├── .DS_Store ├── CMakeLists.txt ├── CMakeLists.txt.user ├── Doxyfile ├── LICENSE.txt ├── README.md ├── TODO.md ├── bin ├── run_dso_euroc ├── run_dso_kitti └── run_dso_tum_mono ├── cmake ├── FindEigen3.cmake ├── FindGlog.cmake └── FindLibZip.cmake ├── doc ├── .gitignore ├── Makefile ├── figs │ ├── H.jpg │ ├── dso-framework-cn.jpg │ ├── framework-dso-en.pdf │ ├── frontend-cn.jpg │ ├── frontend-en.pdf │ └── nullspace.jpg ├── note_on_dso.pdf ├── note_on_dso.tex └── reference.bib ├── examples ├── CMakeLists.txt ├── DatasetReader.h ├── EUROC │ └── EUROC.txt ├── Kitti │ ├── Kitti00-02.txt │ ├── Kitti03.txt │ └── Kitti04-12.txt ├── run_dso_euroc.cc ├── run_dso_kitti.cc └── run_dso_tum_mono.cc ├── include ├── AffLight.h ├── Camera.h ├── Feature.h ├── Frame.h ├── Map.h ├── NumTypes.h ├── Point.h ├── Settings.h ├── frontend │ ├── CoarseInitializer.h │ ├── CoarseTracker.h │ ├── DSOViewer.h │ ├── FeatureDetector.h │ ├── FeatureMatcher.h │ ├── FullSystem.h │ ├── ImageAndExposure.h │ ├── ImageRW.h │ ├── LoopClosing.h │ ├── MinimalImage.h │ ├── PixelSelector2.h │ ├── Undistort.h │ └── nanoflann.h └── internal │ ├── CalibHessian.h │ ├── FrameFramePrecalc.h │ ├── FrameHessian.h │ ├── GlobalCalib.h │ ├── GlobalFuncs.h │ ├── ImmaturePoint.h │ ├── IndexThreadReduce.h │ ├── OptimizationBackend │ ├── AccumulatedSCHessian.h │ ├── AccumulatedTopHessian.h │ ├── EnergyFunctional.h │ └── MatrixAccumulators.h │ ├── PR.h │ ├── PointHessian.h │ ├── RawResidualJacobian.h │ ├── ResidualProjections.h │ └── Residuals.h ├── install_dependencies.sh ├── make_project.sh ├── odom.png ├── results.txt ├── results.txt.noloop ├── src ├── CMakeLists.txt ├── Camera.cc ├── Feature.cc ├── Frame.cc ├── Map.cc ├── Point.cc ├── Setting.cc ├── frontend │ ├── CoarseInitializer.cc │ ├── CoarseTracker.cc │ ├── DSOViewer.cc │ ├── FeatureDetector.cc │ ├── FeatureMatcher.cc │ ├── FullSystem.cc │ ├── ImageRW_OpenCV.cc │ ├── LoopClosing.cc │ ├── PixelSelector2.cc │ └── Undistort.cc └── internal │ ├── FrameFramePrecalc.cc │ ├── FrameHessian.cc │ ├── GlobalCalib.cc │ ├── ImmaturePoint.cc │ ├── OptimizationBackend │ ├── AccumulatedSCHessian.cc │ ├── AccumulatedTopHessian.cc │ └── EnergyFunctional.cc │ ├── PR.cc │ ├── PointHessian.cc │ └── Residuals.cc ├── thirdparty ├── .DS_Store ├── CMakeLists.txt ├── DBoW3 │ ├── CMakeLists.txt │ ├── CMakeLists.txt.user │ ├── LICENSE.txt │ ├── README.txt │ ├── build │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 3.21.2 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── CMakeCCompilerId.o │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── CMakeCXXCompilerId.o │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeError.log │ │ │ ├── CMakeOutput.log │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── TargetDirectories.txt │ │ │ ├── cmake.check_cache │ │ │ └── progress.marks │ │ ├── Makefile │ │ ├── cmake_install.cmake │ │ └── src │ │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── DBoW3.dir │ │ │ │ ├── BowVector.cpp.o │ │ │ │ ├── BowVector.cpp.o.d │ │ │ │ ├── Database.cpp.o │ │ │ │ ├── Database.cpp.o.d │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── DescManip.cpp.o │ │ │ │ ├── DescManip.cpp.o.d │ │ │ │ ├── FeatureVector.cpp.o │ │ │ │ ├── FeatureVector.cpp.o.d │ │ │ │ ├── QueryResults.cpp.o │ │ │ │ ├── QueryResults.cpp.o.d │ │ │ │ ├── ScoringObject.cpp.o │ │ │ │ ├── ScoringObject.cpp.o.d │ │ │ │ ├── Vocabulary.cpp.o │ │ │ │ ├── Vocabulary.cpp.o.d │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── compiler_depend.internal │ │ │ │ ├── compiler_depend.make │ │ │ │ ├── compiler_depend.ts │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ ├── quicklz.c.o │ │ │ │ └── quicklz.c.o.d │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ ├── cmake_install.cmake │ │ │ ├── libDBoW3.0.0.1.dylib │ │ │ ├── libDBoW3.0.0.dylib │ │ │ └── libDBoW3.dylib │ └── src │ │ ├── BowVector.cpp │ │ ├── BowVector.h │ │ ├── CMakeLists.txt │ │ ├── DBoW3.h │ │ ├── Database.cpp │ │ ├── Database.h │ │ ├── DescManip.cpp │ │ ├── DescManip.h │ │ ├── FeatureVector.cpp │ │ ├── FeatureVector.h │ │ ├── QueryResults.cpp │ │ ├── QueryResults.h │ │ ├── ScoringObject.cpp │ │ ├── ScoringObject.h │ │ ├── Vocabulary.cpp │ │ ├── Vocabulary.h │ │ ├── exports.h │ │ ├── quicklz.c │ │ ├── quicklz.h │ │ └── timers.h ├── FindEigen3.cmake ├── SophusConfig.cmake.in ├── build-DBoW3-Desktop_arm_darwin_generic_mach_o_64bit-Debug │ ├── .cmake │ │ └── api │ │ │ └── v1 │ │ │ ├── query │ │ │ ├── cache-v2 │ │ │ ├── cmakeFiles-v1 │ │ │ └── codemodel-v2 │ │ │ └── reply │ │ │ ├── cache-v2-4145735c3137ae643a5c.json │ │ │ ├── cmakeFiles-v1-22ab58ca8e5b64618865.json │ │ │ ├── codemodel-v2-c3168225b565814065e9.json │ │ │ ├── directory-.-Debug-f5ebdc15457944623624.json │ │ │ ├── directory-src-Debug-c8edd23fef79e868aa9a.json │ │ │ ├── index-2021-09-12T13-52-22-0043.json │ │ │ └── target-DBoW3-Debug-664ca9048e02fc54474a.json │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.21.2 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── CMakeCXXCompilerId.o │ │ ├── CMakeError.log │ │ ├── CMakeOutput.log │ │ ├── TargetDirectories.txt │ │ ├── cmake.check_cache │ │ └── rules.ninja │ ├── Testing │ │ └── Temporary │ │ │ └── LastTest.log │ ├── build.ninja │ ├── cmake_install.cmake │ ├── qtcsettings.cmake │ └── src │ │ └── cmake_install.cmake ├── build-DBoW3-Desktop_arm_darwin_generic_mach_o_64bit-RelWithDebInfo │ ├── .cmake │ │ └── api │ │ │ └── v1 │ │ │ ├── query │ │ │ ├── cache-v2 │ │ │ ├── cmakeFiles-v1 │ │ │ └── codemodel-v2 │ │ │ └── reply │ │ │ ├── cache-v2-a3582992b1f705a9e6e0.json │ │ │ ├── cmakeFiles-v1-1aa1129363322f45df54.json │ │ │ ├── codemodel-v2-65d32d3f7b409e19052c.json │ │ │ ├── directory-.-RelWithDebInfo-f5ebdc15457944623624.json │ │ │ ├── directory-src-RelWithDebInfo-c8edd23fef79e868aa9a.json │ │ │ ├── index-2021-09-12T13-52-35-0425.json │ │ │ └── target-DBoW3-RelWithDebInfo-9414fc97b625fa430710.json │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.21.2 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── CMakeCXXCompilerId.o │ │ ├── CMakeError.log │ │ ├── CMakeOutput.log │ │ ├── TargetDirectories.txt │ │ ├── cmake.check_cache │ │ └── rules.ninja │ ├── Testing │ │ └── Temporary │ │ │ └── LastTest.log │ ├── build.ninja │ ├── cmake_install.cmake │ ├── qtcsettings.cmake │ └── src │ │ └── cmake_install.cmake ├── build-DBoW3-Desktop_arm_darwin_generic_mach_o_64bit-Release │ ├── .cmake │ │ └── api │ │ │ └── v1 │ │ │ ├── query │ │ │ ├── cache-v2 │ │ │ ├── cmakeFiles-v1 │ │ │ └── codemodel-v2 │ │ │ ├── reply.prev │ │ │ ├── cache-v2-11e1591501d8ad560c0f.json │ │ │ ├── cmakeFiles-v1-435779021114fd6026ce.json │ │ │ ├── codemodel-v2-1d0bce5c78968b6396cc.json │ │ │ ├── directory-.-Release-f5ebdc15457944623624.json │ │ │ ├── directory-src-Release-c8edd23fef79e868aa9a.json │ │ │ ├── index-2021-09-14T09-45-06-0792.json │ │ │ └── target-DBoW3-Release-48fd5160282d9b989251.json │ │ │ └── reply │ │ │ ├── cache-v2-7900df67cc4b0be0478b.json │ │ │ ├── cmakeFiles-v1-435779021114fd6026ce.json │ │ │ ├── codemodel-v2-1d0bce5c78968b6396cc.json │ │ │ ├── directory-.-Release-f5ebdc15457944623624.json │ │ │ ├── directory-src-Release-c8edd23fef79e868aa9a.json │ │ │ ├── index-2021-09-14T09-45-13-0882.json │ │ │ └── target-DBoW3-Release-48fd5160282d9b989251.json │ ├── .ninja_deps │ ├── .ninja_log │ ├── CMakeCache.txt │ ├── CMakeCache.txt.prev │ ├── CMakeFiles │ │ ├── 3.21.2 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── CMakeCXXCompilerId.o │ │ ├── CMakeError.log │ │ ├── CMakeOutput.log │ │ ├── TargetDirectories.txt │ │ ├── cmake.check_cache │ │ └── rules.ninja │ ├── Testing │ │ └── Temporary │ │ │ └── LastTest.log │ ├── build.ninja │ ├── cmake_install.cmake │ ├── qtcsettings.cmake │ └── src │ │ ├── CMakeFiles │ │ └── DBoW3.dir │ │ │ ├── BowVector.cpp.o │ │ │ ├── Database.cpp.o │ │ │ ├── DescManip.cpp.o │ │ │ ├── FeatureVector.cpp.o │ │ │ ├── QueryResults.cpp.o │ │ │ ├── ScoringObject.cpp.o │ │ │ ├── Vocabulary.cpp.o │ │ │ └── quicklz.c.o │ │ ├── cmake_install.cmake │ │ ├── libDBoW3.0.0.1.dylib │ │ ├── libDBoW3.0.0.dylib │ │ └── libDBoW3.dylib ├── g2o │ ├── CMakeLists.txt │ ├── README.txt │ ├── build │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 3.21.2 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── CMakeCCompilerId.o │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── CMakeCXXCompilerId.o │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeError.log │ │ │ ├── CMakeOutput.log │ │ │ ├── FindOpenMP │ │ │ │ ├── OpenMPTryFlag.c │ │ │ │ └── OpenMPTryFlag.cpp │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── TargetDirectories.txt │ │ │ ├── cmake.check_cache │ │ │ ├── g2o.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── compiler_depend.make │ │ │ │ ├── compiler_depend.ts │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── g2o │ │ │ │ │ ├── core │ │ │ │ │ │ ├── batch_stats.cpp.o │ │ │ │ │ │ ├── batch_stats.cpp.o.d │ │ │ │ │ │ ├── cache.cpp.o │ │ │ │ │ │ ├── cache.cpp.o.d │ │ │ │ │ │ ├── estimate_propagator.cpp.o │ │ │ │ │ │ ├── estimate_propagator.cpp.o.d │ │ │ │ │ │ ├── factory.cpp.o │ │ │ │ │ │ ├── factory.cpp.o.d │ │ │ │ │ │ ├── hyper_dijkstra.cpp.o │ │ │ │ │ │ ├── hyper_dijkstra.cpp.o.d │ │ │ │ │ │ ├── hyper_graph.cpp.o │ │ │ │ │ │ ├── hyper_graph.cpp.o.d │ │ │ │ │ │ ├── hyper_graph_action.cpp.o │ │ │ │ │ │ ├── hyper_graph_action.cpp.o.d │ │ │ │ │ │ ├── jacobian_workspace.cpp.o │ │ │ │ │ │ ├── jacobian_workspace.cpp.o.d │ │ │ │ │ │ ├── marginal_covariance_cholesky.cpp.o │ │ │ │ │ │ ├── marginal_covariance_cholesky.cpp.o.d │ │ │ │ │ │ ├── matrix_structure.cpp.o │ │ │ │ │ │ ├── matrix_structure.cpp.o.d │ │ │ │ │ │ ├── optimizable_graph.cpp.o │ │ │ │ │ │ ├── optimizable_graph.cpp.o.d │ │ │ │ │ │ ├── optimization_algorithm.cpp.o │ │ │ │ │ │ ├── optimization_algorithm.cpp.o.d │ │ │ │ │ │ ├── optimization_algorithm_dogleg.cpp.o │ │ │ │ │ │ ├── optimization_algorithm_dogleg.cpp.o.d │ │ │ │ │ │ ├── optimization_algorithm_factory.cpp.o │ │ │ │ │ │ ├── optimization_algorithm_factory.cpp.o.d │ │ │ │ │ │ ├── optimization_algorithm_gauss_newton.cpp.o │ │ │ │ │ │ ├── optimization_algorithm_gauss_newton.cpp.o.d │ │ │ │ │ │ ├── optimization_algorithm_levenberg.cpp.o │ │ │ │ │ │ ├── optimization_algorithm_levenberg.cpp.o.d │ │ │ │ │ │ ├── optimization_algorithm_with_hessian.cpp.o │ │ │ │ │ │ ├── optimization_algorithm_with_hessian.cpp.o.d │ │ │ │ │ │ ├── parameter.cpp.o │ │ │ │ │ │ ├── parameter.cpp.o.d │ │ │ │ │ │ ├── parameter_container.cpp.o │ │ │ │ │ │ ├── parameter_container.cpp.o.d │ │ │ │ │ │ ├── robust_kernel.cpp.o │ │ │ │ │ │ ├── robust_kernel.cpp.o.d │ │ │ │ │ │ ├── robust_kernel_factory.cpp.o │ │ │ │ │ │ ├── robust_kernel_factory.cpp.o.d │ │ │ │ │ │ ├── robust_kernel_impl.cpp.o │ │ │ │ │ │ ├── robust_kernel_impl.cpp.o.d │ │ │ │ │ │ ├── solver.cpp.o │ │ │ │ │ │ ├── solver.cpp.o.d │ │ │ │ │ │ ├── sparse_optimizer.cpp.o │ │ │ │ │ │ └── sparse_optimizer.cpp.o.d │ │ │ │ │ ├── stuff │ │ │ │ │ │ ├── os_specific.c.o │ │ │ │ │ │ ├── os_specific.c.o.d │ │ │ │ │ │ ├── property.cpp.o │ │ │ │ │ │ ├── property.cpp.o.d │ │ │ │ │ │ ├── string_tools.cpp.o │ │ │ │ │ │ ├── string_tools.cpp.o.d │ │ │ │ │ │ ├── timeutil.cpp.o │ │ │ │ │ │ └── timeutil.cpp.o.d │ │ │ │ │ └── types │ │ │ │ │ │ ├── dquat2mat.cpp.o │ │ │ │ │ │ ├── dquat2mat.cpp.o.d │ │ │ │ │ │ ├── edge_pointxyz.cpp.o │ │ │ │ │ │ ├── edge_pointxyz.cpp.o.d │ │ │ │ │ │ ├── types_sba.cpp.o │ │ │ │ │ │ ├── types_sba.cpp.o.d │ │ │ │ │ │ ├── types_seven_dof_expmap.cpp.o │ │ │ │ │ │ ├── types_seven_dof_expmap.cpp.o.d │ │ │ │ │ │ ├── types_six_dof_expmap.cpp.o │ │ │ │ │ │ ├── types_six_dof_expmap.cpp.o.d │ │ │ │ │ │ ├── vertex_pointxyz.cpp.o │ │ │ │ │ │ └── vertex_pointxyz.cpp.o.d │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ ├── Makefile │ │ └── cmake_install.cmake │ ├── cmake_modules │ │ ├── FindBLAS.cmake │ │ ├── FindEigen3.cmake │ │ └── FindLAPACK.cmake │ ├── config.h │ ├── 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 │ │ │ ├── CMakeLists.txt │ │ │ ├── dquat2mat.cpp │ │ │ ├── dquat2mat.h │ │ │ ├── dquat2mat.wxm │ │ │ ├── dquat2mat_maxima_generated.cpp │ │ │ ├── edge_pointxyz.cpp │ │ │ ├── edge_pointxyz.h │ │ │ ├── edge_se3.cpp │ │ │ ├── edge_se3.h │ │ │ ├── edge_se3_lotsofxyz.cpp │ │ │ ├── edge_se3_lotsofxyz.h │ │ │ ├── edge_se3_offset.cpp │ │ │ ├── edge_se3_offset.h │ │ │ ├── edge_se3_pointxyz.cpp │ │ │ ├── edge_se3_pointxyz.h │ │ │ ├── edge_se3_pointxyz_depth.cpp │ │ │ ├── edge_se3_pointxyz_depth.h │ │ │ ├── edge_se3_pointxyz_disparity.cpp │ │ │ ├── edge_se3_pointxyz_disparity.h │ │ │ ├── edge_se3_prior.cpp │ │ │ ├── edge_se3_prior.h │ │ │ ├── g2o_types_slam3d_api.h │ │ │ ├── isometry3d_gradients.cpp │ │ │ ├── isometry3d_gradients.h │ │ │ ├── isometry3d_mappings.cpp │ │ │ ├── isometry3d_mappings.h │ │ │ ├── parameter_camera.cpp │ │ │ ├── parameter_camera.h │ │ │ ├── parameter_se3_offset.cpp │ │ │ ├── parameter_se3_offset.h │ │ │ ├── parameter_stereo_camera.cpp │ │ │ ├── parameter_stereo_camera.h │ │ │ ├── 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 │ │ │ ├── types_slam3d.cpp │ │ │ ├── types_slam3d.h │ │ │ ├── vertex_pointxyz.cpp │ │ │ ├── vertex_pointxyz.h │ │ │ ├── vertex_se3.cpp │ │ │ └── vertex_se3.h │ ├── lib │ │ └── libg2o.dylib │ └── license-bsd.txt ├── sophus │ ├── rxso3.hpp │ ├── se2.hpp │ ├── se3.hpp │ ├── sim3.hpp │ ├── so2.hpp │ ├── so3.hpp │ └── sophus.hpp └── sse2neon │ ├── SSE2NEON.h │ ├── SSE2NEON │ ├── SSE2NEON.sln │ └── SSE2NEON │ │ ├── .oracle_jre_usage │ │ └── c8f967413d920efe.timestamp │ │ ├── AndroidManifest.xml │ │ ├── SSE2NEON.vcxproj │ │ ├── SSE2NEON.vcxproj.filters │ │ ├── jni │ │ └── SSE2NEON_TEST.cpp │ │ ├── res │ │ └── values │ │ │ └── strings.xml │ │ └── src │ │ └── sse2neon │ │ └── test │ │ └── SSE2NEON.java │ ├── SSE2NEONBinding.cpp │ ├── SSE2NEONBinding.h │ ├── SSE2NEONTEST.cpp │ ├── SSE2NEONTEST.h │ ├── compiler │ ├── VC11WIN32 │ │ ├── SSE2NEON.sln │ │ └── SSE2NEON.vcxproj │ ├── VC11WIN64 │ │ ├── SSE2NEON.sln │ │ ├── SSE2NEON.vcxproj 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