├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── comparative_test.yaml ├── extention_test.yaml ├── orbvoc │ └── ORBvoc.bin └── rviz │ └── default.rviz ├── core ├── include │ └── dre_slam │ │ ├── ORBextractor.h │ │ ├── camera.h │ │ ├── common.h │ │ ├── config.h │ │ ├── dre_slam.h │ │ ├── dynamic_pixel_culling.h │ │ ├── dynamic_pixel_detector.h │ │ ├── encoder.h │ │ ├── encoder_integration.h │ │ ├── feature_detector.h │ │ ├── frame.h │ │ ├── keyframe.h │ │ ├── local_mapping.h │ │ ├── loop_closing.h │ │ ├── map.h │ │ ├── map_point.h │ │ ├── octomap_fusion.h │ │ ├── optimizer.h │ │ ├── ros_puber.h │ │ ├── run_timer.h │ │ ├── sub_octomap.h │ │ ├── sub_octomap_construction.h │ │ ├── tracking.h │ │ └── vocabulary.h └── src │ ├── ORBextractor.cpp │ ├── camera.cpp │ ├── common.cpp │ ├── config.cpp │ ├── dre_slam.cpp │ ├── dynamic_pixel_culling.cpp │ ├── dynamic_pixel_detector.cpp │ ├── encoder_integration.cpp │ ├── feature_detector.cpp │ ├── frame.cpp │ ├── keyframe.cpp │ ├── local_mapping.cpp │ ├── loop_closing.cpp │ ├── map.cpp │ ├── map_point.cpp │ ├── octomap_fusion.cpp │ ├── optimizer.cpp │ ├── ros_puber.cpp │ ├── sub_octomap.cpp │ ├── sub_octomap_construction.cpp │ └── tracking.cpp ├── corridor.gif ├── launch ├── comparative_test.launch └── extention_test.launch ├── node └── dre_slam_node.cpp ├── object_detector ├── CMakeLists.txt ├── object_detector.cpp └── object_detector.h ├── package.xml └── third_party ├── 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 └── Sophus ├── CMakeLists.txt ├── README ├── SophusConfig.cmake.in ├── cmake_modules └── FindEigen3.cmake └── sophus ├── scso3.cpp ├── scso3.h ├── se2.cpp ├── se2.h ├── se3.cpp ├── se3.h ├── sim3.cpp 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