From 40df37d770354404a90a4f20fe6f9506a08de539 Mon Sep 17 00:00:00 2001 From: majid Date: Fri, 28 Aug 2026 18:29:45 +0200 Subject: [PATCH] move files --- GPU_version/README.md => README.md | 0 {GPU_version/vio => vio}/.idea/.gitignore | 0 {GPU_version/vio => vio}/.idea/.name | 0 {GPU_version/vio => vio}/.idea/misc.xml | 0 {GPU_version/vio => vio}/.idea/modules.xml | 0 {GPU_version/vio => vio}/.idea/svo.iml | 0 {GPU_version/vio => vio}/.idea/vcs.xml | 0 {GPU_version/vio => vio}/CMakeLists.txt | 0 .../vio => vio}/CMakeModules/FindCholmod.cmake | 0 .../vio => vio}/CMakeModules/FindEigen.cmake | 0 {GPU_version/vio => vio}/CMakeModules/FindG2O.cmake | 0 {GPU_version/vio => vio}/doc/.gitignore | 0 {GPU_version/vio => vio}/doc/notation.png | Bin {GPU_version/vio => vio}/frame_handler_log.txt | 0 {GPU_version/vio => vio}/include/sophus/scso3.cpp | 0 {GPU_version/vio => vio}/include/sophus/scso3.h | 0 {GPU_version/vio => vio}/include/sophus/se2.cpp | 0 {GPU_version/vio => vio}/include/sophus/se2.h | 0 {GPU_version/vio => vio}/include/sophus/se3.cpp | 0 {GPU_version/vio => vio}/include/sophus/se3.h | 0 {GPU_version/vio => vio}/include/sophus/sim3.cpp | 0 {GPU_version/vio => vio}/include/sophus/sim3.h | 0 {GPU_version/vio => vio}/include/sophus/so2.cpp | 0 {GPU_version/vio => vio}/include/sophus/so2.h | 0 {GPU_version/vio => vio}/include/sophus/so3.cpp | 0 {GPU_version/vio => vio}/include/sophus/so3.h | 0 .../vio => vio}/include/vio/abstract_camera.h | 0 {GPU_version/vio => vio}/include/vio/aligned_mem.h | 0 {GPU_version/vio => vio}/include/vio/atan_camera.h | 0 .../vio => vio}/include/vio/bundle_adjustment.h | 0 .../vio => vio}/include/vio/camera_loader.h | 0 {GPU_version/vio => vio}/include/vio/cl.hpp | 0 {GPU_version/vio => vio}/include/vio/cl_class.h | 0 {GPU_version/vio => vio}/include/vio/config.h | 0 {GPU_version/vio => vio}/include/vio/feature.h | 0 .../vio => vio}/include/vio/feature_alignment.h | 0 .../vio => vio}/include/vio/feature_detection.h | 0 {GPU_version/vio => vio}/include/vio/for_it.hpp | 0 {GPU_version/vio => vio}/include/vio/frame.h | 0 .../vio => vio}/include/vio/frame_handler_base.h | 0 .../vio => vio}/include/vio/frame_handler_mono.h | 0 {GPU_version/vio => vio}/include/vio/global.h | 0 .../vio => vio}/include/vio/global_optimizer.h | 0 {GPU_version/vio => vio}/include/vio/homography.h | 0 .../vio => vio}/include/vio/initialization.h | 0 {GPU_version/vio => vio}/include/vio/map.h | 0 {GPU_version/vio => vio}/include/vio/matcher.h | 0 {GPU_version/vio => vio}/include/vio/math_utils.h | 0 {GPU_version/vio => vio}/include/vio/nlls_solver.h | 0 .../vio => vio}/include/vio/nlls_solver_impl.hpp | 0 .../vio => vio}/include/vio/output_helper.h | 0 .../vio => vio}/include/vio/params_helper.h | 0 {GPU_version/vio => vio}/include/vio/patch_score.h | 0 {GPU_version/vio => vio}/include/vio/point.h | 0 .../vio => vio}/include/vio/pose_optimizer.h | 0 {GPU_version/vio => vio}/include/vio/reprojector.h | 0 {GPU_version/vio => vio}/include/vio/robust_cost.h | 0 .../vio => vio}/include/vio/sparse_img_align.h | 0 .../vio => vio}/include/vio/sparse_img_align_gpu.h | 0 {GPU_version/vio => vio}/include/vio/timer.h | 0 {GPU_version/vio => vio}/include/vio/ukf.h | 0 {GPU_version/vio => vio}/include/vio/vision.h | 0 {GPU_version/vio => vio}/include/vio/visualizer.h | 0 {GPU_version/vio => vio}/kernel/compute-residual.cl | 0 {GPU_version/vio => vio}/kernel/fast-gray.cl | 0 {GPU_version/vio => vio}/kernel/freak.cl | 0 {GPU_version/vio => vio}/kernel/integral_image.cl | 0 {GPU_version/vio => vio}/launch/Px30.launch | 0 {GPU_version/vio => vio}/launch/debug.launch | 0 {GPU_version/vio => vio}/launch/test.launch | 0 {GPU_version/vio => vio}/launch/unity.launch | 0 {GPU_version/vio => vio}/loop_closure_log.txt | 0 {GPU_version/vio => vio}/msg/Info.msg | 0 {GPU_version/vio => vio}/package.xml | 0 {GPU_version/vio => vio}/param/px30.yaml | 0 {GPU_version/vio => vio}/param/vo_fast.yaml | 0 {GPU_version/vio => vio}/src/atan_camera.cpp | 0 {GPU_version/vio => vio}/src/bundle_adjustment.cpp | 0 {GPU_version/vio => vio}/src/cl_class.cpp | 0 {GPU_version/vio => vio}/src/config.cpp | 0 {GPU_version/vio => vio}/src/feature_alignment.cpp | 0 {GPU_version/vio => vio}/src/feature_detection.cpp | 0 {GPU_version/vio => vio}/src/frame.cpp | 0 {GPU_version/vio => vio}/src/frame_handler_base.cpp | 0 {GPU_version/vio => vio}/src/frame_handler_mono.cpp | 0 {GPU_version/vio => vio}/src/global_optimizer.cpp | 0 {GPU_version/vio => vio}/src/homography.cpp | 0 {GPU_version/vio => vio}/src/initialization.cpp | 0 {GPU_version/vio => vio}/src/map.cpp | 0 {GPU_version/vio => vio}/src/matcher.cpp | 0 {GPU_version/vio => vio}/src/math_utils.cpp | 0 {GPU_version/vio => vio}/src/output_helper.cpp | 0 {GPU_version/vio => vio}/src/point.cpp | 0 {GPU_version/vio => vio}/src/pose_optimizer.cpp | 0 {GPU_version/vio => vio}/src/reprojector.cpp | 0 {GPU_version/vio => vio}/src/robust_cost.cpp | 0 {GPU_version/vio => vio}/src/sparse_img_align.cpp | 0 .../vio => vio}/src/sparse_img_align_gpu.cpp | 0 {GPU_version/vio => vio}/src/vision.cpp | 0 {GPU_version/vio => vio}/src/visualizer.cpp | 0 {GPU_version/vio => vio}/src/vo_node.cpp | 0 {GPU_version/vio => vio}/srv/getOdom.srv | 0 {GPU_version/vio => vio}/srv/start.srv | 0 {GPU_version/vio => vio}/srv/stop.srv | 0 104 files changed, 0 insertions(+), 0 deletions(-) rename GPU_version/README.md => README.md (100%) mode change 100755 => 100644 rename {GPU_version/vio => vio}/.idea/.gitignore (100%) rename {GPU_version/vio => vio}/.idea/.name (100%) rename {GPU_version/vio => vio}/.idea/misc.xml (100%) rename {GPU_version/vio => vio}/.idea/modules.xml (100%) rename {GPU_version/vio => vio}/.idea/svo.iml (100%) rename {GPU_version/vio => vio}/.idea/vcs.xml (100%) rename {GPU_version/vio => vio}/CMakeLists.txt (100%) mode change 100755 => 100644 rename {GPU_version/vio => vio}/CMakeModules/FindCholmod.cmake (100%) rename {GPU_version/vio => vio}/CMakeModules/FindEigen.cmake (100%) rename {GPU_version/vio => vio}/CMakeModules/FindG2O.cmake (100%) rename {GPU_version/vio => vio}/doc/.gitignore (100%) rename {GPU_version/vio => vio}/doc/notation.png (100%) rename {GPU_version/vio => vio}/frame_handler_log.txt (100%) mode change 100755 => 100644 rename {GPU_version/vio => vio}/include/sophus/scso3.cpp (100%) rename {GPU_version/vio => vio}/include/sophus/scso3.h (100%) rename {GPU_version/vio => vio}/include/sophus/se2.cpp (100%) rename {GPU_version/vio => vio}/include/sophus/se2.h (100%) rename {GPU_version/vio => vio}/include/sophus/se3.cpp (100%) rename {GPU_version/vio => vio}/include/sophus/se3.h (100%) rename {GPU_version/vio => vio}/include/sophus/sim3.cpp (100%) rename {GPU_version/vio => vio}/include/sophus/sim3.h (100%) rename {GPU_version/vio => vio}/include/sophus/so2.cpp (100%) rename {GPU_version/vio => vio}/include/sophus/so2.h (100%) rename {GPU_version/vio => vio}/include/sophus/so3.cpp (100%) rename {GPU_version/vio => vio}/include/sophus/so3.h (100%) rename {GPU_version/vio => vio}/include/vio/abstract_camera.h (100%) rename {GPU_version/vio => vio}/include/vio/aligned_mem.h (100%) rename {GPU_version/vio => vio}/include/vio/atan_camera.h (100%) rename {GPU_version/vio => vio}/include/vio/bundle_adjustment.h (100%) rename {GPU_version/vio => vio}/include/vio/camera_loader.h (100%) rename {GPU_version/vio => vio}/include/vio/cl.hpp (100%) rename {GPU_version/vio => vio}/include/vio/cl_class.h (100%) rename {GPU_version/vio => vio}/include/vio/config.h (100%) rename {GPU_version/vio => vio}/include/vio/feature.h (100%) rename {GPU_version/vio => vio}/include/vio/feature_alignment.h (100%) rename {GPU_version/vio => vio}/include/vio/feature_detection.h (100%) rename {GPU_version/vio => vio}/include/vio/for_it.hpp (100%) mode change 100755 => 100644 rename {GPU_version/vio => vio}/include/vio/frame.h (100%) rename {GPU_version/vio => vio}/include/vio/frame_handler_base.h (100%) rename {GPU_version/vio => vio}/include/vio/frame_handler_mono.h (100%) rename {GPU_version/vio => vio}/include/vio/global.h (100%) rename {GPU_version/vio => vio}/include/vio/global_optimizer.h (100%) rename {GPU_version/vio => vio}/include/vio/homography.h (100%) rename {GPU_version/vio => vio}/include/vio/initialization.h (100%) rename {GPU_version/vio => vio}/include/vio/map.h (100%) rename {GPU_version/vio => vio}/include/vio/matcher.h (100%) rename {GPU_version/vio => vio}/include/vio/math_utils.h (100%) rename {GPU_version/vio => vio}/include/vio/nlls_solver.h (100%) rename {GPU_version/vio => vio}/include/vio/nlls_solver_impl.hpp (100%) rename {GPU_version/vio => vio}/include/vio/output_helper.h (100%) rename {GPU_version/vio => vio}/include/vio/params_helper.h (100%) rename {GPU_version/vio => vio}/include/vio/patch_score.h (100%) rename {GPU_version/vio => vio}/include/vio/point.h (100%) rename {GPU_version/vio => vio}/include/vio/pose_optimizer.h (100%) rename {GPU_version/vio => vio}/include/vio/reprojector.h (100%) rename {GPU_version/vio => vio}/include/vio/robust_cost.h (100%) rename {GPU_version/vio => vio}/include/vio/sparse_img_align.h (100%) rename {GPU_version/vio => vio}/include/vio/sparse_img_align_gpu.h (100%) rename {GPU_version/vio => vio}/include/vio/timer.h (100%) rename {GPU_version/vio => vio}/include/vio/ukf.h (100%) rename {GPU_version/vio => vio}/include/vio/vision.h (100%) rename {GPU_version/vio => vio}/include/vio/visualizer.h (100%) rename {GPU_version/vio => vio}/kernel/compute-residual.cl (100%) rename {GPU_version/vio => vio}/kernel/fast-gray.cl (100%) rename {GPU_version/vio => vio}/kernel/freak.cl (100%) rename {GPU_version/vio => vio}/kernel/integral_image.cl (100%) rename {GPU_version/vio => vio}/launch/Px30.launch (100%) rename {GPU_version/vio => vio}/launch/debug.launch (100%) rename {GPU_version/vio => vio}/launch/test.launch (100%) rename {GPU_version/vio => vio}/launch/unity.launch (100%) rename {GPU_version/vio => vio}/loop_closure_log.txt (100%) mode change 100755 => 100644 rename {GPU_version/vio => vio}/msg/Info.msg (100%) rename {GPU_version/vio => vio}/package.xml (100%) mode change 100755 => 100644 rename {GPU_version/vio => vio}/param/px30.yaml (100%) rename {GPU_version/vio => vio}/param/vo_fast.yaml (100%) rename {GPU_version/vio => vio}/src/atan_camera.cpp (100%) rename {GPU_version/vio => vio}/src/bundle_adjustment.cpp (100%) rename {GPU_version/vio => vio}/src/cl_class.cpp (100%) rename {GPU_version/vio => vio}/src/config.cpp (100%) rename {GPU_version/vio => vio}/src/feature_alignment.cpp (100%) rename {GPU_version/vio => vio}/src/feature_detection.cpp (100%) rename {GPU_version/vio => vio}/src/frame.cpp (100%) rename {GPU_version/vio => vio}/src/frame_handler_base.cpp (100%) rename {GPU_version/vio => vio}/src/frame_handler_mono.cpp (100%) rename {GPU_version/vio => vio}/src/global_optimizer.cpp (100%) rename {GPU_version/vio => vio}/src/homography.cpp (100%) rename {GPU_version/vio => vio}/src/initialization.cpp (100%) rename {GPU_version/vio => vio}/src/map.cpp (100%) rename {GPU_version/vio => vio}/src/matcher.cpp (100%) rename {GPU_version/vio => vio}/src/math_utils.cpp (100%) rename {GPU_version/vio => vio}/src/output_helper.cpp (100%) rename {GPU_version/vio => vio}/src/point.cpp (100%) rename {GPU_version/vio => vio}/src/pose_optimizer.cpp (100%) rename {GPU_version/vio => vio}/src/reprojector.cpp (100%) rename {GPU_version/vio => vio}/src/robust_cost.cpp (100%) rename {GPU_version/vio => vio}/src/sparse_img_align.cpp (100%) rename {GPU_version/vio => vio}/src/sparse_img_align_gpu.cpp (100%) rename {GPU_version/vio => vio}/src/vision.cpp (100%) rename {GPU_version/vio => vio}/src/visualizer.cpp (100%) rename {GPU_version/vio => vio}/src/vo_node.cpp (100%) rename {GPU_version/vio => vio}/srv/getOdom.srv (100%) rename {GPU_version/vio => vio}/srv/start.srv (100%) rename {GPU_version/vio => vio}/srv/stop.srv (100%) diff --git a/GPU_version/README.md b/README.md old mode 100755 new mode 100644 similarity index 100% rename from GPU_version/README.md rename to README.md diff --git a/GPU_version/vio/.idea/.gitignore b/vio/.idea/.gitignore similarity index 100% rename from GPU_version/vio/.idea/.gitignore rename to vio/.idea/.gitignore diff --git a/GPU_version/vio/.idea/.name b/vio/.idea/.name similarity index 100% rename from GPU_version/vio/.idea/.name rename to vio/.idea/.name diff --git a/GPU_version/vio/.idea/misc.xml b/vio/.idea/misc.xml similarity index 100% rename from GPU_version/vio/.idea/misc.xml rename to vio/.idea/misc.xml diff --git a/GPU_version/vio/.idea/modules.xml b/vio/.idea/modules.xml similarity index 100% rename from GPU_version/vio/.idea/modules.xml rename to vio/.idea/modules.xml diff --git a/GPU_version/vio/.idea/svo.iml b/vio/.idea/svo.iml similarity index 100% rename from GPU_version/vio/.idea/svo.iml rename to vio/.idea/svo.iml diff --git a/GPU_version/vio/.idea/vcs.xml b/vio/.idea/vcs.xml similarity index 100% rename from GPU_version/vio/.idea/vcs.xml rename to vio/.idea/vcs.xml diff --git a/GPU_version/vio/CMakeLists.txt b/vio/CMakeLists.txt old mode 100755 new mode 100644 similarity index 100% rename from GPU_version/vio/CMakeLists.txt rename to vio/CMakeLists.txt diff --git a/GPU_version/vio/CMakeModules/FindCholmod.cmake b/vio/CMakeModules/FindCholmod.cmake similarity index 100% rename from GPU_version/vio/CMakeModules/FindCholmod.cmake rename to vio/CMakeModules/FindCholmod.cmake diff --git a/GPU_version/vio/CMakeModules/FindEigen.cmake b/vio/CMakeModules/FindEigen.cmake similarity index 100% rename from GPU_version/vio/CMakeModules/FindEigen.cmake rename to vio/CMakeModules/FindEigen.cmake diff --git a/GPU_version/vio/CMakeModules/FindG2O.cmake b/vio/CMakeModules/FindG2O.cmake similarity index 100% rename from GPU_version/vio/CMakeModules/FindG2O.cmake rename to vio/CMakeModules/FindG2O.cmake diff --git a/GPU_version/vio/doc/.gitignore b/vio/doc/.gitignore similarity index 100% rename from GPU_version/vio/doc/.gitignore rename to vio/doc/.gitignore diff --git a/GPU_version/vio/doc/notation.png b/vio/doc/notation.png similarity index 100% rename from GPU_version/vio/doc/notation.png rename to vio/doc/notation.png diff --git a/GPU_version/vio/frame_handler_log.txt b/vio/frame_handler_log.txt old mode 100755 new mode 100644 similarity index 100% rename from GPU_version/vio/frame_handler_log.txt rename to vio/frame_handler_log.txt diff --git a/GPU_version/vio/include/sophus/scso3.cpp b/vio/include/sophus/scso3.cpp similarity index 100% rename from GPU_version/vio/include/sophus/scso3.cpp rename to vio/include/sophus/scso3.cpp diff --git a/GPU_version/vio/include/sophus/scso3.h b/vio/include/sophus/scso3.h similarity index 100% rename from GPU_version/vio/include/sophus/scso3.h rename to vio/include/sophus/scso3.h diff --git a/GPU_version/vio/include/sophus/se2.cpp b/vio/include/sophus/se2.cpp similarity index 100% rename from GPU_version/vio/include/sophus/se2.cpp rename to vio/include/sophus/se2.cpp diff --git a/GPU_version/vio/include/sophus/se2.h b/vio/include/sophus/se2.h similarity index 100% rename from GPU_version/vio/include/sophus/se2.h rename to vio/include/sophus/se2.h diff --git a/GPU_version/vio/include/sophus/se3.cpp b/vio/include/sophus/se3.cpp similarity index 100% rename from GPU_version/vio/include/sophus/se3.cpp rename to vio/include/sophus/se3.cpp diff --git a/GPU_version/vio/include/sophus/se3.h b/vio/include/sophus/se3.h similarity index 100% rename from GPU_version/vio/include/sophus/se3.h rename to vio/include/sophus/se3.h diff --git a/GPU_version/vio/include/sophus/sim3.cpp b/vio/include/sophus/sim3.cpp similarity index 100% rename from GPU_version/vio/include/sophus/sim3.cpp rename to vio/include/sophus/sim3.cpp diff --git a/GPU_version/vio/include/sophus/sim3.h b/vio/include/sophus/sim3.h similarity index 100% rename from GPU_version/vio/include/sophus/sim3.h rename to 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--git a/GPU_version/vio/include/vio/aligned_mem.h b/vio/include/vio/aligned_mem.h similarity index 100% rename from GPU_version/vio/include/vio/aligned_mem.h rename to vio/include/vio/aligned_mem.h diff --git a/GPU_version/vio/include/vio/atan_camera.h b/vio/include/vio/atan_camera.h similarity index 100% rename from GPU_version/vio/include/vio/atan_camera.h rename to vio/include/vio/atan_camera.h diff --git a/GPU_version/vio/include/vio/bundle_adjustment.h b/vio/include/vio/bundle_adjustment.h similarity index 100% rename from GPU_version/vio/include/vio/bundle_adjustment.h rename to vio/include/vio/bundle_adjustment.h diff --git a/GPU_version/vio/include/vio/camera_loader.h b/vio/include/vio/camera_loader.h similarity index 100% rename from GPU_version/vio/include/vio/camera_loader.h rename to vio/include/vio/camera_loader.h diff --git a/GPU_version/vio/include/vio/cl.hpp b/vio/include/vio/cl.hpp similarity index 100% rename from GPU_version/vio/include/vio/cl.hpp rename to 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to vio/include/vio/feature_detection.h diff --git a/GPU_version/vio/include/vio/for_it.hpp b/vio/include/vio/for_it.hpp old mode 100755 new mode 100644 similarity index 100% rename from GPU_version/vio/include/vio/for_it.hpp rename to vio/include/vio/for_it.hpp diff --git a/GPU_version/vio/include/vio/frame.h b/vio/include/vio/frame.h similarity index 100% rename from GPU_version/vio/include/vio/frame.h rename to vio/include/vio/frame.h diff --git a/GPU_version/vio/include/vio/frame_handler_base.h b/vio/include/vio/frame_handler_base.h similarity index 100% rename from GPU_version/vio/include/vio/frame_handler_base.h rename to vio/include/vio/frame_handler_base.h diff --git a/GPU_version/vio/include/vio/frame_handler_mono.h b/vio/include/vio/frame_handler_mono.h similarity index 100% rename from GPU_version/vio/include/vio/frame_handler_mono.h rename to vio/include/vio/frame_handler_mono.h diff --git a/GPU_version/vio/include/vio/global.h b/vio/include/vio/global.h similarity index 100% rename from GPU_version/vio/include/vio/global.h rename to vio/include/vio/global.h diff --git a/GPU_version/vio/include/vio/global_optimizer.h b/vio/include/vio/global_optimizer.h similarity index 100% rename from GPU_version/vio/include/vio/global_optimizer.h rename to vio/include/vio/global_optimizer.h diff --git a/GPU_version/vio/include/vio/homography.h b/vio/include/vio/homography.h similarity index 100% rename from GPU_version/vio/include/vio/homography.h rename to vio/include/vio/homography.h diff --git a/GPU_version/vio/include/vio/initialization.h b/vio/include/vio/initialization.h similarity index 100% rename from GPU_version/vio/include/vio/initialization.h rename to vio/include/vio/initialization.h diff --git a/GPU_version/vio/include/vio/map.h b/vio/include/vio/map.h similarity index 100% rename from GPU_version/vio/include/vio/map.h rename to vio/include/vio/map.h diff --git a/GPU_version/vio/include/vio/matcher.h b/vio/include/vio/matcher.h similarity index 100% rename from GPU_version/vio/include/vio/matcher.h rename to vio/include/vio/matcher.h diff --git a/GPU_version/vio/include/vio/math_utils.h b/vio/include/vio/math_utils.h similarity index 100% rename from GPU_version/vio/include/vio/math_utils.h rename to vio/include/vio/math_utils.h diff --git a/GPU_version/vio/include/vio/nlls_solver.h b/vio/include/vio/nlls_solver.h similarity index 100% rename from GPU_version/vio/include/vio/nlls_solver.h rename to vio/include/vio/nlls_solver.h diff --git a/GPU_version/vio/include/vio/nlls_solver_impl.hpp b/vio/include/vio/nlls_solver_impl.hpp similarity index 100% rename from GPU_version/vio/include/vio/nlls_solver_impl.hpp rename to vio/include/vio/nlls_solver_impl.hpp diff --git a/GPU_version/vio/include/vio/output_helper.h b/vio/include/vio/output_helper.h similarity index 100% rename from GPU_version/vio/include/vio/output_helper.h rename to vio/include/vio/output_helper.h diff --git a/GPU_version/vio/include/vio/params_helper.h b/vio/include/vio/params_helper.h similarity index 100% rename from GPU_version/vio/include/vio/params_helper.h rename to vio/include/vio/params_helper.h diff --git a/GPU_version/vio/include/vio/patch_score.h b/vio/include/vio/patch_score.h similarity index 100% rename from GPU_version/vio/include/vio/patch_score.h rename to vio/include/vio/patch_score.h diff --git a/GPU_version/vio/include/vio/point.h b/vio/include/vio/point.h similarity index 100% rename from GPU_version/vio/include/vio/point.h rename to vio/include/vio/point.h diff --git a/GPU_version/vio/include/vio/pose_optimizer.h b/vio/include/vio/pose_optimizer.h similarity index 100% rename from GPU_version/vio/include/vio/pose_optimizer.h rename to vio/include/vio/pose_optimizer.h diff --git a/GPU_version/vio/include/vio/reprojector.h b/vio/include/vio/reprojector.h similarity index 100% rename from GPU_version/vio/include/vio/reprojector.h rename to vio/include/vio/reprojector.h diff --git a/GPU_version/vio/include/vio/robust_cost.h b/vio/include/vio/robust_cost.h similarity index 100% rename from GPU_version/vio/include/vio/robust_cost.h rename to vio/include/vio/robust_cost.h diff --git a/GPU_version/vio/include/vio/sparse_img_align.h b/vio/include/vio/sparse_img_align.h similarity index 100% rename from GPU_version/vio/include/vio/sparse_img_align.h rename to vio/include/vio/sparse_img_align.h diff --git a/GPU_version/vio/include/vio/sparse_img_align_gpu.h b/vio/include/vio/sparse_img_align_gpu.h similarity index 100% rename from GPU_version/vio/include/vio/sparse_img_align_gpu.h rename to vio/include/vio/sparse_img_align_gpu.h diff --git a/GPU_version/vio/include/vio/timer.h b/vio/include/vio/timer.h similarity index 100% rename from GPU_version/vio/include/vio/timer.h rename to vio/include/vio/timer.h diff --git a/GPU_version/vio/include/vio/ukf.h b/vio/include/vio/ukf.h similarity index 100% rename from GPU_version/vio/include/vio/ukf.h rename to vio/include/vio/ukf.h diff --git a/GPU_version/vio/include/vio/vision.h b/vio/include/vio/vision.h similarity index 100% rename from GPU_version/vio/include/vio/vision.h rename to vio/include/vio/vision.h diff --git a/GPU_version/vio/include/vio/visualizer.h b/vio/include/vio/visualizer.h similarity index 100% rename from GPU_version/vio/include/vio/visualizer.h rename to vio/include/vio/visualizer.h diff --git a/GPU_version/vio/kernel/compute-residual.cl b/vio/kernel/compute-residual.cl similarity index 100% rename from GPU_version/vio/kernel/compute-residual.cl rename to vio/kernel/compute-residual.cl diff --git a/GPU_version/vio/kernel/fast-gray.cl b/vio/kernel/fast-gray.cl similarity index 100% rename from GPU_version/vio/kernel/fast-gray.cl rename to vio/kernel/fast-gray.cl diff --git a/GPU_version/vio/kernel/freak.cl b/vio/kernel/freak.cl similarity index 100% rename from GPU_version/vio/kernel/freak.cl rename to vio/kernel/freak.cl diff --git a/GPU_version/vio/kernel/integral_image.cl b/vio/kernel/integral_image.cl similarity index 100% rename from GPU_version/vio/kernel/integral_image.cl rename to vio/kernel/integral_image.cl diff --git a/GPU_version/vio/launch/Px30.launch b/vio/launch/Px30.launch similarity index 100% rename from GPU_version/vio/launch/Px30.launch rename to vio/launch/Px30.launch diff --git a/GPU_version/vio/launch/debug.launch b/vio/launch/debug.launch similarity index 100% rename from GPU_version/vio/launch/debug.launch rename to vio/launch/debug.launch diff --git a/GPU_version/vio/launch/test.launch b/vio/launch/test.launch similarity index 100% rename from GPU_version/vio/launch/test.launch rename to vio/launch/test.launch diff --git a/GPU_version/vio/launch/unity.launch b/vio/launch/unity.launch similarity index 100% rename from GPU_version/vio/launch/unity.launch rename to vio/launch/unity.launch diff --git a/GPU_version/vio/loop_closure_log.txt b/vio/loop_closure_log.txt old mode 100755 new mode 100644 similarity index 100% rename from GPU_version/vio/loop_closure_log.txt rename to vio/loop_closure_log.txt diff --git a/GPU_version/vio/msg/Info.msg b/vio/msg/Info.msg similarity index 100% rename from GPU_version/vio/msg/Info.msg rename to vio/msg/Info.msg diff --git a/GPU_version/vio/package.xml b/vio/package.xml old mode 100755 new mode 100644 similarity index 100% rename from GPU_version/vio/package.xml rename to vio/package.xml diff --git a/GPU_version/vio/param/px30.yaml b/vio/param/px30.yaml similarity index 100% rename from GPU_version/vio/param/px30.yaml rename to vio/param/px30.yaml diff --git a/GPU_version/vio/param/vo_fast.yaml b/vio/param/vo_fast.yaml similarity index 100% rename from GPU_version/vio/param/vo_fast.yaml rename to vio/param/vo_fast.yaml diff --git a/GPU_version/vio/src/atan_camera.cpp b/vio/src/atan_camera.cpp similarity index 100% rename from GPU_version/vio/src/atan_camera.cpp rename to vio/src/atan_camera.cpp diff --git a/GPU_version/vio/src/bundle_adjustment.cpp b/vio/src/bundle_adjustment.cpp similarity index 100% rename from GPU_version/vio/src/bundle_adjustment.cpp rename to vio/src/bundle_adjustment.cpp diff --git a/GPU_version/vio/src/cl_class.cpp b/vio/src/cl_class.cpp similarity index 100% rename from GPU_version/vio/src/cl_class.cpp rename to vio/src/cl_class.cpp diff --git a/GPU_version/vio/src/config.cpp b/vio/src/config.cpp similarity index 100% rename from GPU_version/vio/src/config.cpp rename to vio/src/config.cpp diff --git a/GPU_version/vio/src/feature_alignment.cpp b/vio/src/feature_alignment.cpp similarity index 100% rename from GPU_version/vio/src/feature_alignment.cpp rename to vio/src/feature_alignment.cpp diff --git a/GPU_version/vio/src/feature_detection.cpp b/vio/src/feature_detection.cpp similarity index 100% rename from GPU_version/vio/src/feature_detection.cpp rename to vio/src/feature_detection.cpp diff --git a/GPU_version/vio/src/frame.cpp b/vio/src/frame.cpp similarity index 100% rename from GPU_version/vio/src/frame.cpp rename to vio/src/frame.cpp diff --git a/GPU_version/vio/src/frame_handler_base.cpp b/vio/src/frame_handler_base.cpp similarity index 100% rename from GPU_version/vio/src/frame_handler_base.cpp rename to vio/src/frame_handler_base.cpp diff --git a/GPU_version/vio/src/frame_handler_mono.cpp b/vio/src/frame_handler_mono.cpp similarity index 100% rename from GPU_version/vio/src/frame_handler_mono.cpp rename to vio/src/frame_handler_mono.cpp diff --git a/GPU_version/vio/src/global_optimizer.cpp b/vio/src/global_optimizer.cpp similarity index 100% rename from GPU_version/vio/src/global_optimizer.cpp rename to vio/src/global_optimizer.cpp diff --git a/GPU_version/vio/src/homography.cpp b/vio/src/homography.cpp similarity index 100% rename from GPU_version/vio/src/homography.cpp rename to vio/src/homography.cpp diff --git a/GPU_version/vio/src/initialization.cpp b/vio/src/initialization.cpp similarity index 100% rename from GPU_version/vio/src/initialization.cpp rename to vio/src/initialization.cpp diff --git a/GPU_version/vio/src/map.cpp b/vio/src/map.cpp similarity index 100% rename from GPU_version/vio/src/map.cpp rename to vio/src/map.cpp diff --git a/GPU_version/vio/src/matcher.cpp b/vio/src/matcher.cpp similarity index 100% rename from GPU_version/vio/src/matcher.cpp rename to vio/src/matcher.cpp diff --git a/GPU_version/vio/src/math_utils.cpp b/vio/src/math_utils.cpp similarity index 100% rename from GPU_version/vio/src/math_utils.cpp rename to vio/src/math_utils.cpp diff --git a/GPU_version/vio/src/output_helper.cpp b/vio/src/output_helper.cpp similarity index 100% rename from GPU_version/vio/src/output_helper.cpp rename to vio/src/output_helper.cpp diff --git a/GPU_version/vio/src/point.cpp b/vio/src/point.cpp similarity index 100% rename from GPU_version/vio/src/point.cpp rename to vio/src/point.cpp diff --git a/GPU_version/vio/src/pose_optimizer.cpp b/vio/src/pose_optimizer.cpp similarity index 100% rename from GPU_version/vio/src/pose_optimizer.cpp rename to vio/src/pose_optimizer.cpp diff --git a/GPU_version/vio/src/reprojector.cpp b/vio/src/reprojector.cpp similarity index 100% rename from GPU_version/vio/src/reprojector.cpp rename to vio/src/reprojector.cpp diff --git a/GPU_version/vio/src/robust_cost.cpp b/vio/src/robust_cost.cpp similarity index 100% rename from GPU_version/vio/src/robust_cost.cpp rename to vio/src/robust_cost.cpp diff --git a/GPU_version/vio/src/sparse_img_align.cpp b/vio/src/sparse_img_align.cpp similarity index 100% rename from GPU_version/vio/src/sparse_img_align.cpp rename to vio/src/sparse_img_align.cpp diff --git a/GPU_version/vio/src/sparse_img_align_gpu.cpp b/vio/src/sparse_img_align_gpu.cpp similarity index 100% rename from GPU_version/vio/src/sparse_img_align_gpu.cpp rename to vio/src/sparse_img_align_gpu.cpp diff --git a/GPU_version/vio/src/vision.cpp b/vio/src/vision.cpp similarity index 100% rename from GPU_version/vio/src/vision.cpp rename to vio/src/vision.cpp diff --git a/GPU_version/vio/src/visualizer.cpp b/vio/src/visualizer.cpp similarity index 100% rename from GPU_version/vio/src/visualizer.cpp rename to vio/src/visualizer.cpp diff --git a/GPU_version/vio/src/vo_node.cpp b/vio/src/vo_node.cpp similarity index 100% rename from GPU_version/vio/src/vo_node.cpp rename to vio/src/vo_node.cpp diff --git a/GPU_version/vio/srv/getOdom.srv b/vio/srv/getOdom.srv similarity index 100% rename from GPU_version/vio/srv/getOdom.srv rename to vio/srv/getOdom.srv diff --git a/GPU_version/vio/srv/start.srv b/vio/srv/start.srv similarity index 100% rename from GPU_version/vio/srv/start.srv rename to vio/srv/start.srv diff --git a/GPU_version/vio/srv/stop.srv b/vio/srv/stop.srv similarity index 100% rename from GPU_version/vio/srv/stop.srv rename to vio/srv/stop.srv