├── .clang-format ├── .dockerignore ├── .gitignore ├── .travis.yml ├── 3rd ├── json │ ├── LICENSE │ └── include │ │ └── nlohmann │ │ ├── json.hpp │ │ └── json_fwd.hpp ├── popl │ ├── LICENSE │ └── include │ │ └── popl.hpp └── spdlog │ ├── LICENSE │ └── include │ └── spdlog │ ├── async.h │ ├── async_logger.h │ ├── common.h │ ├── details │ ├── async_logger_impl.h │ ├── circular_q.h │ ├── console_globals.h │ ├── file_helper.h │ ├── fmt_helper.h │ ├── log_msg.h │ ├── logger_impl.h │ ├── mpmc_blocking_q.h │ ├── null_mutex.h │ ├── os.h │ ├── pattern_formatter.h │ ├── periodic_worker.h │ ├── registry.h │ └── thread_pool.h │ ├── fmt │ ├── bin_to_hex.h │ ├── bundled │ │ ├── LICENSE.rst │ │ ├── chrono.h │ │ ├── color.h │ │ ├── core.h │ │ ├── format-inl.h │ │ ├── format.h │ │ ├── locale.h │ │ ├── ostream.h │ │ ├── posix.h │ │ ├── printf.h │ │ ├── ranges.h │ │ └── time.h │ ├── fmt.h │ └── ostr.h │ ├── formatter.h │ ├── logger.h │ ├── sinks │ ├── android_sink.h │ ├── ansicolor_sink.h │ ├── base_sink.h │ ├── basic_file_sink.h │ ├── daily_file_sink.h │ ├── dist_sink.h │ ├── msvc_sink.h │ ├── null_sink.h │ ├── ostream_sink.h │ ├── rotating_file_sink.h │ ├── sink.h │ ├── stdout_color_sinks.h │ ├── stdout_sinks.h │ ├── syslog_sink.h │ └── wincolor_sink.h │ ├── spdlog.h │ ├── tweakme.h │ └── version.h ├── CMakeLists.txt ├── Dockerfile.desktop ├── Dockerfile.socket ├── LICENSE ├── README.md ├── cmake ├── Config.cmake.in ├── DownloadProject.CMakeLists.cmake.in ├── DownloadProject.cmake ├── FindCXSparse.cmake ├── FindEigen3.cmake ├── FindGlog.cmake ├── FindGperftools.cmake ├── FindSuiteSparse.cmake └── FindYamlCpp.cmake ├── docs ├── .gitignore ├── Makefile ├── conf.py ├── docker.rst ├── example.rst ├── img │ ├── browser_viewer_default.png │ ├── localize_frame_viewer_1.png │ ├── logo.png │ ├── slam_frame_viewer_1.png │ ├── slam_map_viewer_1.png │ └── teaser.png ├── index.rst ├── installation.rst ├── make.bat ├── overview.rst ├── requirements.txt ├── ros_package.rst ├── simple_tutorial.rst └── trouble_shooting.rst ├── example ├── CMakeLists.txt ├── euroc │ ├── EuRoC_mono.yaml │ └── EuRoC_stereo.yaml ├── kitti │ ├── KITTI_mono_00-02.yaml │ ├── KITTI_mono_03.yaml │ ├── KITTI_mono_04-12.yaml │ ├── KITTI_stereo_00-02.yaml │ ├── KITTI_stereo_03.yaml │ └── KITTI_stereo_04-12.yaml ├── run_camera_localization.cc ├── run_camera_slam.cc ├── run_euroc_slam.cc ├── run_image_localization.cc ├── run_image_slam.cc ├── run_kitti_slam.cc ├── run_tum_rgbd_slam.cc ├── run_video_localization.cc ├── run_video_slam.cc ├── tum_rgbd │ ├── TUM_RGBD_mono_1.yaml │ ├── TUM_RGBD_mono_2.yaml │ ├── TUM_RGBD_mono_3.yaml │ ├── TUM_RGBD_rgbd_1.yaml │ ├── TUM_RGBD_rgbd_2.yaml │ └── TUM_RGBD_rgbd_3.yaml ├── tum_vi │ ├── TUM_VI_mono.yaml │ └── TUM_VI_stereo.yaml └── util │ ├── euroc_util.cc │ ├── euroc_util.h │ ├── image_util.cc │ ├── image_util.h │ ├── kitti_util.cc │ ├── kitti_util.h │ ├── tum_rgbd_util.cc │ └── tum_rgbd_util.h ├── ros ├── .catkin_workspace └── src │ ├── openvslam │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── CMakeLists.txt │ │ ├── run_localization.cc │ │ └── run_slam.cc │ └── publisher │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ ├── CMakeLists.txt │ ├── image_publisher.cc │ └── video_publisher.cc ├── src ├── CMakeLists.txt ├── openvslam │ ├── CMakeLists.txt │ ├── camera │ │ ├── CMakeLists.txt │ │ ├── base.cc │ │ ├── base.h │ │ ├── equirectangular.cc │ │ ├── equirectangular.h │ │ ├── fisheye.cc │ │ ├── fisheye.h │ │ ├── perspective.cc │ │ └── perspective.h │ ├── config.cc │ ├── config.h │ ├── data │ │ ├── CMakeLists.txt │ │ ├── bow_database.cc │ │ ├── bow_database.h │ │ ├── bow_vocabulary.h │ │ ├── camera_database.cc │ │ ├── camera_database.h │ │ ├── common.cc │ │ ├── common.h │ │ ├── frame.cc │ │ ├── frame.h │ │ ├── frame_statistics.cc │ │ ├── frame_statistics.h │ │ ├── graph_node.cc │ │ ├── graph_node.h │ │ ├── keyframe.cc │ │ ├── keyframe.h │ │ ├── landmark.cc │ │ ├── landmark.h │ │ ├── map_database.cc │ │ └── map_database.h │ ├── feature │ │ ├── CMakeLists.txt │ │ ├── orb_extractor.cc │ │ ├── orb_extractor.h │ │ ├── orb_extractor_node.cc │ │ ├── orb_extractor_node.h │ │ ├── orb_params.cc │ │ ├── orb_params.h │ │ └── orb_point_pairs.h │ ├── global_optimization_module.cc │ ├── global_optimization_module.h │ ├── initialize │ │ ├── CMakeLists.txt │ │ ├── base.cc │ │ ├── base.h │ │ ├── bearing_vector.cc │ │ ├── bearing_vector.h │ │ ├── perspective.cc │ │ └── perspective.h │ ├── io │ │ ├── CMakeLists.txt │ │ ├── map_database_io.cc │ │ ├── map_database_io.h │ │ ├── trajectory_io.cc │ │ └── trajectory_io.h │ ├── mapping_module.cc │ ├── mapping_module.h │ ├── match │ │ ├── CMakeLists.txt │ │ ├── angle_checker.h │ │ ├── area.cc │ │ ├── area.h │ │ ├── base.h │ │ ├── bow_tree.cc │ │ ├── bow_tree.h │ │ ├── fuse.cc │ │ ├── fuse.h │ │ ├── projection.cc │ │ ├── projection.h │ │ ├── robust.cc │ │ ├── robust.h │ │ ├── stereo.cc │ │ └── stereo.h │ ├── module │ │ ├── CMakeLists.txt │ │ ├── frame_tracker.cc │ │ ├── frame_tracker.h │ │ ├── initializer.cc │ │ ├── initializer.h │ │ ├── keyframe_inserter.cc │ │ ├── keyframe_inserter.h │ │ ├── local_map_cleaner.cc │ │ ├── local_map_cleaner.h │ │ ├── local_map_updater.cc │ │ ├── local_map_updater.h │ │ ├── loop_bundle_adjuster.cc │ │ ├── loop_bundle_adjuster.h │ │ ├── loop_detector.cc │ │ ├── loop_detector.h │ │ ├── relocalizer.cc │ │ ├── relocalizer.h │ │ ├── two_view_triangulator.cc │ │ ├── two_view_triangulator.h │ │ └── type.h │ ├── optimize │ │ ├── CMakeLists.txt │ │ ├── g2o │ │ │ ├── CMakeLists.txt │ │ │ ├── landmark_vertex.cc │ │ │ ├── landmark_vertex.h │ │ │ ├── landmark_vertex_container.cc │ │ │ ├── landmark_vertex_container.h │ │ │ ├── se3 │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── equirectangular_pose_opt_edge.cc │ │ │ │ ├── equirectangular_pose_opt_edge.h │ │ │ │ ├── equirectangular_reproj_edge.cc │ │ │ │ ├── equirectangular_reproj_edge.h │ │ │ │ ├── perspective_pose_opt_edge.cc │ │ │ │ ├── perspective_pose_opt_edge.h │ │ │ │ ├── perspective_reproj_edge.cc │ │ │ │ ├── perspective_reproj_edge.h │ │ │ │ ├── pose_opt_edge_wrapper.h │ │ │ │ ├── reproj_edge_wrapper.h │ │ │ │ ├── shot_vertex.cc │ │ │ │ ├── shot_vertex.h │ │ │ │ ├── shot_vertex_container.cc │ │ │ │ └── shot_vertex_container.h │ │ │ └── sim3 │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── backward_reproj_edge.cc │ │ │ │ ├── backward_reproj_edge.h │ │ │ │ ├── forward_reproj_edge.cc │ │ │ │ ├── forward_reproj_edge.h │ │ │ │ ├── graph_opt_edge.cc │ │ │ │ ├── graph_opt_edge.h │ │ │ │ ├── mutual_reproj_edge_wrapper.h │ │ │ │ ├── shot_vertex.cc │ │ │ │ ├── shot_vertex.h │ │ │ │ ├── transform_vertex.cc │ │ │ │ └── transform_vertex.h │ │ ├── global_bundle_adjuster.cc │ │ ├── global_bundle_adjuster.h │ │ ├── graph_optimizer.cc │ │ ├── graph_optimizer.h │ │ ├── local_bundle_adjuster.cc │ │ ├── local_bundle_adjuster.h │ │ ├── pose_optimizer.cc │ │ ├── pose_optimizer.h │ │ ├── transform_optimizer.cc │ │ └── transform_optimizer.h │ ├── publish │ │ ├── CMakeLists.txt │ │ ├── frame_publisher.cc │ │ ├── frame_publisher.h │ │ ├── map_publisher.cc │ │ └── map_publisher.h │ ├── solve │ │ ├── CMakeLists.txt │ │ ├── common.cc │ │ ├── common.h │ │ ├── essential_solver.cc │ │ ├── essential_solver.h │ │ ├── fundamental_solver.cc │ │ ├── fundamental_solver.h │ │ ├── homography_solver.cc │ │ ├── homography_solver.h │ │ ├── pnp_solver.cc │ │ ├── pnp_solver.h │ │ ├── sim3_solver.cc │ │ ├── sim3_solver.h │ │ └── triangulator.h │ ├── system.cc │ ├── system.h │ ├── tracking_module.cc │ ├── tracking_module.h │ ├── type.h │ └── util │ │ ├── CMakeLists.txt │ │ ├── converter.cc │ │ ├── converter.h │ │ ├── fancy_index.h │ │ ├── image_converter.cc │ │ ├── image_converter.h │ │ ├── random_array.cc │ │ ├── random_array.h │ │ ├── stereo_rectifier.cc │ │ ├── stereo_rectifier.h │ │ └── trigonometric.h ├── pangolin_viewer │ ├── CMakeLists.txt │ ├── color_scheme.cc │ ├── color_scheme.h │ ├── viewer.cc │ └── viewer.h └── socket_publisher │ ├── CMakeLists.txt │ ├── data_serializer.cc │ ├── data_serializer.h │ ├── protobuf │ └── map_segment.proto │ ├── publisher.cc │ ├── publisher.h │ ├── socket_client.cc │ └── socket_client.h ├── test ├── CMakeLists.txt ├── data │ ├── equirectangular_image_001.jpg │ └── equirectangular_image_002.jpg ├── helper │ ├── CMakeLists.txt │ ├── bearing_vector.cc │ ├── bearing_vector.h │ ├── keypoint.cc │ ├── keypoint.h │ ├── landmark.cc │ └── landmark.h └── openvslam │ ├── data │ └── common_get_cell_indices.cc │ ├── feature │ ├── orb_extractor.cc │ └── orb_params.cc │ ├── match │ ├── angle_checker.cc │ └── base.cc │ ├── solve │ ├── essential_solver.cc │ ├── fundamental_solver.cc │ ├── homography_solver.cc │ └── pnp_solver.cc │ └── util │ ├── fancy_index.cc │ ├── random_array.cc │ └── trigonometric.cc ├── viewer ├── .dockerignore ├── .gitignore ├── Dockerfile ├── app.js ├── package.json ├── public │ ├── js │ │ ├── CameraFrames.js │ │ ├── Mouse.js │ │ ├── PointCloud.js │ │ ├── ViewControls.js │ │ └── main.js │ └── map_segment.proto └── views │ 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