├── .gitignore ├── LICENSE ├── ORB_SLAM3_LIB ├── CMakeLists.txt ├── 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 │ │ ├── README.txt │ │ ├── build │ │ │ ├── CMakeCache.txt │ │ │ ├── CMakeFiles │ │ │ │ ├── 3.16.3 │ │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ │ ├── CompilerIdC │ │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ │ └── a.out │ │ │ │ │ └── CompilerIdCXX │ │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ │ └── a.out │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── CMakeOutput.log │ │ │ │ ├── DBoW2.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DBoW2 │ │ │ │ │ │ ├── BowVector.cpp.o │ │ │ │ │ │ ├── FORB.cpp.o │ │ │ │ │ │ ├── FeatureVector.cpp.o │ │ │ │ │ │ └── ScoringObject.cpp.o │ │ │ │ │ ├── DUtils │ │ │ │ │ │ ├── Random.cpp.o │ │ │ │ │ │ └── Timestamp.cpp.o │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ ├── Makefile.cmake │ │ │ │ ├── Makefile2 │ │ │ │ ├── TargetDirectories.txt │ │ │ │ ├── cmake.check_cache │ │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ └── cmake_install.cmake │ │ └── lib │ │ │ └── libDBoW2.so │ ├── Sophus │ │ ├── .clang-format │ │ ├── .gitignore │ │ ├── .travis.yml │ │ ├── CMakeLists.txt │ │ ├── LICENSE.txt │ │ ├── README.rst │ │ ├── SophusConfig.cmake.in │ │ ├── appveyor.yml │ │ ├── doxyrest-config.lua │ │ ├── examples │ │ │ ├── CMakeLists.txt │ │ │ └── HelloSO3.cpp │ │ ├── make_docs.sh │ │ ├── package.xml │ │ ├── py │ │ │ ├── cpp_gencode │ │ │ │ ├── Se2_Dx_exp_x.cpp │ │ │ │ ├── Se2_Dx_this_mul_exp_x_at_0.cpp │ │ │ │ ├── Se3_Dx_exp_x.cpp │ │ │ │ ├── Se3_Dx_this_mul_exp_x_at_0.cpp │ │ │ │ ├── So2_Dx_exp_x.cpp │ │ │ │ ├── So2_Dx_this_mul_exp_x_at_0.cpp │ │ │ │ ├── So3_Dx_exp_x.cpp │ │ │ │ └── So3_Dx_this_mul_exp_x_at_0.cpp │ │ │ ├── run_tests.sh │ │ │ └── sophus │ │ │ │ ├── __init__.py │ │ │ │ ├── complex.py │ │ │ │ ├── cse_codegen.py │ │ │ │ ├── dual_quaternion.py │ │ │ │ ├── matrix.py │ │ │ │ ├── quaternion.py │ │ │ │ ├── se2.py │ │ │ │ ├── se3.py │ │ │ │ ├── so2.py │ │ │ │ ├── so3.py │ │ │ │ └── so3_codegen.py │ │ ├── rst-dir │ │ │ ├── conf.py │ │ │ ├── page_index.rst │ │ │ └── pysophus.rst │ │ ├── run_format.sh │ │ ├── scripts │ │ │ ├── install_docs_deps.sh │ │ │ ├── install_linux_deps.sh │ │ │ ├── install_osx_deps.sh │ │ │ └── run_cpp_tests.sh │ │ ├── sophus │ │ │ ├── average.hpp │ │ │ ├── common.hpp │ │ │ ├── example_ensure_handler.cpp │ │ │ ├── formatstring.hpp │ │ │ ├── geometry.hpp │ │ │ ├── interpolate.hpp │ │ │ ├── interpolate_details.hpp │ │ │ ├── num_diff.hpp │ │ │ ├── rotation_matrix.hpp │ │ │ ├── rxso2.hpp │ │ │ ├── rxso3.hpp │ │ │ ├── se2.hpp │ │ │ ├── se3.hpp │ │ │ ├── sim2.hpp │ │ │ ├── sim3.hpp │ │ │ ├── sim_details.hpp │ │ │ ├── so2.hpp │ │ │ ├── so3.hpp │ │ │ ├── test_macros.hpp │ │ │ ├── types.hpp │ │ │ └── velocities.hpp │ │ └── test │ │ │ ├── CMakeLists.txt │ │ │ ├── ceres │ │ │ ├── CMakeLists.txt │ │ │ ├── local_parameterization_se3.hpp │ │ │ └── test_ceres_se3.cpp │ │ │ └── core │ │ │ ├── CMakeLists.txt │ │ │ ├── test_common.cpp │ │ │ ├── test_geometry.cpp │ │ │ ├── test_rxso2.cpp │ │ │ ├── test_rxso3.cpp │ │ │ ├── test_se2.cpp │ │ │ ├── test_se3.cpp │ │ │ ├── test_sim2.cpp │ │ │ ├── test_sim3.cpp │ │ │ ├── test_so2.cpp │ │ │ ├── test_so3.cpp │ │ │ ├── test_velocities.cpp │ │ │ └── tests.hpp │ └── g2o │ │ ├── CMakeLists.txt │ │ ├── README.txt │ │ ├── build │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 3.16.3 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeOutput.log │ │ │ ├── FindOpenMP │ │ │ │ ├── OpenMPCheckVersion.c │ │ │ │ ├── OpenMPCheckVersion.cpp │ │ │ │ ├── OpenMPTryFlag.c │ │ │ │ ├── OpenMPTryFlag.cpp │ │ │ │ ├── ompver_C.bin │ │ │ │ └── ompver_CXX.bin │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── TargetDirectories.txt │ │ │ ├── cmake.check_cache │ │ │ ├── g2o.dir │ │ │ │ ├── C.includecache │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── g2o │ │ │ │ │ ├── core │ │ │ │ │ │ ├── batch_stats.cpp.o │ │ │ │ │ │ ├── cache.cpp.o │ │ │ │ │ │ ├── estimate_propagator.cpp.o │ │ │ │ │ │ ├── factory.cpp.o │ │ │ │ │ │ ├── hyper_dijkstra.cpp.o │ │ │ │ │ │ ├── hyper_graph.cpp.o │ │ │ │ │ │ ├── hyper_graph_action.cpp.o │ │ │ │ │ │ ├── jacobian_workspace.cpp.o │ │ │ │ │ │ ├── marginal_covariance_cholesky.cpp.o │ │ │ │ │ │ ├── matrix_structure.cpp.o │ │ │ │ │ │ ├── optimizable_graph.cpp.o │ │ │ │ │ │ ├── optimization_algorithm.cpp.o │ │ │ │ │ │ ├── optimization_algorithm_factory.cpp.o │ │ │ │ │ │ ├── optimization_algorithm_gauss_newton.cpp.o │ │ │ │ │ │ ├── optimization_algorithm_levenberg.cpp.o │ │ │ │ │ │ ├── optimization_algorithm_with_hessian.cpp.o │ │ │ │ │ │ ├── parameter.cpp.o │ │ │ │ │ │ ├── parameter_container.cpp.o │ │ │ │ │ │ ├── robust_kernel.cpp.o │ │ │ │ │ │ ├── robust_kernel_factory.cpp.o │ │ │ │ │ │ ├── robust_kernel_impl.cpp.o │ │ │ │ │ │ ├── solver.cpp.o │ │ │ │ │ │ └── sparse_optimizer.cpp.o │ │ │ │ │ ├── stuff │ │ │ │ │ │ ├── os_specific.c.o │ │ │ │ │ │ ├── property.cpp.o │ │ │ │ │ │ ├── string_tools.cpp.o │ │ │ │ │ │ └── timeutil.cpp.o │ │ │ │ │ └── types │ │ │ │ │ │ ├── types_sba.cpp.o │ │ │ │ │ │ ├── types_seven_dof_expmap.cpp.o │ │ │ │ │ │ └── types_six_dof_expmap.cpp.o │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ ├── Makefile │ │ └── cmake_install.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 │ │ │ ├── se3_ops.h │ │ │ ├── se3_ops.hpp │ │ │ ├── se3mat.cpp │ │ │ ├── se3mat.h │ │ │ ├── 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 │ │ ├── lib │ │ └── libg2o.so │ │ └── license-bsd.txt ├── Vocabulary │ └── ORBvoc.txt.tar.gz ├── include │ ├── Atlas.h │ ├── CameraModels │ │ ├── GeometricCamera.h │ │ ├── KannalaBrandt8.h │ │ └── Pinhole.h │ ├── Config.h │ ├── Converter.h │ ├── Frame.h │ ├── FrameDrawer.h │ ├── G2oTypes.h │ ├── ImuTypes.h │ ├── Initializer.h │ ├── KeyFrame.h │ ├── KeyFrameDatabase.h │ ├── LocalMapping.h │ ├── LoopClosing.h │ ├── MLPnPsolver.h │ ├── Map.h │ ├── MapDrawer.h │ ├── MapPoint.h │ ├── ORBVocabulary.h │ ├── ORBextractor.h │ ├── ORBmatcher.h │ ├── OptimizableTypes.h │ ├── Optimizer.h │ ├── PnPsolver.h │ ├── Sim3Solver.h │ ├── System.h │ ├── Tracking.h │ ├── TwoViewReconstruction.h │ └── Viewer.h ├── package.xml └── src │ ├── Atlas.cc │ ├── CameraModels │ ├── KannalaBrandt8.cpp │ └── Pinhole.cpp │ ├── Converter.cc │ ├── Frame.cc │ ├── FrameDrawer.cc │ ├── G2oTypes.cc │ ├── ImuTypes.cc │ ├── Initializer.cc │ ├── KeyFrame.cc │ ├── KeyFrameDatabase.cc │ ├── LocalMapping.cc │ ├── LoopClosing.cc │ ├── MLPnPsolver.cpp │ ├── Map.cc │ ├── MapDrawer.cc │ ├── MapPoint.cc │ ├── ORBextractor.cc │ ├── ORBmatcher.cc │ ├── OptimizableTypes.cpp │ ├── Optimizer.cc │ ├── PnPsolver.cc │ ├── Sim3Solver.cc │ ├── System.cc │ ├── Tracking.cc │ ├── TwoViewReconstruction.cc │ └── Viewer.cc ├── ORB_SLAM3_ROS ├── CMakeLists.txt ├── package.xml └── src │ ├── AR │ ├── ViewerAR.cc │ ├── ViewerAR.h │ └── ros_mono_ar.cc │ ├── __ros_mono_inertial.cc │ ├── ros_mono.cc │ ├── ros_mono_inertial.cc │ ├── ros_mono_pub.cc │ ├── ros_mono_sub.cc │ ├── ros_rgbd.cc │ ├── ros_stereo.cc │ └── ros_stereo_inertial.cc ├── README.md ├── results ├── 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