├── Forster2014ICRA.pdf ├── LICENCE ├── README.md ├── rqt_svo ├── CMakeLists.txt ├── README.md ├── package.xml ├── plugin.xml ├── resource │ └── widget.ui ├── scripts │ └── rqt_svo ├── setup.py └── src │ └── rqt_svo │ ├── .gitignore │ ├── __init__.py │ ├── svo.py │ └── svo_widget.py ├── svo ├── CMakeLists.txt ├── CMakeModules │ ├── FindEigen.cmake │ └── FindG2O.cmake ├── Doxyfile ├── doc │ ├── .gitignore │ ├── notation.ipe │ ├── notation.pdf │ └── notation.png ├── include │ └── svo │ │ ├── bundle_adjustment.h │ │ ├── config.h │ │ ├── depth_filter.h │ │ ├── feature.h │ │ ├── feature_alignment.h │ │ ├── feature_detection.h │ │ ├── frame.h │ │ ├── frame_handler_base.h │ │ ├── frame_handler_mono.h │ │ ├── global.h │ │ ├── initialization.h │ │ ├── map.h │ │ ├── matcher.h │ │ ├── point.h │ │ ├── pose_optimizer.h │ │ ├── reprojector.h │ │ └── sparse_img_align.h ├── package.xml ├── src │ ├── bundle_adjustment.cpp │ ├── config.cpp │ ├── depth_filter.cpp │ ├── feature_alignment.cpp │ ├── feature_detection.cpp │ ├── frame.cpp │ ├── frame_handler_base.cpp │ ├── frame_handler_mono.cpp │ ├── initialization.cpp │ ├── map.cpp │ ├── matcher.cpp │ ├── point.cpp │ ├── pose_optimizer.cpp │ ├── reprojector.cpp │ └── sparse_img_align.cpp └── test │ ├── README.md │ ├── benchmark.csv │ ├── data │ └── .gitignore │ ├── results │ └── .gitignore │ ├── test_depth_filter.cpp │ ├── test_feature_alignment.cpp │ ├── test_feature_detection.cpp │ ├── test_matcher.cpp │ ├── test_pipeline.cpp │ ├── test_pose_optimizer.cpp │ ├── test_sparse_img_align.cpp │ └── test_utils.h ├── svo_analysis ├── .gitignore ├── CMakeLists.txt ├── README.md ├── comparisons │ ├── speed.yaml │ └── textures.yaml ├── experiments │ ├── .gitignore │ ├── asl2_acc.yaml │ ├── asl2_fast.yaml │ ├── flying_room_1_fast.yaml │ └── synthetic.yaml ├── package.xml ├── results │ └── .gitignore ├── scripts │ ├── benchmark.py │ ├── compare_results.py │ ├── comparison.py │ └── evaluate.py ├── setup.py └── src │ └── svo_analysis │ ├── __init__.py │ ├── analyse_dataset.py │ ├── analyse_depth.py │ ├── analyse_logs.py │ ├── analyse_timing.py │ ├── analyse_trajectory.py │ ├── filter_groundtruth_smooth.py │ ├── hand_eye_calib.py │ └── tum_benchmark_tools │ ├── __init__.py │ ├── associate.py │ ├── evaluate_ate.py │ └── evaluate_rpe.py ├── svo_msgs ├── CMakeLists.txt ├── msg │ ├── DenseInput.msg │ ├── Feature.msg │ ├── Info.msg │ └── NbvTrajectory.msg └── package.xml └── svo_ros ├── CMakeLists.txt ├── include └── svo_ros │ ├── dataset_img.h │ └── visualizer.h ├── launch ├── live.launch └── test_rig3.launch ├── package.xml ├── param ├── camera_atan.yaml ├── camera_pinhole.yaml ├── vo_accurate.yaml └── vo_fast.yaml ├── rqt.perspective ├── rviz_config.rviz └── src ├── benchmark_node.cpp ├── visualizer.cpp └── vo_node.cpp /Forster2014ICRA.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/uzh-rpg/rpg_svo/HEAD/Forster2014ICRA.pdf 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