863.345746.txt │ ├── 725_curr_1311876863.381947.txt │ ├── 725_prev_1311876863.381947.txt │ ├── 726_curr_1311876863.448204.txt │ ├── 726_prev_1311876863.448204.txt │ ├── 727_curr_1311876863.515836.txt │ ├── 727_prev_1311876863.515836.txt │ ├── 728_curr_1311876863.583982.txt │ ├── 728_prev_1311876863.583982.txt │ ├── 729_curr_1311876863.613847.txt │ ├── 729_prev_1311876863.613847.txt │ ├── 72_curr_1311876805.154541.txt │ ├── 72_prev_1311876805.154541.txt │ ├── 730_curr_1311876863.682520.txt │ ├── 730_prev_1311876863.682520.txt │ ├── 731_curr_1311876863.748458.txt │ ├── 731_prev_1311876863.748458.txt │ ├── 732_curr_1311876863.814439.txt │ ├── 732_prev_1311876863.814439.txt │ ├── 733_curr_1311876863.845816.txt │ ├── 733_prev_1311876863.845816.txt │ ├── 734_curr_1311876863.983840.txt │ ├── 734_prev_1311876863.983840.txt │ ├── 735_curr_1311876864.048295.txt │ ├── 735_prev_1311876864.048295.txt │ ├── 736_curr_1311876864.114348.txt │ ├── 736_prev_1311876864.114348.txt │ ├── 737_curr_1311876864.182286.txt │ ├── 737_prev_1311876864.182286.txt │ ├── 738_curr_1311876864.251318.txt │ ├── 738_prev_1311876864.251318.txt │ ├── 739_curr_1311876864.316233.txt │ ├── 739_prev_1311876864.316233.txt │ ├── 73_curr_1311876805.222317.txt │ ├── 73_prev_1311876805.222317.txt │ ├── 740_curr_1311876864.683894.txt │ ├── 740_prev_1311876864.683894.txt │ ├── 741_curr_1311876864.714409.txt │ ├── 741_prev_1311876864.714409.txt │ ├── 742_curr_1311876864.851565.txt │ ├── 742_prev_1311876864.851565.txt │ ├── 743_curr_1311876864.882633.txt │ ├── 743_prev_1311876864.882633.txt │ ├── 744_curr_1311876865.016308.txt │ ├── 744_prev_1311876865.016308.txt │ ├── 745_curr_1311876865.083866.txt │ ├── 745_prev_1311876865.083866.txt │ ├── 746_curr_1311876865.115507.txt │ ├── 746_prev_1311876865.115507.txt │ ├── 747_curr_1311876865.184147.txt │ ├── 747_prev_1311876865.184147.txt │ ├── 748_curr_1311876865.251649.txt │ ├── 748_prev_1311876865.251649.txt │ ├── 749_curr_1311876865.314565.txt │ ├── 749_prev_1311876865.314565.txt │ ├── 74_curr_1311876805.289126.txt │ ├── 74_prev_1311876805.289126.txt │ ├── 750_curr_1311876865.414585.txt │ ├── 750_prev_1311876865.414585.txt │ ├── 751_curr_1311876865.482884.txt │ ├── 751_prev_1311876865.482884.txt │ ├── 752_curr_1311876865.551010.txt │ ├── 752_prev_1311876865.551010.txt │ ├── 753_curr_1311876865.651502.txt │ ├── 753_prev_1311876865.651502.txt │ ├── 754_curr_1311876865.720034.txt │ ├── 754_prev_1311876865.720034.txt │ ├── 755_curr_1311876865.783571.txt │ ├── 755_prev_1311876865.783571.txt │ ├── 756_curr_1311876865.882062.txt │ ├── 756_prev_1311876865.882062.txt │ ├── 757_curr_1311876865.950807.txt │ ├── 757_prev_1311876865.950807.txt │ ├── 758_curr_1311876866.018051.txt │ ├── 758_prev_1311876866.018051.txt │ ├── 759_curr_1311876866.150629.txt │ ├── 759_prev_1311876866.150629.txt │ ├── 75_curr_1311876805.651934.txt │ ├── 75_prev_1311876805.651934.txt │ ├── 760_curr_1311876866.217864.txt │ ├── 760_prev_1311876866.217864.txt │ ├── 761_curr_1311876866.282206.txt │ ├── 761_prev_1311876866.282206.txt │ ├── 762_curr_1311876866.318747.txt │ ├── 762_prev_1311876866.318747.txt │ ├── 763_curr_1311876866.551995.txt │ ├── 763_prev_1311876866.551995.txt │ ├── 764_curr_1311876866.582051.txt │ ├── 764_prev_1311876866.582051.txt │ ├── 765_curr_1311876866.649886.txt │ ├── 765_prev_1311876866.649886.txt │ ├── 766_curr_1311876866.851196.txt │ ├── 766_prev_1311876866.851196.txt │ ├── 767_curr_1311876866.919899.txt │ ├── 767_prev_1311876866.919899.txt │ ├── 768_curr_1311876866.988231.txt │ ├── 768_prev_1311876866.988231.txt │ ├── 769_curr_1311876867.123047.txt │ ├── 769_prev_1311876867.123047.txt │ ├── 76_curr_1311876805.752786.txt │ ├── 76_prev_1311876805.752786.txt │ ├── 770_curr_1311876867.317708.txt │ ├── 770_prev_1311876867.317708.txt │ ├── 771_curr_1311876867.388199.txt │ ├── 771_prev_1311876867.388199.txt │ ├── 772_curr_1311876867.418227.txt │ ├── 772_prev_1311876867.418227.txt │ ├── 773_curr_1311876867.488300.txt │ ├── 773_prev_1311876867.488300.txt │ ├── 774_curr_1311876867.788205.txt │ ├── 774_prev_1311876867.788205.txt │ ├── 775_curr_1311876867.850249.txt │ ├── 775_prev_1311876867.850249.txt │ ├── 776_curr_1311876867.920305.txt │ ├── 776_prev_1311876867.920305.txt │ ├── 777_curr_1311876867.988252.txt │ ├── 777_prev_1311876867.988252.txt │ ├── 778_curr_1311876868.056492.txt │ ├── 778_prev_1311876868.056492.txt │ ├── 779_curr_1311876868.086285.txt │ ├── 779_prev_1311876868.086285.txt │ ├── 77_curr_1311876805.888938.txt │ ├── 77_prev_1311876805.888938.txt │ ├── 780_curr_1311876868.118520.txt │ ├── 780_prev_1311876868.118520.txt │ ├── 781_curr_1311876868.153782.txt │ ├── 781_prev_1311876868.153782.txt │ ├── 782_curr_1311876868.220531.txt │ ├── 782_prev_1311876868.220531.txt │ ├── 783_curr_1311876868.288345.txt │ ├── 783_prev_1311876868.288345.txt │ ├── 784_curr_1311876868.355815.txt │ ├── 784_prev_1311876868.355815.txt │ ├── 785_curr_1311876868.455750.txt │ ├── 785_prev_1311876868.455750.txt │ ├── 786_curr_1311876868.520546.txt │ ├── 786_prev_1311876868.520546.txt │ ├── 787_curr_1311876868.685913.txt │ ├── 787_prev_1311876868.685913.txt │ ├── 788_curr_1311876868.717973.txt │ ├── 788_prev_1311876868.717973.txt │ ├── 789_curr_1311876868.819158.txt │ ├── 789_prev_1311876868.819158.txt │ ├── 78_curr_1311876805.920134.txt │ ├── 78_prev_1311876805.920134.txt │ ├── 790_curr_1311876868.920404.txt │ ├── 790_prev_1311876868.920404.txt │ ├── 791_curr_1311876868.956445.txt │ ├── 791_prev_1311876868.956445.txt │ ├── 792_curr_1311876869.020160.txt │ ├── 792_prev_1311876869.020160.txt │ ├── 793_curr_1311876869.054791.txt │ ├── 793_prev_1311876869.054791.txt │ ├── 794_curr_1311876869.086043.txt │ ├── 794_prev_1311876869.086043.txt │ ├── 795_curr_1311876869.118788.txt │ ├── 795_prev_1311876869.118788.txt │ ├── 796_curr_1311876869.185601.txt │ ├── 796_prev_1311876869.185601.txt │ ├── 797_curr_1311876869.224112.txt │ ├── 797_prev_1311876869.224112.txt │ ├── 798_curr_1311876869.288014.txt │ ├── 798_prev_1311876869.288014.txt │ ├── 799_curr_1311876869.424283.txt │ ├── 799_prev_1311876869.424283.txt │ ├── 79_curr_1311876806.188453.txt │ ├── 79_prev_1311876806.188453.txt │ ├── 7_curr_1311876800.699136.txt │ ├── 7_prev_1311876800.699136.txt │ ├── 800_curr_1311876869.524311.txt │ ├── 800_prev_1311876869.524311.txt │ ├── 801_curr_1311876869.824216.txt │ ├── 801_prev_1311876869.824216.txt │ ├── 802_curr_1311876870.023939.txt │ ├── 802_prev_1311876870.023939.txt │ ├── 803_curr_1311876870.088441.txt │ ├── 803_prev_1311876870.088441.txt │ ├── 804_curr_1311876870.122324.txt │ ├── 804_prev_1311876870.122324.txt │ ├── 805_curr_1311876870.154541.txt │ ├── 805_prev_1311876870.154541.txt │ ├── 806_curr_1311876870.224154.txt │ ├── 806_prev_1311876870.224154.txt │ ├── 807_curr_1311876870.253875.txt │ ├── 807_prev_1311876870.253875.txt │ ├── 808_curr_1311876870.287658.txt │ ├── 808_prev_1311876870.287658.txt │ ├── 809_curr_1311876870.490934.txt │ ├── 809_prev_1311876870.490934.txt │ ├── 80_curr_1311876806.258302.txt │ ├── 80_prev_1311876806.258302.txt │ ├── 810_curr_1311876870.592832.txt │ ├── 810_prev_1311876870.592832.txt │ ├── 811_curr_1311876870.754494.txt │ ├── 811_prev_1311876870.754494.txt │ ├── 812_curr_1311876870.824185.txt │ ├── 812_prev_1311876870.824185.txt │ ├── 813_curr_1311876870.891887.txt │ ├── 813_prev_1311876870.891887.txt │ ├── 814_curr_1311876870.921734.txt │ ├── 814_prev_1311876870.921734.txt │ ├── 815_curr_1311876871.056270.txt │ ├── 815_prev_1311876871.056270.txt │ ├── 816_curr_1311876871.089984.txt │ ├── 816_prev_1311876871.089984.txt │ ├── 817_curr_1311876871.156239.txt │ ├── 817_prev_1311876871.156239.txt │ ├── 818_curr_1311876871.292499.txt │ ├── 818_prev_1311876871.292499.txt │ ├── 819_curr_1311876871.521907.txt │ ├── 819_prev_1311876871.521907.txt │ ├── 81_curr_1311876806.321453.txt │ ├── 81_prev_1311876806.321453.txt │ ├── 820_curr_1311876871.591747.txt │ ├── 820_prev_1311876871.591747.txt │ ├── 821_curr_1311876871.689806.txt │ ├── 821_prev_1311876871.689806.txt │ ├── 822_curr_1311876871.760180.txt │ ├── 822_prev_1311876871.760180.txt │ ├── 823_curr_1311876871.823864.txt │ ├── 823_prev_1311876871.823864.txt │ ├── 824_curr_1311876871.892506.txt │ ├── 824_prev_1311876871.892506.txt │ ├── 825_curr_1311876872.060374.txt │ ├── 825_prev_1311876872.060374.txt │ ├── 826_curr_1311876872.123899.txt │ ├── 826_prev_1311876872.123899.txt │ ├── 827_curr_1311876872.159852.txt │ ├── 827_prev_1311876872.159852.txt │ ├── 828_curr_1311876872.360270.txt │ ├── 828_prev_1311876872.360270.txt │ ├── 829_curr_1311876872.492280.txt │ ├── 82_curr_1311876806.355687.txt │ ├── 82_prev_1311876806.355687.txt │ ├── 83_curr_1311876806.387744.txt │ ├── 83_prev_1311876806.387744.txt │ ├── 84_curr_1311876806.457917.txt │ ├── 84_prev_1311876806.457917.txt │ ├── 85_curr_1311876806.487278.txt │ ├── 85_prev_1311876806.487278.txt │ ├── 86_curr_1311876806.587473.txt │ ├── 86_prev_1311876806.587473.txt │ ├── 87_curr_1311876806.658065.txt │ ├── 87_prev_1311876806.658065.txt │ ├── 88_curr_1311876806.755702.txt │ ├── 88_prev_1311876806.755702.txt │ ├── 89_curr_1311876806.855642.txt │ ├── 89_prev_1311876806.855642.txt │ ├── 8_curr_1311876800.730907.txt │ ├── 8_prev_1311876800.730907.txt │ ├── 90_curr_1311876806.955975.txt │ ├── 90_prev_1311876806.955975.txt │ ├── 91_curr_1311876807.088849.txt │ ├── 91_prev_1311876807.088849.txt │ ├── 92_curr_1311876807.220439.txt │ ├── 92_prev_1311876807.220439.txt │ ├── 93_curr_1311876807.288850.txt │ ├── 93_prev_1311876807.288850.txt │ ├── 94_curr_1311876807.389007.txt │ ├── 94_prev_1311876807.389007.txt │ ├── 95_curr_1311876807.423021.txt │ ├── 95_prev_1311876807.423021.txt │ ├── 96_curr_1311876807.488789.txt │ ├── 96_prev_1311876807.488789.txt │ ├── 97_curr_1311876807.556724.txt │ ├── 97_prev_1311876807.556724.txt │ ├── 98_curr_1311876807.587013.txt │ ├── 98_prev_1311876807.587013.txt │ ├── 99_curr_1311876807.722791.txt │ ├── 99_prev_1311876807.722791.txt │ ├── 9_curr_1311876800.767879.txt │ ├── 9_prev_1311876800.767879.txt │ ├── README.md │ └── calibration │ │ └── camera_matrix.txt ├── vslam_set1 │ ├── 000001.png │ ├── 000001.txt │ ├── 000002.png │ ├── 000002.txt │ ├── 000003.png │ ├── 000003.txt │ ├── 000004.png │ ├── 000004.txt │ ├── 000005.png │ ├── 000005.txt │ ├── README.md │ ├── arrangement │ │ ├── 20210407_101758.jpg │ │ ├── 20210407_101814.jpg │ │ ├── 20210407_101859.jpg │ │ └── 20210407_102729.jpg │ ├── calibration │ │ ├── calibration.txt │ │ └── camera_matrix.txt │ └── labels │ │ ├── (0,0,0.13)_labeled.png │ │ ├── (0,0,0.13)_labeled_cropped.png │ │ ├── (0.1524,0,0.13)_labeled.png │ │ ├── (0.1524,0,0.13)_labeled_cropped.png │ │ ├── (0.3048,0,0.13)_labeled.png │ │ ├── (0.3048,0,0.13)_labeled_cropped.png │ │ ├── (0.4572,0,0.13)_labeled.png │ │ ├── (0.4572,0,0.13)_labeled_cropped.png │ │ ├── (0.6096,0,0.13)_labeled.png │ │ ├── (0.6096,0,0.13)_labeled_cropped.png │ │ └── sequence_gif.gif ├── vslam_set2 │ ├── 000001.txt │ ├── 000002.txt │ ├── 000003.txt │ ├── 000004.txt │ ├── 000005.txt │ ├── 000006.txt │ ├── 000007.txt │ ├── 000008.txt │ ├── 000009.txt │ ├── 000010.txt │ ├── 000011.txt │ ├── 000012.txt │ ├── 000013.txt │ ├── 000014.txt │ ├── 000015.txt │ ├── 000016.txt │ ├── 000017.txt │ ├── 000018.txt │ ├── 000019.txt │ ├── 000020.txt │ ├── 000021.txt │ ├── README.md │ ├── calibration │ │ └── camera_matrix.txt │ └── features │ │ └── features.txt ├── vslam_set4 │ ├── 000001.txt │ ├── 000002.txt │ ├── 000003.txt │ ├── 000004.txt │ ├── 000005.txt │ ├── 000006.txt │ ├── 000007.txt │ ├── 000008.txt │ ├── 000009.txt │ ├── 000010.txt │ ├── 000011.txt │ ├── 000012.txt │ ├── 000013.txt │ ├── 000014.txt │ ├── 000015.txt │ ├── 000016.txt │ ├── 000017.txt │ ├── 000018.txt │ ├── 000019.txt │ ├── 000020.txt │ ├── 000021.txt │ ├── README.md │ ├── calibration │ │ └── camera_matrix.txt │ └── features │ │ └── features.txt ├── vslam_set5 │ ├── 000001.txt │ ├── 000002.txt │ ├── 000003.txt │ ├── 000004.txt │ ├── 000005.txt │ ├── 000006.txt │ ├── 000007.txt │ ├── 000008.txt │ ├── 000009.txt │ ├── 000010.txt │ ├── 000011.txt │ ├── 000012.txt │ ├── 000013.txt │ ├── 000014.txt │ ├── 000015.txt │ ├── 000016.txt │ ├── 000017.txt │ ├── 000018.txt │ ├── 000019.txt │ ├── 000020.txt │ ├── 000021.txt │ ├── 000022.txt │ ├── 000023.txt │ ├── 000024.txt │ ├── 000025.txt │ ├── 000026.txt │ ├── 000027.txt │ ├── 000028.txt │ ├── 000029.txt │ ├── 000030.txt │ ├── 000031.txt │ ├── 000032.txt │ ├── 000033.txt │ ├── 000034.txt │ ├── 000035.txt │ ├── 000036.txt │ ├── 000037.txt │ ├── 000038.txt │ ├── 000039.txt │ ├── 000040.txt │ ├── 000041.txt │ ├── 000042.txt │ ├── 000043.txt │ ├── 000044.txt │ ├── 000045.txt │ ├── 000046.txt │ ├── 000047.txt │ ├── 000048.txt │ ├── 000049.txt │ ├── 000050.txt │ ├── 000051.txt │ ├── 000052.txt │ ├── 000053.txt │ ├── 000054.txt │ ├── 000055.txt │ ├── 000056.txt │ ├── 000057.txt │ ├── 000058.txt │ ├── 000059.txt │ ├── 000060.txt │ ├── 000061.txt │ ├── 000062.txt │ ├── 000063.txt │ ├── 000064.txt │ ├── 000065.txt │ ├── 000066.txt │ ├── 000067.txt │ ├── 000068.txt │ ├── 000069.txt │ ├── 000070.txt │ ├── 000071.txt │ ├── 000072.txt │ ├── 000073.txt │ ├── 000074.txt │ ├── 000075.txt │ ├── 000076.txt │ ├── 000077.txt │ ├── 000078.txt │ ├── 000079.txt │ ├── 000080.txt │ ├── 000081.txt │ ├── 000082.txt │ ├── 000083.txt │ ├── 000084.txt │ ├── 000085.txt │ ├── 000086.txt │ ├── 000087.txt │ ├── 000088.txt │ ├── 000089.txt │ ├── 000090.txt │ ├── 000091.txt │ ├── 000092.txt │ ├── 000093.txt │ ├── 000094.txt │ ├── 000095.txt │ ├── 000096.txt │ ├── 000097.txt │ ├── 000098.txt │ ├── 000099.txt │ ├── 000100.txt │ ├── 000101.txt │ ├── 000102.txt │ ├── 000103.txt │ ├── 000104.txt │ ├── 000105.txt │ ├── 000106.txt │ ├── 000107.txt │ ├── 000108.txt │ ├── 000109.txt │ ├── 000110.txt │ ├── 000111.txt │ ├── 000112.txt │ ├── 000113.txt │ ├── 000114.txt │ ├── 000115.txt │ ├── 000116.txt │ ├── 000117.txt │ ├── 000118.txt │ ├── 000119.txt │ ├── 000120.txt │ ├── 000121.txt │ ├── calibration │ │ └── camera_matrix.txt │ └── features │ │ └── features.txt ├── vslam_set6 │ ├── 000001.txt │ ├── 000002.txt │ ├── 000003.txt │ ├── 000004.txt │ ├── 000005.txt │ ├── 000006.txt │ ├── 000007.txt │ ├── 000008.txt │ ├── 000009.txt │ ├── 000010.txt │ ├── 000011.txt │ ├── 000012.txt │ ├── 000013.txt │ ├── 000014.txt │ ├── 000015.txt │ ├── 000016.txt │ ├── 000017.txt │ ├── 000018.txt │ ├── 000019.txt │ ├── 000020.txt │ ├── 000021.txt │ ├── 000022.txt │ ├── 000023.txt │ ├── 000024.txt │ ├── 000025.txt │ ├── 000026.txt │ ├── 000027.txt │ ├── 000028.txt │ ├── 000029.txt │ ├── 000030.txt │ ├── 000031.txt │ ├── 000032.txt │ ├── 000033.txt │ ├── 000034.txt │ ├── 000035.txt │ ├── 000036.txt │ ├── 000037.txt │ ├── 000038.txt │ ├── 000039.txt │ ├── 000040.txt │ ├── 000041.txt │ ├── 000042.txt │ ├── 000043.txt │ ├── 000044.txt │ ├── 000045.txt │ ├── 000046.txt │ ├── 000047.txt │ ├── 000048.txt │ ├── 000049.txt │ ├── 000050.txt │ ├── 000051.txt │ ├── 000052.txt │ ├── 000053.txt │ ├── 000054.txt │ ├── 000055.txt │ ├── 000056.txt │ ├── 000057.txt │ ├── 000058.txt │ ├── 000059.txt │ ├── 000060.txt │ ├── 000061.txt │ ├── calibration │ │ └── camera_matrix.txt │ └── features │ │ └── features.txt ├── vslam_set7 │ ├── 000001.txt │ ├── 000002.txt │ ├── 000003.txt │ ├── 000004.txt │ ├── calibration │ │ └── camera_matrix.txt │ └── features │ │ └── features.txt └── vslam_superset1 │ ├── README.md │ ├── high_density │ ├── groundtruth │ │ ├── 000001.txt │ │ ├── 000002.txt │ │ ├── 000003.txt │ │ ├── 000004.txt │ │ ├── 000005.txt │ │ ├── 000006.txt │ │ ├── 000007.txt │ │ ├── 000008.txt │ │ ├── 000009.txt │ │ ├── 000010.txt │ │ ├── 000011.txt │ │ ├── 000012.txt │ │ ├── 000013.txt │ │ ├── 000014.txt │ │ ├── 000015.txt │ │ ├── 000016.txt │ │ ├── 000017.txt │ │ ├── 000018.txt │ │ ├── 000019.txt │ │ ├── 000020.txt │ │ ├── 000021.txt │ │ ├── 000022.txt │ │ ├── 000023.txt │ │ ├── 000024.txt │ │ ├── 000025.txt │ │ ├── 000026.txt │ │ ├── 000027.txt │ │ ├── 000028.txt │ │ ├── 000029.txt │ │ ├── 000030.txt │ │ ├── 000031.txt │ │ ├── 000032.txt │ │ ├── 000033.txt │ │ ├── 000034.txt │ │ ├── 000035.txt │ │ ├── 000036.txt │ │ ├── 000037.txt │ │ ├── 000038.txt │ │ ├── 000039.txt │ │ ├── 000040.txt │ │ ├── 000041.txt │ │ ├── calibration │ │ │ └── camera_matrix.txt │ │ └── features │ │ │ └── features.txt │ ├── high_noise │ │ ├── 000001.txt │ │ ├── 000002.txt │ │ ├── 000003.txt │ │ ├── 000004.txt │ │ ├── 000005.txt │ │ ├── 000006.txt │ │ ├── 000007.txt │ │ ├── 000008.txt │ │ ├── 000009.txt │ │ ├── 000010.txt │ │ ├── 000011.txt │ │ ├── 000012.txt │ │ ├── 000013.txt │ │ ├── 000014.txt │ │ ├── 000015.txt │ │ ├── 000016.txt │ │ ├── 000017.txt │ │ ├── 000018.txt │ │ ├── 000019.txt │ │ ├── 000020.txt │ │ ├── 000021.txt │ │ ├── 000022.txt │ │ ├── 000023.txt │ │ ├── 000024.txt │ │ ├── 000025.txt │ │ ├── 000026.txt │ │ ├── 000027.txt │ │ ├── 000028.txt │ │ ├── 000029.txt │ │ ├── 000030.txt │ │ ├── 000031.txt │ │ ├── 000032.txt │ │ ├── 000033.txt │ │ ├── 000034.txt │ │ ├── 000035.txt │ │ ├── 000036.txt │ │ ├── 000037.txt │ │ ├── 000038.txt │ │ ├── 000039.txt │ │ ├── 000040.txt │ │ ├── 000041.txt │ │ ├── calibration │ │ │ └── camera_matrix.txt │ │ └── features │ │ │ └── features.txt │ ├── low_noise │ │ ├── 000001.txt │ │ ├── 000002.txt │ │ ├── 000003.txt │ │ ├── 000004.txt │ │ ├── 000005.txt │ │ ├── 000006.txt │ │ ├── 000007.txt │ │ ├── 000008.txt │ │ ├── 000009.txt │ │ ├── 000010.txt │ │ ├── 000011.txt │ │ ├── 000012.txt │ │ ├── 000013.txt │ │ ├── 000014.txt │ │ ├── 000015.txt │ │ ├── 000016.txt │ │ ├── 000017.txt │ │ ├── 000018.txt │ │ ├── 000019.txt │ │ ├── 000020.txt │ │ ├── 000021.txt │ │ ├── 000022.txt │ │ ├── 000023.txt │ │ ├── 000024.txt │ │ ├── 000025.txt │ │ ├── 000026.txt │ │ ├── 000027.txt │ │ ├── 000028.txt │ │ ├── 000029.txt │ │ ├── 000030.txt │ │ ├── 000031.txt │ │ ├── 000032.txt │ │ ├── 000033.txt │ │ ├── 000034.txt │ │ ├── 000035.txt │ │ ├── 000036.txt │ │ ├── 000037.txt │ │ ├── 000038.txt │ │ ├── 000039.txt │ │ ├── 000040.txt │ │ ├── 000041.txt │ │ ├── calibration │ │ │ └── camera_matrix.txt │ │ └── features │ │ │ └── features.txt │ └── medium_noise │ │ ├── 000001.txt │ │ ├── 000002.txt │ │ ├── 000003.txt │ │ ├── 000004.txt │ │ ├── 000005.txt │ │ ├── 000006.txt │ │ ├── 000007.txt │ │ ├── 000008.txt │ │ ├── 000009.txt │ │ ├── 000010.txt │ │ ├── 000011.txt │ │ ├── 000012.txt │ │ ├── 000013.txt │ │ ├── 000014.txt │ │ ├── 000015.txt │ │ ├── 000016.txt │ │ ├── 000017.txt │ │ ├── 000018.txt │ │ ├── 000019.txt │ │ ├── 000020.txt │ │ ├── 000021.txt │ │ ├── 000022.txt │ │ ├── 000023.txt │ │ ├── 000024.txt │ │ ├── 000025.txt │ │ ├── 000026.txt │ │ ├── 000027.txt │ │ ├── 000028.txt │ │ ├── 000029.txt │ │ ├── 000030.txt │ │ ├── 000031.txt │ │ ├── 000032.txt │ │ ├── 000033.txt │ │ ├── 000034.txt │ │ ├── 000035.txt │ │ ├── 000036.txt │ │ ├── 000037.txt │ │ ├── 000038.txt │ │ ├── 000039.txt │ │ ├── 000040.txt │ │ ├── 000041.txt │ │ ├── calibration │ │ └── camera_matrix.txt │ │ └── features │ │ └── features.txt │ ├── low_density │ ├── groundtruth │ │ ├── 000001.txt │ │ ├── 000002.txt │ │ ├── 000003.txt │ │ ├── 000004.txt │ │ ├── 000005.txt │ │ ├── 000006.txt │ │ ├── 000007.txt │ │ ├── 000008.txt │ │ ├── 000009.txt │ │ ├── 000010.txt │ │ ├── 000011.txt │ │ ├── 000012.txt │ │ ├── 000013.txt │ │ ├── 000014.txt │ │ ├── 000015.txt │ │ ├── 000016.txt │ │ ├── 000017.txt │ │ ├── 000018.txt │ │ ├── 000019.txt │ │ ├── 000020.txt │ │ ├── 000021.txt │ │ ├── 000022.txt │ │ ├── 000023.txt │ │ ├── 000024.txt │ │ ├── 000025.txt │ │ ├── 000026.txt │ │ ├── 000027.txt │ │ ├── 000028.txt │ │ ├── 000029.txt │ │ ├── 000030.txt │ │ ├── 000031.txt │ │ ├── 000032.txt │ │ ├── 000033.txt │ │ ├── 000034.txt │ │ ├── 000035.txt │ │ ├── 000036.txt │ │ ├── 000037.txt │ │ ├── 000038.txt │ │ ├── 000039.txt │ │ ├── 000040.txt │ │ ├── 000041.txt │ │ ├── calibration │ │ │ └── camera_matrix.txt │ │ └── features │ │ │ └── features.txt │ ├── high_noise │ │ ├── 000001.txt │ │ ├── 000002.txt │ │ ├── 000003.txt │ │ ├── 000004.txt │ │ ├── 000005.txt │ │ ├── 000006.txt │ │ ├── 000007.txt │ │ ├── 000008.txt │ │ ├── 000009.txt │ │ ├── 000010.txt │ │ ├── 000011.txt │ │ ├── 000012.txt │ │ ├── 000013.txt │ │ ├── 000014.txt │ │ ├── 000015.txt │ │ ├── 000016.txt │ │ ├── 000017.txt │ │ ├── 000018.txt │ │ ├── 000019.txt │ │ ├── 000020.txt │ │ ├── 000021.txt │ │ ├── 000022.txt │ │ ├── 000023.txt │ │ ├── 000024.txt │ │ ├── 000025.txt │ │ ├── 000026.txt │ │ ├── 000027.txt │ │ ├── 000028.txt │ │ ├── 000029.txt │ │ ├── 000030.txt │ │ ├── 000031.txt │ │ ├── 000032.txt │ │ ├── 000033.txt │ │ ├── 000034.txt │ │ ├── 000035.txt │ │ ├── 000036.txt │ │ ├── 000037.txt │ │ ├── 000038.txt │ │ ├── 000039.txt │ │ ├── 000040.txt │ │ ├── 000041.txt │ │ ├── calibration │ │ │ └── camera_matrix.txt │ │ └── features │ │ │ └── features.txt │ ├── low_noise │ │ ├── 000001.txt │ │ ├── 000002.txt │ │ ├── 000003.txt │ │ ├── 000004.txt │ │ ├── 000005.txt │ │ ├── 000006.txt │ │ ├── 000007.txt │ │ ├── 000008.txt │ │ ├── 000009.txt │ │ ├── 000010.txt │ │ ├── 000011.txt │ │ ├── 000012.txt │ │ ├── 000013.txt │ │ ├── 000014.txt │ │ ├── 000015.txt │ │ ├── 000016.txt │ │ ├── 000017.txt │ │ ├── 000018.txt │ │ ├── 000019.txt │ │ ├── 000020.txt │ │ ├── 000021.txt │ │ ├── 000022.txt │ │ ├── 000023.txt │ │ ├── 000024.txt │ │ ├── 000025.txt │ │ ├── 000026.txt │ │ ├── 000027.txt │ │ ├── 000028.txt │ │ ├── 000029.txt │ │ ├── 000030.txt │ │ ├── 000031.txt │ │ ├── 000032.txt │ │ ├── 000033.txt │ │ ├── 000034.txt │ │ ├── 000035.txt │ │ ├── 000036.txt │ │ ├── 000037.txt │ │ ├── 000038.txt │ │ ├── 000039.txt │ │ ├── 000040.txt │ │ ├── 000041.txt │ │ ├── calibration │ │ │ └── camera_matrix.txt │ │ └── features │ │ │ └── features.txt │ └── medium_noise │ │ ├── 000001.txt │ │ ├── 000002.txt │ │ ├── 000003.txt │ │ ├── 000004.txt │ │ ├── 000005.txt │ │ ├── 000006.txt │ │ ├── 000007.txt │ │ ├── 000008.txt │ │ ├── 000009.txt │ │ ├── 000010.txt │ │ ├── 000011.txt │ │ ├── 000012.txt │ │ ├── 000013.txt │ │ ├── 000014.txt │ │ ├── 000015.txt │ │ ├── 000016.txt │ │ ├── 000017.txt │ │ ├── 000018.txt │ │ ├── 000019.txt │ │ ├── 000020.txt │ │ ├── 000021.txt │ │ ├── 000022.txt │ │ ├── 000023.txt │ │ ├── 000024.txt │ │ ├── 000025.txt │ │ ├── 000026.txt │ │ ├── 000027.txt │ │ ├── 000028.txt │ │ ├── 000029.txt │ │ ├── 000030.txt │ │ ├── 000031.txt │ │ ├── 000032.txt │ │ ├── 000033.txt │ │ ├── 000034.txt │ │ ├── 000035.txt │ │ ├── 000036.txt │ │ ├── 000037.txt │ │ ├── 000038.txt │ │ ├── 000039.txt │ │ ├── 000040.txt │ │ ├── 000041.txt │ │ ├── calibration │ │ └── camera_matrix.txt │ │ └── features │ │ └── features.txt │ └── medium_density │ ├── groundtruth │ ├── 000001.txt │ ├── 000002.txt │ ├── 000003.txt │ ├── 000004.txt │ ├── 000005.txt │ ├── 000006.txt │ ├── 000007.txt │ ├── 000008.txt │ ├── 000009.txt │ ├── 000010.txt │ ├── 000011.txt │ ├── 000012.txt │ ├── 000013.txt │ ├── 000014.txt │ ├── 000015.txt │ ├── 000016.txt │ ├── 000017.txt │ ├── 000018.txt │ ├── 000019.txt │ ├── 000020.txt │ ├── 000021.txt │ ├── 000022.txt │ ├── 000023.txt │ ├── 000024.txt │ ├── 000025.txt │ ├── 000026.txt │ ├── 000027.txt │ ├── 000028.txt │ ├── 000029.txt │ ├── 000030.txt │ ├── 000031.txt │ ├── 000032.txt │ ├── 000033.txt │ ├── 000034.txt │ ├── 000035.txt │ ├── 000036.txt │ ├── 000037.txt │ ├── 000038.txt │ ├── 000039.txt │ ├── 000040.txt │ ├── 000041.txt │ ├── calibration │ │ └── camera_matrix.txt │ └── features │ │ └── features.txt │ ├── high_noise │ ├── 000001.txt │ ├── 000002.txt │ ├── 000003.txt │ ├── 000004.txt │ ├── 000005.txt │ ├── 000006.txt │ ├── 000007.txt │ ├── 000008.txt │ ├── 000009.txt │ ├── 000010.txt │ ├── 000011.txt │ ├── 000012.txt │ ├── 000013.txt │ ├── 000014.txt │ ├── 000015.txt │ ├── 000016.txt │ ├── 000017.txt │ ├── 000018.txt │ ├── 000019.txt │ ├── 000020.txt │ ├── 000021.txt │ ├── 000022.txt │ ├── 000023.txt │ ├── 000024.txt │ ├── 000025.txt │ ├── 000026.txt │ ├── 000027.txt │ ├── 000028.txt │ ├── 000029.txt │ ├── 000030.txt │ ├── 000031.txt │ ├── 000032.txt │ ├── 000033.txt │ ├── 000034.txt │ ├── 000035.txt │ ├── 000036.txt │ ├── 000037.txt │ ├── 000038.txt │ ├── 000039.txt │ ├── 000040.txt │ ├── 000041.txt │ ├── calibration │ │ └── camera_matrix.txt │ └── features │ │ └── features.txt │ ├── low_noise │ ├── 000001.txt │ ├── 000002.txt │ ├── 000003.txt │ ├── 000004.txt │ ├── 000005.txt │ ├── 000006.txt │ ├── 000007.txt │ ├── 000008.txt │ ├── 000009.txt │ ├── 000010.txt │ ├── 000011.txt │ ├── 000012.txt │ ├── 000013.txt │ ├── 000014.txt │ ├── 000015.txt │ ├── 000016.txt │ ├── 000017.txt │ ├── 000018.txt │ ├── 000019.txt │ ├── 000020.txt │ ├── 000021.txt │ ├── 000022.txt │ ├── 000023.txt │ ├── 000024.txt │ ├── 000025.txt │ ├── 000026.txt │ ├── 000027.txt │ ├── 000028.txt │ ├── 000029.txt │ ├── 000030.txt │ ├── 000031.txt │ ├── 000032.txt │ ├── 000033.txt │ ├── 000034.txt │ ├── 000035.txt │ ├── 000036.txt │ ├── 000037.txt │ ├── 000038.txt │ ├── 000039.txt │ ├── 000040.txt │ ├── 000041.txt │ ├── calibration │ │ └── camera_matrix.txt │ └── features │ │ └── features.txt │ └── medium_noise │ ├── 000001.txt │ ├── 000002.txt │ ├── 000003.txt │ ├── 000004.txt │ ├── 000005.txt │ ├── 000006.txt │ ├── 000007.txt │ ├── 000008.txt │ ├── 000009.txt │ ├── 000010.txt │ ├── 000011.txt │ ├── 000012.txt │ ├── 000013.txt │ ├── 000014.txt │ ├── 000015.txt │ ├── 000016.txt │ ├── 000017.txt │ ├── 000018.txt │ ├── 000019.txt │ ├── 000020.txt │ ├── 000021.txt │ ├── 000022.txt │ ├── 000023.txt │ ├── 000024.txt │ ├── 000025.txt │ ├── 000026.txt │ ├── 000027.txt │ ├── 000028.txt │ ├── 000029.txt │ ├── 000030.txt │ ├── 000031.txt │ ├── 000032.txt │ ├── 000033.txt │ ├── 000034.txt │ ├── 000035.txt │ ├── 000036.txt │ ├── 000037.txt │ ├── 000038.txt │ ├── 000039.txt │ ├── 000040.txt │ ├── 000041.txt │ ├── calibration │ └── camera_matrix.txt │ └── features │ └── features.txt ├── include ├── analysis │ ├── cumulative_timer_constants.h │ └── cumulative_timer_factory.h ├── base_lib │ ├── basic_utils.h │ ├── pose_reps.h │ └── pose_utils.h ├── debugging │ ├── ground_truth_utils.h │ └── optimization_logger.h ├── evaluation │ ├── evaluation_utils.h │ ├── object_evaluation_utils.h │ ├── trajectory_evaluation_utils.h │ ├── trajectory_interpolation_utils.h │ └── trajectory_metrics.h ├── file_io │ ├── bounding_box_by_node_id_io.h │ ├── bounding_box_by_timestamp_io.h │ ├── camera_extrinsics_with_id_io.h │ ├── camera_info_io_utils.h │ ├── camera_intrinsics_with_id_io.h │ ├── cv_file_storage │ │ ├── base_metrics_file_storage_io.h │ │ ├── config_file_storage_io.h │ │ ├── file_storage_io_utils.h │ │ ├── full_sequence_metrics_file_storage_io.h │ │ ├── full_sequence_object_metrics_file_storage_io.h │ │ ├── generic_factor_info_file_storage_io.h │ │ ├── long_term_object_map_file_storage_io.h │ │ ├── object_and_reprojection_feature_pose_graph_file_storage_io.h │ │ ├── output_problem_data_file_storage_io.h │ │ ├── roshan_bounding_box_front_end_file_storage_io.h │ │ ├── sequence_file_storage_io.h │ │ ├── vslam_basic_types_file_storage_io.h │ │ └── vslam_obj_types_file_storage_io.h │ ├── features_ests_with_id_io.h │ ├── file_access_utils.h │ ├── file_io_utils.h │ ├── global_object_estimates_io.h │ ├── node_id_and_timestamp_io.h │ ├── obj_yaml_reader.h │ ├── pairwise_covariance_roshan_front_end_long_term_map_io.h │ ├── pose_3d_io.h │ ├── pose_3d_with_double_timestamp_io.h │ ├── pose_3d_with_node_id_io.h │ ├── pose_3d_with_timestamp_and_waypoint_annotation_io.h │ ├── pose_3d_with_timestamp_io.h │ ├── pose_io_utils.h │ ├── timestamp_and_waypoint_io.h │ └── timestamp_io.h ├── refactoring │ ├── bounding_box_frontend │ │ ├── bounding_box_front_end.h │ │ ├── bounding_box_front_end_creation_utils.h │ │ ├── bounding_box_front_end_helpers.h │ │ ├── bounding_box_retriever.h │ │ ├── feature_based_bounding_box_front_end.h │ │ ├── pending_object_estimator.h │ │ └── roshan_bounding_box_front_end.h │ ├── configuration │ │ └── full_ov_slam_config.h │ ├── factors │ │ ├── bounding_box_factor.h │ │ ├── generic_factor_info.h │ │ ├── independent_object_map_factor.h │ │ ├── pairwise_2d_feature_cost_functor.h │ │ ├── pairwise_object_map_factor.h │ │ ├── parameter_prior.h │ │ ├── relative_pose_factor.h │ │ ├── relative_pose_factor_utils.h │ │ ├── reprojection_cost_functor.h │ │ ├── reprojection_cost_functor_analytic_jacobian.h │ │ └── shape_prior_factor.h │ ├── image_processing │ │ ├── debugging_image_utils.h │ │ └── image_processing_utils.h │ ├── long_term_map │ │ ├── long_term_map_extraction_tunable_params.h │ │ ├── long_term_map_factor_creator.h │ │ ├── long_term_object_map.h │ │ └── long_term_object_map_extraction.h │ ├── offline │ │ ├── limit_trajectory_evaluation_params.h │ │ ├── offline_problem_data.h │ │ ├── offline_problem_runner.h │ │ └── pose_graph_frame_data_adder.h │ ├── optimization │ │ ├── jacobian_extraction.h │ │ ├── low_level_feature_pose_graph.h │ │ ├── object_pose_graph.h │ │ ├── object_pose_graph_optimizer.h │ │ ├── optimization_factors_enabled_params.h │ │ ├── optimization_solver_params.h │ │ ├── pose_graph_plus_objects_optimizer.h │ │ ├── pose_graph_utils.h │ │ └── residual_creator.h │ ├── output_problem_data.h │ ├── output_problem_data_extraction.h │ ├── types │ │ ├── ellipsoid_utils.h │ │ ├── vslam_basic_types_refactor.h │ │ ├── vslam_math_util.h │ │ ├── vslam_obj_opt_types_refactor.h │ │ ├── vslam_types_conversion.h │ │ └── vslam_types_math_util.h │ ├── visual_feature_frontend │ │ └── visual_feature_front_end.h │ ├── visual_feature_processing │ │ ├── low_level_feature_reader.h │ │ └── orb_output_low_level_feature_reader.h │ └── visualization │ │ ├── object_pose_graph_runtime_visualization.h │ │ ├── ros_visualization.h │ │ └── save_to_file_visualizer.h ├── run_optimization_utils │ ├── optimization_runner.h │ └── run_opt_utils.h └── types │ ├── sequence_utils.h │ └── timestamped_data_to_frames_utils.h ├── launch ├── ovslam.rviz ├── ovslam_rviz.launch └── single_cam_bb_view_ovslam.rviz ├── manifest.xml ├── metrics_plotting_configs ├── amazon_0523_v0.csv ├── amazon_0523_v0_bug_fix.csv ├── evaluation_2023_07_v1_orb_draft.csv ├── evaluation_7a_1_fallback_a_2_ablations.csv ├── evaluation_best_against_orb_and_oa.csv ├── evaluation_best_against_orb_and_oa_and_droid.csv ├── evaluation_best_against_orb_and_oa_and_droid_0821.csv ├── object_metrics │ └── objects_evaluation_7a_1_fallback_a_2_ablations.csv ├── plotting_config_generator.py ├── podman_results_root_dir.csv ├── savepaths │ ├── test_ate_savepath.csv │ └── test_cdf_savepath.csv └── test_cdf_metrics.csv ├── sequences ├── 1669743059_only.json ├── 1676766718_only.json ├── 2023-05-12_morning.json ├── 20230218_1a_4a.json ├── 20230218_all.json ├── 3059_9589.json ├── amazon_0523_v0.json ├── end_of_may_demo_v1.json ├── evaluation_2023_07_v1.json ├── high_res_20230218_1a_7326.json ├── high_res_20230218_1a_7326_wp.json ├── high_res_7326_20230218_1a.json └── high_res_7326_7619.json ├── src ├── data_preprocessing_utils │ ├── approx_depth_bounding_box_extractor.cpp │ ├── extract_all_bounding_boxes.py │ ├── localization_rosbag_extraction_and_interpolation_for_bounding_boxes.cpp │ ├── orb_stereo_reformat_data.py │ ├── orb_trajectory_sparsifier.cpp │ ├── sequence_file_writer.cpp │ ├── unproject_main.cpp │ ├── waypoint_timestamp_extractor.cpp │ └── write_bounding_boxes_for_rosbag_to_file.cpp ├── debugging_utils │ ├── debug_jacobian_hessian_diagonal.cpp │ └── visualize_timing_notebook.ipynb ├── evaluation │ ├── __init__.py │ ├── approach_metrics.py │ ├── cmd_line_arg_utils.py │ ├── compute_metrics_for_approach.py │ ├── compute_metrics_for_droidslam.py │ ├── compute_metrics_for_oaslam.py │ ├── compute_metrics_for_orbslam3.py │ ├── compute_metrics_for_ut_vslam.py │ ├── compute_object_metrics_for_approach.py │ ├── compute_object_metrics_for_oa_slam.py │ ├── compute_object_metrics_for_ut_vslam.py │ ├── copy_key_results_from_server.py │ ├── custom_json_file_parsing.py │ ├── evaluation_utils.cpp │ ├── file_structure_utils.py │ ├── gt_traj_repairer_bag.py │ ├── gt_transformer.cpp │ ├── interpolate_poses_with_required_nodes.cpp │ ├── iteration_plotter.py │ ├── lego_loam_overlay_generator.cpp │ ├── lego_loam_traj_length_evaluator.cpp │ ├── lego_loam_trajectory_overlay_generator.py │ ├── lego_loam_utils.py │ ├── ltm_extractor_only.py │ ├── ltm_trajectory_sequence_executor.py │ ├── oa_slam │ │ ├── oa_slam_data_generator.cpp │ │ └── oa_slam_input_formatter.py │ ├── object_evaluation_utils.cpp │ ├── object_metrics_generator.cpp │ ├── object_metrics_plotter.py │ ├── objects │ │ ├── convert_object_detections_from_json_to_csv.py │ │ └── convert_object_detections_from_yaml.cpp │ ├── plotter_utils.py │ ├── run_lego_loam.py │ ├── run_lego_loam_velodyne.py │ ├── run_multi_session_orb_slam_3.py │ ├── run_orb_slam_2.py │ ├── sequence_trajectory_plotter.py │ ├── single_sequence_ATE_plotter.py │ ├── single_trajectory_estimator.py │ ├── timing_analysis.py │ ├── trajectory_evaluation_utils.cpp │ ├── trajectory_formatting │ │ └── utvslam_out_to_poses_by_timestamp.cpp │ ├── trajectory_interpolation.py │ ├── trajectory_interpolation_utils.cpp │ ├── trajectory_metrics_generator.cpp │ ├── trajectory_sequence.py │ ├── trajectory_sequence_topdown_plotter.py │ ├── waypoint_consistency_cdf_plotter.py │ ├── waypoint_timestamp_extractor.py │ └── write_bounding_boxes_to_file_for_sequence.py ├── refactoring │ ├── bounding_box_frontend │ │ └── pending_object_estimator.cpp │ ├── configuration │ │ └── write_configuration.cpp │ ├── display_ltm.cpp │ ├── factors │ │ ├── bounding_box_factor.cpp │ │ ├── independent_object_map_factor.cpp │ │ ├── pairwise_2d_feature_cost_functor.cpp │ │ ├── relative_pose_factor.cpp │ │ ├── reprojection_cost_functor.cpp │ │ ├── reprojection_cost_functor_analytic_jacobian.cpp │ │ └── shape_prior_factor.cpp │ ├── image_processing │ │ └── debugging_image_utils.cpp │ ├── long_term_map │ │ └── long_term_object_map_extraction.cpp │ ├── ltm_extraction_only.cpp │ ├── offline_object_visual_slam_main.cpp │ ├── optimization │ │ └── jacobian_extraction.cpp │ ├── run_opt_from_pg_state.cpp │ ├── types │ │ └── vslam_obj_opt_types_refactor.cpp │ ├── visual_feature_processing │ │ └── orb_output_low_level_feature_reader.cpp │ └── visualize_jacobian_problem_feats.cpp ├── testing │ └── test_obj_det_service.cpp └── types │ └── timestamped_data_to_frames_utils.cpp ├── symforce ├── reprojectionResidual_with_jacobians012.h └── reprojection_factor_code_generation.py └── test └── file_io └── cv_file_storage ├── config_file_storage_io_tests.cc ├── object_and_reprojection_feature_pose_graph_file_storage_io_tests.cc └── sequence_file_storage_io_tests.cc /.clang-format: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ut-amrl/ObVi-SLAM/HEAD/.clang-format -------------------------------------------------------------------------------- /.github/workflows/clang-format-check.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ut-amrl/ObVi-SLAM/HEAD/.github/workflows/clang-format-check.yml -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ut-amrl/ObVi-SLAM/HEAD/.gitignore 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