c++ source code of LICENSE

Project: GAAS (GitHub Link)

GAAS-master
- .github
  - ISSUE_TEMPLATE
    - stuck-on-tutorials.md
    - bug_report.md
- Setup.md
- demo
  - case_study_1
    - readme.md
  - tutorial_1
    - README.MD
    - 1_px4_mavros_offboard_controller
      - commander.py
      - px4_mavros_run.py
  - tutorial_7
    - multi_uavs_motion_planning
      - px4_mavros_run_uav2.py
      - commander_uav4.py
      - stop.sh
      - px4_mavros_run_uav4.py
      - commander_uav2.py
      - px4_mavros_run_uav1.py
      - run.sh
      - px4_mavros_run_uav3.py
      - commander_uav3.py
      - commander_uav1.py
    - multi_uavs_path_planning
      - px4_mavros_run_uav2.py
      - commander_uav4.py
      - stop.sh
      - px4_mavros_run_uav4.py
      - commander_uav2.py
      - px4_mavros_run_uav1.py
      - run.sh
      - px4_mavros_run_uav3.py
      - commander_uav3.py
      - commander_uav1.py
  - tutorial_6
    - 6_object_tracking
      - track_and_move.py
      - config.py
      - commander.py
      - px4_mavros_run.py
      - init_drone.py
      - readme.md
      - set_init.py
  - mirror-tx2
    - readme.md
  - hardware_tut2
    - hardware_tut2.md
  - hardware_tut1
    - hardware_tut1.md
  - tutorial_2
    - 2_Struction_from_Motion
      - fly_circle.py
      - commander.py
      - px4_mavros_run.py
      - README.MD
      - bag2image.py
  - tutorial_4
    - README.md
  - tutorial_5
    - qr_code.py
    - commander.py
    - px4_mavros_run.py
    - commander_2.py
    - readme.md
    - visual_guidance.py
    - sample_fly.py
  - tutorial_3
    - commander.py
    - px4_mavros_run.py
    - README.MD
    - square.py
- simulator
  - urdf
    - car.xacro
  - README.MD
  - models
    - iris_stereo_gray_gps
      - iris_stereo_gray_gps.sdf
      - model.config
    - iris_stereo_camera
      - iris_stereo_gray_gps.sdf
      - model.config
    - qrcode
      - materials
        textures
        scripts
        qrcode.material
      - model.sdf
      - model.config
    - iris_stereo_rgb_downward
      - iris_stereo_rgb_downward.sdf
      - model.config
    - iris_stereo_rgb_gps
      - iris_stereo_rgb_gps.sdf
      - model.config
    - iris_stereo_gray_no_gps
      - model.config
      - iris_stereo_gray_no_gps.sdf
  - AirSim
    - settings.json
    - drone_image_ros.py
  - worlds
    - landing.world
    - sfm.world
    - obstacle_avoidance.world
  - posix-config
    - iris_4
    - iris_1
    - iris_stereo_gray_gps
    - iris_stereo_camera
    - iris_stereo_rgb_downward
    - iris_2
    - iris_stereo_rgb_gps
    - iris_3
    - iris_stereo_gray_no_gps
  - launch
    - landing.launch
    - sfm.launch
    - car_tracking.launch
    - slam.launch
    - path_planning.launch
    - multi_uav_mavros_sitl.launch
- readme_zh.md
- hardware
  - README.md
  - top.SLDPRT
- LICENSE
- algorithms
  - image_segmentation
    - ply_parser.h
    - ply_parser.cpp
    - image_segmentation.cpp
    - demo_image_main.cpp
    - CMakeLists.txt
    - README.md
    - demo_ply_main.cpp
  - multi_cam_utils
    - cam_info.h
    - stereo_cam.h
  - loop_closing
    - DBow3
      - src
        BRIEF.h
        Database.cpp
        DUtils.h
        QueryResults.h
        config.h
        FeatureVector.cpp
        exports.h
        Timestamp.h
        DescManip.h
        ScoringObject.h
        BowVector.cpp
        Vocabulary.h
        DVision.h
        ScoringObject.cpp
        Vocabulary.cpp
        FeatureVector.h
        quicklz.h
        BRIEF.cpp
        timers.h
        quicklz.c
        Thirdparty
        GMS
        gms_matcher.h
        LoopClosingManager.cpp
        cmake-build-debug
        CMakeFiles
        feature_tests.cxx
        clion-environment.txt
        feature_tests.c
        feature_tests.bin
        3.13.2
        CMakeSystem.cmake
        CompilerIdC
        a.out
        CMakeCCompilerId.c
        CMakeDetermineCompilerABI_CXX.bin
        CMakeDetermineCompilerABI_C.bin
        CompilerIdCXX
        CMakeCXXCompilerId.cpp
        a.out
        CMakeCCompiler.cmake
        CMakeCXXCompiler.cmake
        clion-log.txt
        cmake.check_cache
        CMakeCache.txt
        BowVector.h
        QueryResults.cpp
        LoopClosingManager.h
        CMakeLists.txt
        DescManip.cpp
        Random.h
        Database.h
        DException.h
        Timestamp.cpp
        Random.cpp
        DBoW3.h
      - demo
        demo.cpp
      - utils
        create_voc_step1.cpp
        CMakeLists.txt
        create_voc_step0.cpp
        demo_general.cpp
      - cmake_uninstall.cmake.in
      - config.cmake.in
      - CMakeLists.txt
      - README.md
      - tests
        test_iobinary.cpp
        test_fbow.cpp
        test_flann.cpp
        nanoflann.hpp
        CMakeLists.txt
        test_bigvoc.cpp
      - .gitignore
      - LICENSE.txt
      - build.sh
    - generate.sh
  - AHRS
    - uNavAHRS
      - uNavAHRS.h
      - examples
        uNavAHRS-with-MPU9250
        CalibrateMPU9250
        CalibrateMPU9250.ino
        uNavAHRS_MPU9250
        uNavAHRS_MPU9250.ino
      - keywords.txt
      - ros_src
        CMakeLists.txt
        ros_api_main.cpp
      - CMakeLists.txt
      - README.md
      - uNavAHRS.cpp
  - GlobalOptimizationGraph
    - ygz_common_headers
      - NumTypes.h
      - sophus.hpp
      - se3.hpp
      - Camera.h
      - utility.h
      - so3.hpp
    - GOG_Frame.h
    - G2OTypes.h
    - G2OTypes_EdgeSLAMPRV.h
    - main.cpp
    - visualizer.py
    - StateTransfer.h
    - ROS_IO_Manager.h
    - config.yaml
    - CheckValid.h
    - Thirdparty
      - g2o
        license-bsd.txt
        config.h
        lib
        g2o
        solvers
        linear_solver_eigen.h
        linear_solver_dense.h
        types
        edge_se3_pointxyz_depth.cpp
        dquat2mat_maxima_generated.cpp
        types_six_dof_expmap.cpp
        types_seven_dof_expmap.h
        vertex_pointxyz.cpp
        dquat2mat.wxm
        types_slam3d.h
        parameter_stereo_camera.cpp
        parameter_se3_offset.cpp
        isometry3d_mappings.h
        edge_se3_pointxyz_depth.h
        edge_se3_offset.cpp
        parameter_se3_offset.h
        vertex_se3.cpp
        edge_se3_pointxyz.cpp
        parameter_stereo_camera.h
        edge_se3.cpp
        g2o_types_slam3d_api.h
        dquat2mat.cpp
        edge_se3_lotsofxyz.h
        edge_se3_pointxyz_disparity.cpp
        types_slam3d.cpp
        vertex_pointxyz.h
        edge_pointxyz.cpp
        vertex_se3.h
        dquat2mat.h
        edge_se3_pointxyz_disparity.h
        edge_se3_lotsofxyz.cpp
        types_six_dof_expmap.h
        edge_se3.h
        edge_pointxyz.h
        se3quat.h
        parameter_camera.cpp
        CMakeLists.txt
        se3_ops.hpp
        edge_se3_prior.h
        edge_se3_offset.h
        isometry3d_mappings.cpp
        se3_ops.h
        isometry3d_gradients.cpp
        edge_se3_prior.cpp
        edge_se3_pointxyz.h
        types_sba.h
        types_sba.cpp
        parameter_camera.h
        types_seven_dof_expmap.cpp
        isometry3d_gradients.h
        sim3.h
        stuff
        os_specific.h
        timeutil.h
        macros.h
        os_specific.c
        property.h
        misc.h
        string_tools.cpp
        timeutil.cpp
        string_tools.h
        property.cpp
        color_macros.h
        core
        base_edge.h
        estimate_propagator.h
        base_vertex.h
        optimization_algorithm_factory.cpp
        matrix_structure.h
        optimization_algorithm_property.h
        batch_stats.cpp
        creators.h
        base_binary_edge.hpp
        robust_kernel_factory.cpp
        solver.h
        marginal_covariance_cholesky.h
        jacobian_workspace.cpp
        optimization_algorithm_dogleg.h
        parameter.cpp
        optimizable_graph.cpp
        matrix_operations.h
        optimization_algorithm_levenberg.cpp
        optimization_algorithm_dogleg.cpp
        linear_solver.h
        robust_kernel_impl.cpp
        optimization_algorithm_with_hessian.cpp
        base_multi_edge.h
        factory.cpp
        sparse_block_matrix_diagonal.h
        cache.cpp
        openmp_mutex.h
        robust_kernel_impl.h
        optimization_algorithm_with_hessian.h
        base_vertex.hpp
        block_solver.hpp
        sparse_block_matrix.hpp
        sparse_block_matrix_test.cpp
        hyper_graph_action.cpp
        parameter_container.h
        optimization_algorithm_factory.h
        robust_kernel.cpp
        optimization_algorithm.h
        optimization_algorithm_levenberg.h
        parameter_container.cpp
        robust_kernel_factory.h
        cache.h
        optimization_algorithm_gauss_newton.cpp
        batch_stats.h
        sparse_optimizer.cpp
        hyper_dijkstra.h
        hyper_graph.cpp
        estimate_propagator.cpp
        sparse_block_matrix_ccs.h
        base_unary_edge.hpp
        base_multi_edge.hpp
        robust_kernel.h
        optimizable_graph.h
        factory.h
        matrix_structure.cpp
        base_binary_edge.h
        block_solver.h
        marginal_covariance_cholesky.cpp
        hyper_graph.h
        parameter.h
        hyper_dijkstra.cpp
        eigen_types.h
        jacobian_workspace.h
        base_unary_edge.h
        optimization_algorithm.cpp
        optimization_algorithm_gauss_newton.h
        solver.cpp
        hyper_graph_action.h
        sparse_optimizer.h
        sparse_block_matrix.h
        cmake_modules
        FindEigen3.cmake
        FindLAPACK.cmake
        FindBLAS.cmake
        README.txt
        CMakeLists.txt
        config.h.in
    - StateTransfer.md
    - CMakeLists.txt
    - README.md
    - GlobalOptimizationGraph.cpp
    - G2OTypes.cpp
    - CooridinatesManager.h
    - CallbacksBufferBlock.h
    - GPSExpand.h
    - cmake-modules
      - FindGlog.cmake
      - FindEigen3.cmake
      - FindCSparse.cmake
      - FindCholmod.cmake
      - FindG2O.cmake
    - GlobalOptimizationGraph.h
    - ros_buffer_helper.h
    - ROS_IO_Manager.cpp
  - object_trace_tracking
    - main.py
  - image_detection
    - tegu_detection_demo.py
  - scene_retrieving
    - src
      - scene_retrieving_ros.cpp
      - scene_retrieve.cpp
      - nlohmann_json
        .github
        PULL_REQUEST_TEMPLATE.md
        ISSUE_TEMPLATE
        Feature_request.md
        Bug_report.md
        CONTRIBUTING.md
        stale.yml
        config.yml
        cmake
        config.cmake.in
        Makefile
        include
        nlohmann
        adl_serializer.hpp
        detail
        json_pointer.hpp
        iterators
        iterator_traits.hpp
        primitive_iterator.hpp
        iter_impl.hpp
        internal_iterator.hpp
        iteration_proxy.hpp
        json_reverse_iterator.hpp
        json_ref.hpp
        output
        output_adapters.hpp
        binary_writer.hpp
        serializer.hpp
        macro_unscope.hpp
        macro_scope.hpp
        value_t.hpp
        exceptions.hpp
        meta
        cpp_future.hpp
        detected.hpp
        is_sax.hpp
        type_traits.hpp
        void_t.hpp
        input
        input_adapters.hpp
        json_sax.hpp
        position_t.hpp
        parser.hpp
        binary_reader.hpp
        lexer.hpp
        conversions
        from_json.hpp
        to_chars.hpp
        to_json.hpp
        json_fwd.hpp
        third_party
        amalgamate
        config.json
        amalgamate.py
        CHANGES.md
        LICENSE.md
        README.md
        test
        src
        unit-msgpack.cpp
        unit-convenience.cpp
        unit-class_const_iterator.cpp
        unit-conversions.cpp
        unit-alt-string.cpp
        unit-modifiers.cpp
        unit-udt.cpp
        unit-ubjson.cpp
        unit-bson.cpp
        unit-testsuites.cpp
        unit-element_access1.cpp
        unit-items.cpp
        unit-pointer_access.cpp
        unit-constructor1.cpp
        unit-deserialization.cpp
        fuzzer-driver_afl.cpp
        unit-iterators1.cpp
        unit-capacity.cpp
        unit-json_patch.cpp
        unit-json_pointer.cpp
        unit-to_chars.cpp
        fuzzer-parse_cbor.cpp
        unit-reference_access.cpp
        unit-concepts.cpp
        fuzzer-parse_msgpack.cpp
        unit-merge_patch.cpp
        unit-constructor2.cpp
        unit-cbor.cpp
        unit-comparison.cpp
        unit-inspection.cpp
        unit.cpp
        unit-serialization.cpp
        unit-iterators2.cpp
        unit-class_lexer.cpp
        unit-noexcept.cpp
        unit-readme.cpp
        unit-unicode.cpp
        unit-class_iterator.cpp
        fuzzer-parse_bson.cpp
        unit-algorithms.cpp
        unit-class_parser.cpp
        unit-wstring.cpp
        fuzzer-parse_json.cpp
        unit-allocator.cpp
        fuzzer-parse_ubjson.cpp
        unit-meta.cpp
        unit-element_access2.cpp
        unit-regression.cpp
        Makefile
        reports
        2016-10-02-fuzz
        index.html
        2016-09-09-nativejson_benchmark
        README.md
        conformance_Nlohmann (C++11).md
        2016-08-29-fuzz
        index.html
        cmake_import
        project
        main.cpp
        CMakeLists.txt
        CMakeLists.txt
        thirdparty
        fifo_map
        LICENSE.MIT
        fifo_map.hpp
        imapdl
        gpl-3.0.txt
        filterbr.py
        Fuzzer
        FuzzerRandom.h
        FuzzerUtil.cpp
        FuzzerMerge.cpp
        FuzzerIOWindows.cpp
        FuzzerLoop.cpp
        FuzzerDriver.cpp
        FuzzerMain.cpp
        FuzzerExtFunctions.def
        FuzzerTracePC.cpp
        FuzzerExtFunctions.h
        FuzzerUtilWindows.cpp
        FuzzerSHA1.h
        FuzzerMutate.cpp
        FuzzerSHA1.cpp
        FuzzerInterface.h
        FuzzerMutate.h
        FuzzerMerge.h
        FuzzerOptions.h
        cxx.dict
        FuzzerIO.cpp
        standalone
        StandaloneFuzzTargetMain.c
        test
        value-profile-strncmp.test
        fuzzer-fdmask.test
        RepeatedMemcmp.cpp
        fuzzer-threaded.test
        simple-cmp.test
        value-profile-strcmp.test
        StrcmpTest.cpp
        AccumulateAllocationsTest.cpp
        BufferOverflowOnInput.cpp
        LeakTimeoutTest.cpp
        SingleMemcmpTest.cpp
        CallerCalleeTest.cpp
        FullCoverageSetTest.cpp
        ubsan
        CMakeLists.txt
        SimpleHashTest.cpp
        fuzzer-dict.test
        SignedIntOverflowTest.cpp
        TimeoutEmptyTest.cpp
        repeated-bytes.test
        SimpleThreadedTest.cpp
        uninstrumented
        CMakeLists.txt
        InitializeTest.cpp
        OutOfMemoryTest.cpp
        fuzzer-segv.test
        SwitchTest.cpp
        TraceMallocTest.cpp
        fuzzer-singleinputs.test
        lit.site.cfg.in
        fuzzer-flags.test
        fuzzer-printcovpcs.test
        CustomCrossOverTest.cpp
        fuzzer-finalstats.test
        AbsNegAndConstant64Test.cpp
        SimpleDictionaryTest.cpp
        value-profile-cmp4.test
        fuzzer-timeout.test
        DivTest.cpp
        UninstrumentedTest.cpp
        standalone.test
        value-profile-mem.test
        DSO1.cpp
        fuzzer-traces-hooks.test
        ulimit.test
        ThreadedTest.cpp
        fuzzer-dirs.test
        AFLDriverTest.cpp
        coverage.test
        AbsNegAndConstantTest.cpp
        swap-cmp.test
        fuzzer-oom.test
        SingleStrcmpTest.cpp
        DSOTestMain.cpp
        value-profile-set.test
        LoadTest.cpp
        trace-malloc.test
        fuzzer-seed.test
        ThreadedLeakTest.cpp
        value-profile-cmp2.test
        DSOTestExtra.cpp
        minimize_crash.test
        StrncmpTest.cpp
        Switch2Test.cpp
        value-profile-switch.test
        FuzzerUnittest.cpp
        afl-driver-stderr.test
        SwapCmpTest.cpp
        StrncmpOOBTest.cpp
        MemcmpTest.cpp
        dump_coverage.test
        fuzzer.test
        fuzzer-custommutator.test
        StrstrTest.cpp
        dict1.txt
        ShrinkControlFlowTest.cpp
        CounterTest.cpp
        LeakTest.cpp
        SimpleCmpTest.cpp
        shrink.test
        SpamyTest.cpp
        CMakeLists.txt
        FourIndependentBranchesTest.cpp
        afl-driver-extra-stats.test
        lit.cfg
        fuzzer-jobs.test
        fuzzer-runs.test
        EmptyTest.cpp
        OneHugeAllocTest.cpp
        OutOfMemorySingleLargeMallocTest.cpp
        hi.txt
        SingleStrncmpTest.cpp
        fuzzer-ubsan.test
        RepeatedBytesTest.cpp
        ShrinkValueProfileTest.cpp
        TimeoutTest.cpp
        value-profile-load.test
        NullDerefTest.cpp
        caller-callee.test
        merge.test
        DSO2.cpp
        fuzzer-leak.test
        SimpleTest.cpp
        value-profile-cmp3.test
        unit
        lit.site.cfg.in
        lit.cfg
        fuzzer-oom-with-profile.test
        CustomMutatorTest.cpp
        value-profile-div.test
        fuzzer-customcrossover.test
        value-profile-cmp.test
        no-coverage
        CMakeLists.txt
        NthRunCrashTest.cpp
        NullDerefOnEmptyTest.cpp
        FuzzerIO.h
        README.txt
        FuzzerTraceState.cpp
        FuzzerValueBitMap.h
        FuzzerFlags.def
        FuzzerUtilLinux.cpp
        FuzzerDefs.h
        FuzzerCrossOver.cpp
        FuzzerTracePC.h
        CMakeLists.txt
        FuzzerInternal.h
        FuzzerDictionary.h
        FuzzerExtFunctionsDlsym.cpp
        FuzzerUtil.h
        FuzzerUtilDarwin.cpp
        FuzzerIOPosix.cpp
        FuzzerCorpus.h
        afl
        afl_driver.cpp
        FuzzerExtFunctionsWeak.cpp
        FuzzerUtilPosix.cpp
        FuzzerExtFunctionsWeakAlias.cpp
        build.sh
        catch
        LICENSE_1_0.txt
        cmake_import_minver
        project
        main.cpp
        CMakeLists.txt
        CMakeLists.txt
        CMakeLists.txt
        cmake_add_subdirectory
        project
        main.cpp
        CMakeLists.txt
        CMakeLists.txt
        appveyor.yml
        single_include
        nlohmann
        nlohmann_json.natvis
        benchmarks
        src
        benchmarks.cpp
        thirdparty
        benchmark
        src
        internal_macros.h
        reporter.cc
        mutex.h
        check.h
        json_reporter.cc
        counter.h
        csv_reporter.cc
        counter.cc
        benchmark_register.cc
        statistics.h
        benchmark.cc
        commandlineflags.h
        string_util.h
        timers.cc
        statistics.cc
        colorprint.h
        timers.h
        cycleclock.h
        string_util.cc
        log.h
        benchmark_main.cc
        sleep.cc
        sleep.h
        console_reporter.cc
        arraysize.h
        thread_manager.h
        benchmark_api_internal.h
        commandlineflags.cc
        CMakeLists.txt
        thread_timer.h
        sysinfo.cc
        complexity.h
        complexity.cc
        benchmark_register.h
        re.h
        colorprint.cc
        cmake
        gnu_posix_regex.cpp
        posix_regex.cpp
        llvm-toolchain.cmake
        thread_safety_attributes.cpp
        Modules
        FindLLVMAr.cmake
        FindLLVMNm.cmake
        FindLLVMRanLib.cmake
        CXXFeatureCheck.cmake
        steady_clock.cpp
        split_list.cmake
        benchmark.pc.in
        std_regex.cpp
        HandleGTest.cmake
        Config.cmake.in
        AddCXXCompilerFlag.cmake
        GetGitVersion.cmake
        AUTHORS
        CONTRIBUTORS
        mingw.py
        include
        benchmark
        benchmark.h
        BUILD.bazel
        LICENSE
        appveyor.yml
        CONTRIBUTING.md
        CMakeLists.txt
        README.md
        tools
        compare_bench.py
        gbench
        util.py
        Inputs
        test1_run2.json
        test1_run1.json
        test2_run.json
        report.py
        __init__.py
        strip_asm.py
        compare.py
        releasing.md
        WORKSPACE
        docs
        tools.md
        AssemblyTests.md
        CMakeLists.txt
        LICENSE.MIT
        CMakeLists.txt
        .travis.yml
        README.md
        CODE_OF_CONDUCT.md
        meson.build
        ChangeLog.md
        .gitignore
        doc
        binary_formats.md
        Makefile
        faq.md
        Doxyfile
        images
        range-begin-end.svg
        range-rbegin-rend.svg
        examples
        other_error.output
        type_error.output
        get__PointerType.link
        type_error.cpp
        dump.cpp
        is_number_unsigned.output
        front.cpp
        swap__object_t.cpp
        swap__reference.cpp
        insert__ilist.link
        operator__equal.cpp
        operatorarray__size_type_const.link
        crbegin.link
        crbegin.cpp
        get__PointerType.output
        is_number.cpp
        patch.cpp
        from_bson.output
        rbegin.cpp
        crend.link
        back.cpp
        operator__greater.link
        swap__string_t.cpp
        basic_json__InputIt_InputIt.output
        parse__istream__parser_callback_t.cpp
        parse__string__parser_callback_t.cpp
        operatorjson_pointer.cpp
        basic_json__value_ptr.link
        swap__object_t.link
        get_to.cpp
        patch.output
        at__object_t_key_type_const.output
        at__object_t_key_type_const.cpp
        sax_parse.link
        push_back__initializer_list.output
        end.link
        emplace_back.link
        is_number_float.output
        is_number_integer.cpp
        merge_patch.cpp
        is_object.link
        out_of_range.output
        from_ubjson.link
        is_number_unsigned.link
        rend.link
        operator__equal__nullptr_t.output
        end.output
        iterator_wrapper.cpp
        items.cpp
        items.link
        json_pointer.cpp
        swap__reference.output
        basic_json__list_init_t.output
        operator__greaterequal.cpp
        basic_json__moveconstructor.output
        operator_deserialize.output
        size.output
        erase__IteratorType.cpp
        front.output
        parse__array__parser_callback_t.link
        parse__array__parser_callback_t.output
        erase__IteratorType_IteratorType.output
        rend.output
        is_structured.output
        is_number.output
        update.output
        push_back__initializer_list.link
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      - multi_scene_retriever.h
      - scene_frame_properties.h
      - demo_mono_main.cpp
      - scene_retrieve.h
      - MakeSceneEurocStereoVIO_ros.cpp
      - ros_global_optimization.cpp
      - CMakeLists.txt
      - global_frame_synchronizer.h
      - multi_scene_retriever.cpp
      - demo_stereo_main.cpp
      - session
        temporal_manager.h
      - MakeSceneFromOpenSfMModel.cpp
      - gps_utils
        gps_utils.h
    - createMask.py
    - include
      - image_process.h
      - eigen_boost_serialization.h
      - serialization.h
      - Cv_mat.h
      - cv_helper.h
    - visualizePose.py
    - run_demo_stereo.sh
    - debug.sh
    - test.sh
    - config
      - Q_mat.yaml
      - ros_global_optimization_config.yaml
    - Thirdparty
      - GMS
        gms_matcher.h
    - CMakeLists.txt
    - README.md
    - buildloopclosing.sh
    - multiscene_demo_files
      - scene_file_list.json
    - .idea
      - scene_retrieving.iml
      - modules.xml
      - encodings.xml
      - misc.xml
      - workspace.xml
      - vcs.xml
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    - cmake-modules
      - FindGlog.cmake
      - FindEigen3.cmake
      - FindCSparse.cmake
      - FindCholmod.cmake
      - FindG2O.cmake
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    - README.md
  - GlobalOptimizationGraph_GTSAM
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      - sophus.hpp
      - se3.hpp
      - Camera.h
      - utility.h
      - so3.hpp
    - GOG_Frame.h
    - G2OTypes.h
    - G2OTypes_EdgeSLAMPRV.h
    - main.cpp
    - visualizer.py
    - original_data_visualizer.py
    - StateTransfer.h
    - ROS_IO_Manager.h
    - config.yaml
    - CheckValid.h
    - bag_process.py
    - GPS_SLAM_Matcher.h
    - Thirdparty
      - g2o
        license-bsd.txt
        config.h
        lib
        g2o
        solvers
        linear_solver_eigen.h
        linear_solver_dense.h
        types
        edge_se3_pointxyz_depth.cpp
        dquat2mat_maxima_generated.cpp
        types_six_dof_expmap.cpp
        types_seven_dof_expmap.h
        vertex_pointxyz.cpp
        dquat2mat.wxm
        types_slam3d.h
        parameter_stereo_camera.cpp
        parameter_se3_offset.cpp
        isometry3d_mappings.h
        edge_se3_pointxyz_depth.h
        edge_se3_offset.cpp
        parameter_se3_offset.h
        vertex_se3.cpp
        edge_se3_pointxyz.cpp
        parameter_stereo_camera.h
        edge_se3.cpp
        g2o_types_slam3d_api.h
        dquat2mat.cpp
        edge_se3_lotsofxyz.h
        edge_se3_pointxyz_disparity.cpp
        types_slam3d.cpp
        vertex_pointxyz.h
        edge_pointxyz.cpp
        vertex_se3.h
        dquat2mat.h
        edge_se3_pointxyz_disparity.h
        edge_se3_lotsofxyz.cpp
        types_six_dof_expmap.h
        edge_se3.h
        edge_pointxyz.h
        se3quat.h
        parameter_camera.cpp
        CMakeLists.txt
        se3_ops.hpp
        edge_se3_prior.h
        edge_se3_offset.h
        isometry3d_mappings.cpp
        se3_ops.h
        isometry3d_gradients.cpp
        edge_se3_prior.cpp
        edge_se3_pointxyz.h
        types_sba.h
        types_sba.cpp
        parameter_camera.h
        types_seven_dof_expmap.cpp
        isometry3d_gradients.h
        sim3.h
        stuff
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        timeutil.h
        macros.h
        os_specific.c
        property.h
        misc.h
        string_tools.cpp
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        string_tools.h
        property.cpp
        color_macros.h
        core
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        estimate_propagator.h
        base_vertex.h
        optimization_algorithm_factory.cpp
        matrix_structure.h
        optimization_algorithm_property.h
        batch_stats.cpp
        creators.h
        base_binary_edge.hpp
        robust_kernel_factory.cpp
        solver.h
        marginal_covariance_cholesky.h
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        optimization_algorithm_dogleg.h
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        matrix_operations.h
        optimization_algorithm_levenberg.cpp
        optimization_algorithm_dogleg.cpp
        linear_solver.h
        robust_kernel_impl.cpp
        optimization_algorithm_with_hessian.cpp
        base_multi_edge.h
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        sparse_block_matrix_diagonal.h
        cache.cpp
        openmp_mutex.h
        robust_kernel_impl.h
        optimization_algorithm_with_hessian.h
        base_vertex.hpp
        block_solver.hpp
        sparse_block_matrix.hpp
        sparse_block_matrix_test.cpp
        hyper_graph_action.cpp
        parameter_container.h
        optimization_algorithm_factory.h
        robust_kernel.cpp
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        optimization_algorithm_levenberg.h
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        robust_kernel_factory.h
        cache.h
        optimization_algorithm_gauss_newton.cpp
        batch_stats.h
        sparse_optimizer.cpp
        hyper_dijkstra.h
        hyper_graph.cpp
        estimate_propagator.cpp
        sparse_block_matrix_ccs.h
        base_unary_edge.hpp
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        robust_kernel.h
        optimizable_graph.h
        factory.h
        matrix_structure.cpp
        base_binary_edge.h
        block_solver.h
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        hyper_graph.h
        parameter.h
        hyper_dijkstra.cpp
        eigen_types.h
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        base_unary_edge.h
        optimization_algorithm.cpp
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        solver.cpp
        hyper_graph_action.h
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        cmake_modules
        FindEigen3.cmake
        FindLAPACK.cmake
        FindBLAS.cmake
        README.txt
        CMakeLists.txt
        config.h.in
    - StateTransfer.md
    - CMakeLists.txt
    - README.md
    - GlobalOptimizationGraph.cpp
    - G2OTypes.cpp
    - GPS_like.h
    - CallbacksBufferBlock.h
    - GPSExpand.h
    - modules
      - Preprocess.h
      - AHRS_module.h
      - GPS_module.h
      - SceneRetrieve_module.h
      - SLAM_module.h
    - cmake-modules
      - FindGlog.cmake
      - FindEigen3.cmake
      - FindCSparse.cmake
      - FindCholmod.cmake
      - FindG2O.cmake
    - GlobalOptimizationGraph.h
    - generate.sh
    - ros_buffer_helper.h
    - ROS_IO_Manager.cpp
  - MultiCamSLAM
    - src
      - SLAM_simple.cpp
      - utils
        Timer.h
        Debug_cv_log.h
        mcs_utils.h
      - FeatureFrontEndCV.h
      - SLAMOptimizationGraph.h
      - Visualization.h
      - TypeDefs.h
      - test
        test_cvFrontEnd1.cpp
        test_SLAM_offline.cpp
        test_cv_frontend.cpp
        test_cvFrontEnd3_createStereoFrame.cpp
        test_VO.cpp
        test_FrameManager3_trackMapPoints.cpp
        test_cvFrontEnd2_optflow.cpp
        test_FrameManager4_trackLocalFrame.cpp
        CMakeLists.txt
        test_SLAM_simple.cpp
      - ReprojectionInfoDatabase.h
      - MeanDisparityCalc.h
      - SLAM_simple.h
      - SLAMOptimizationGraph.cpp
      - FeatureFrontEndCV.cpp
      - Frame.h
      - IMU_Preint_GTSAM.cpp
      - FrameWiseGeometry.cpp
      - CMakeLists.txt
      - IMU_Preint_GTSAM.h
      - FrameWiseGeometry.h
      - FrameManager.h
      - FrameManager.cpp
      - SlidingWindow.h
    - config
      - slam_simple_config.yaml
    - data
      - stereoSettings1_test_create_stereo_frame.yaml
    - CMakeLists.txt
    - README.md
    - scripts
      - visualize_translations.py
      - visualize_map_points.py
      - visualize_poses.py
    - cmake-modules
      - FindEigen3.cmake
      - FindCSparse.cmake
      - FindCholmod.cmake
      - FindG2O.cmake
    - generate.sh
  - README.md
  - sfm
    - sfm_plane_detection
      - rotate_pcd.cpp
      - CMakeLists.txt
    - OpenSfM
      - licenses.csv
      - Dockerfile.python3
      - viewer
        images
        preloader.gif
        reconstruction.html
        js
        OrbitControls.js
        jquery.js
        journey.js
        TrackballControls.js
        dat.gui.js
      - .gitmodules
      - LICENSE
      - opensfm
        features.py
        src
        cmake
        FindGlog.cmake
        FindEigen.cmake
        FindNumPy.cmake
        FindGflags.cmake
        FindCeres.cmake
        FindSuiteSparse.cmake
        akaze_bind.cc
        akaze_bind.h
        csfm.cc
        depthmap_bind.h
        third_party
        vlfeat
        README.opensfm
        vl
        dsift.h
        mathop.c
        rodrigues.h
        homkermap.c
        svm.h
        slic.c
        sift.c
        mathop_avx.h
        imopv_sse2.c
        stringop.c
        generic.h
        dsift.c
        kmeans.c
        gmm.h
        getopt_long.c
        vlad.c
        quickshift.c
        liop.c
        aib.h
        pgm.h
        svmdataset.h
        heap-def.h
        rodrigues.c
        qsort-def.h
        mathop_avx.c
        covdet.h
        lbp.h
        fisher.h
        mathop.h
        generic.c
        aib.c
        scalespace.c
        host.c
        imopv_sse2.h
        lbp.c
        random.h
        imopv.h
        hikmeans.c
        ikmeans.h
        ikmeans_elkan.tc
        array.h
        scalespace.h
        host.h
        random.c
        hog.c
        svm.c
        quickshift.h
        pgm.c
        vlad.h
        getopt_long.h
        shuffle-def.h
        imopv.c
        kdtree.h
        mathop_sse2.h
        float.th
        mser.c
        array.c
        gmm.c
        hog.h
        sift.h
        mser.h
        homkermap.h
        covdet.c
        ikmeans_lloyd.tc
        svmdataset.c
        fisher.c
        liop.h
        stringop.h
        slic.h
        ikmeans_init.tc
        ikmeans.c
        kmeans.h
        kdtree.c
        hikmeans.h
        mathop_sse2.c
        COPYING
        README.md
        pybind11
        gtest
        README.opensfm
        gmock_main.cc
        gtest
        gmock
        mock-log.h
        openmvs
        README.opensfm
        Interface.h
        PythonExtensionPatterns
        README.opensfm
        py_import_call_execute.c
        py_import_call_execute.h
        akaze
        README.opensfm
        Doxyfile
        LICENSE
        lib
        fed.h
        AKAZE.h
        AKAZEConfig.h
        fed.cpp
        utils.h
        nldiffusion_functions.h
        AKAZE.cpp
        utils.cpp
        nldiffusion_functions.cpp
        README.akaze.md
        openmvs_exporter.h
        multiview.cc
        debug_c_extension.cc
        depthmap.h
        types.h
        depthmap_test.cc
        hahog.cc
        bundle.h
        CMakeLists.txt
        depthmap.cc
        testing_main.cc
        reconstruction_alignment.h
        hahog.h
        log.py
        unionfind.py
        synthetic_data
        synthetic_generator.py
        synthetic_scene.py
        synthetic_dataset.py
        synthetic_metrics.py
        __init__.py
        synthetic_examples.py
        mesh.py
        config.py
        exif.py
        commands
        match_features.py
        detect_features.py
        extract_metadata.py
        create_tracks.py
        export_visualsfm.py
        mesh.py
        compute_depthmaps.py
        create_submodels.py
        export_geocoords.py
        __init__.py
        reconstruct.py
        undistort.py
        export_ply.py
        export_openmvs.py
        align_submodels.py
        reconstruction.py
        test
        test_geo.py
        test_dense.py
        test_types.py
        test_io.py
        test_dataset.py
        test_triangulation.py
        test_commands.py
        test_reconstruction_shot_neighborhood.py
        test_reconstruction_resect.py
        test_reconstruction_alignment.py
        large
        __init__.py
        test_tools.py
        test_bundle.py
        test_reconstruction_incremental.py
        data_generation.py
        test_multiview.py
        test_matching.py
        conftest.py
        tracking.py
        matching.py
        multiview.py
        sensors.py
        transformations.py
        data
        sensor_data.readme.txt
        sensor_data.json
        large
        tools.py
        __init__.py
        metadataset.py
        io.py
        video.py
        __init__.py
        dense.py
        dataset.py
        align.py
        context.py
        types.py
        geotag_from_gpx.py
        geo.py
      - mapillary_structure.json
      - setup.py
      - data
        berlin
        config.yaml
      - setup.cfg
      - .travis.yml
      - README.md
      - bin
        colmap_export
        plot_depthmaps
        clean
        import_video
        run_bundler
        plot_matches
        opensfm
        plot_submodels_gps
        run_synthetic_test
        update_geotag
        import_bundler
        export_pmvs.md
        plot_tracks
        navigation_graph
        focal_from_exif
        opensfm_run_all
        plot_features
        export_pmvs
        plot_inliers
        create_calibrtion_pattern
        export_bundler
        export_gps
      - requirements.txt
      - Dockerfile
      - .gitignore
      - .dockerignore
      - doc
        Makefile
        source
        python3.rst
        dense.rst
        geometry.rst
        reconstruction_module.rst
        using.rst
        api.rst
        gcp.rst
        cam_coord_system.rst
        dataset.rst
        reporting.rst
        large.rst
        index.rst
        conf.py
        building.rst
        _templates
        layout.html
        _static
        mathjax_conf.js
        merging_notes.rst
    - dataset.py
  - object_tracking
    - README.md
- CONTRIBUTING.md
- AUTHORS.md
- CHANGELOG.md
- Testing.md
- README.md
- software
  - px4_mavros_scripts
    - README.MD
    - 1_px4_mavros_offboard_controller
      - commander.py
      - px4_mavros_run.py
  - Navigator
    - SimController.py
    - path_optimization
      - bresenham3d.py
      - path_pruning.py
      - __init__.py
    - Navigator.py
    - astar
      - driver.py
      - astar.py
      - astar_config.py
      - __init__.py
    - pose_visualize.py
    - Pos2PosController.py
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        Database.h
        DException.h
        Timestamp.cpp
        Random.cpp
        DBoW3.h
        demo
        demo.cpp
        utils
        create_voc_step1.cpp
        CMakeLists.txt
        create_voc_step0.cpp
        demo_general.cpp
        cmake_uninstall.cmake.in
        config.cmake.in
        CMakeLists.txt
        README.md
        tests
        test_iobinary.cpp
        test_fbow.cpp
        test_flann.cpp
        nanoflann.hpp
        CMakeLists.txt
        test_bigvoc.cpp
        .gitignore
        LICENSE.txt
        build.sh
      - generate.sh
    - run_demo_stereo.sh
    - debug.sh
    - test.sh
    - relativetransform.txt
    - UNKNOWN.INFO
    - config
      - Q_mat.yaml
      - scene_retrieve.yaml
      - ros_global_optimization_config.yaml
      - multi_cam_demo.yaml
    - bad_cases.md
    - CMakeLists.txt
    - README.md
    - multiscene_demo_files
      - scene_file_list.json
    - .gitignore
    - point_and_fly.sh
    - build.sh
    - cmake-modules
      - FindGlog.cmake
      - FindEigen3.cmake
      - FindCSparse.cmake
      - FindCholmod.cmake
      - FindG2O.cmake
    - generate.sh
  - GlobalOptimizationGraph_GTSAM
    - yaw_visualizer.py
    - ygz_common_headers
      - NumTypes.h
      - sophus.hpp
      - se3.hpp
      - Camera.h
      - utility.h
      - so3.hpp
    - GOG_Frame.h
    - G2OTypes.h
    - G2OTypes_EdgeSLAMPRV.h
    - main.cpp
    - visualizer.py
    - StateTransfer.h
    - results
      - visualize.py
    - ROS_IO_Manager.h
    - config.yaml
    - CheckValid.h
    - bag_process.py
    - visualize_gtsam_loss.py
    - CMakeLists.txt.user
    - GPS_SLAM_Matcher.h
    - StateTransfer.md
    - CMakeLists.txt
    - gps_xyz_visualizer.py
    - README.md
    - GlobalOptimizationGraph.cpp
    - G2OTypes.cpp
    - scripts
      - create_bag.py
    - GPS_like.h
    - CallbacksBufferBlock.h
    - GPSExpand.h
    - rviz_msg_vis.py
    - visualize_rpy_original.py
    - modules
      - Loop_utils.h
      - Preprocess.h
      - Optimizer_utils.h
      - AHRS_module.h
      - GPS_module.h
      - SceneRetrieve_module.h
      - RPY_Quat_utils.h
      - Barometer_module.h
      - SLAM_module.h
    - test.cpp
    - cmake-modules
      - FindGTSAM_UNSTABLE.cmake
      - FindGlog.cmake
      - FindEigen3.cmake
      - FindCSparse.cmake
      - FindCholmod.cmake
    - GlobalOptimizationGraph.h
    - generate.sh
    - ros_buffer_helper.h
    - ROS_IO_Manager.cpp
  - README.md
  - SLAM
    - ygz_slam_ros
      - dependency.txt
      - bug_fixes.md
      - debug.txt
      - Note.md
      - install_dep.sh
      - examples
        EuRoC_TimeStamps
        MH05.txt
        V102.txt
        V101.txt
        MH01.txt
        MH03.txt
        V201.txt
        MH04.txt
        V203.txt
        V202.txt
        MH02.txt
        V103.txt
        EuRoC_cam_noised.yaml
        EuRoC.yaml
        Myownds_euros.yaml
        simulationCamera.yaml
        Horizon2.yaml
        Lena.yaml
        Horizon.yaml
        Kitti.cpp
        simimu
        imu.txt
        rot.txt
        matlabscripts
        hat.m
        generateRP.m
        plotaxis.m
        t3.m
        traj_gen.m
        vee.m
        imu_sensor.m
        imunoise.txt
        pos.txt
        MakeSceneEurocStereoVIO_ros.cpp
        EurocStereoVIO_ros.cpp
        CMakeLists.txt
        EurocStereo.yaml
        Kitti.yaml
        EurocStereoVIO.cpp
        EurocStereo.cpp
        MyOwnDS_fixed.yaml
        EurocStereoVIO.yaml
      - visualizer_gps_pos.py
      - serialization
        include
        ygz
        serialize_tuple.h
        eigen_boost_serialization.h
        serialization.h
        Cv_mat.h
      - LICENSE
      - backend
        src
        BackendSlidingWindowG2O.cpp
        LoopClosing.cpp
        include
        ygz
        BackendInterface.h
        LoopClosing.h
        BackendSlidingWindowG2O.h
        CMakeLists.txt
      - README.MD
      - common
        src
        IMUData.cpp
        utility.cpp
        MapPoint.cpp
        Frame.cpp
        scene_retrieve.cpp
        demo.cpp
        G2OTypes.cpp
        Settings.cpp
        include
        ygz
        MapPoint.h
        NumTypes.h
        G2OTypes.h
        sophus.hpp
        Feature.h
        se3.hpp
        cv_helper.h
        scene_frame_properties.h
        scene_retrieve.h
        Camera.h
        Frame.h
        utility.h
        IMUPreIntegration.h
        so3.hpp
        Settings.h
        IMUData.h
        CMakeLists.txt
      - util
        src
        EurocReader.cpp
        Viewer.cpp
        include
        ygz
        Viewer.h
        EurocReader.h
        CMakeLists.txt
      - run.sh
      - small_voc.yml.gz
      - Thirdparty
        DBow3
        src
        BRIEF.h
        Database.cpp
        DUtils.h
        QueryResults.h
        config.h
        FeatureVector.cpp
        exports.h
        Timestamp.h
        DescManip.h
        ScoringObject.h
        BowVector.cpp
        Vocabulary.h
        DVision.h
        ScoringObject.cpp
        Vocabulary.cpp
        FeatureVector.h
        quicklz.h
        BRIEF.cpp
        timers.h
        quicklz.c
        LoopClosingManager.cpp
        BowVector.h
        QueryResults.cpp
        LoopClosingManager.h
        CMakeLists.txt
        DescManip.cpp
        Random.h
        Database.h
        DException.h
        Timestamp.cpp
        Random.cpp
        DBoW3.h
        demo
        demo.cpp
        utils
        create_voc_step1.cpp
        CMakeLists.txt
        create_voc_step0.cpp
        demo_general.cpp
        cmake_uninstall.cmake.in
        config.cmake.in
        CMakeLists.txt
        README.md
        tests
        test_iobinary.cpp
        test_fbow.cpp
        test_flann.cpp
        nanoflann.hpp
        CMakeLists.txt
        test_bigvoc.cpp
        LICENSE.txt
        fast
        src
        fast_10_score.cpp
        fast_10.cpp
        nonmax_3x3.cpp
        faster_corner_10_sse.cpp
        include
        fast
        corner_10.h
        corner_9.h
        fast.h
        faster_corner_utilities.h
        LICENSE
        test
        test.cpp
        package.xml
        CMakeLists.txt
        README.md
        fastConfig.cmake.in
      - visualizer_slam_pos.py
      - CreateScene.sh
      - CMakeLists.txt
      - cv
        src
        LKFlow.cpp
        Align.cpp
        TrackerLK.cpp
        ORBMatcher.cpp
        ORBExtractor.cpp
        Tracker.cpp
        MapSerialization.cpp
        include
        ygz
        ORBExtractor.h
        LKFlow.h
        Align.h
        ORBMatcher.h
        TrackerLK.h
        Tracker.h
        MapSerialization.h
        CMakeLists.txt
      - gps_test
        a.out
        gps_to_xyz.cpp
      - system
        src
        System.cpp
        include
        ygz
        System.h
        CMakeLists.txt
      - px4pose.csv
      - comparepose.py
      - .gitignore
      - cmake-modules
        FindGlog.cmake
        FindEigen3.cmake
        FindCSparse.cmake
        FindCholmod.cmake
        FindG2O.cmake
      - voc
        brief_pattern.yml
      - generate.sh
- .gitignore