├── .gitignore ├── .gitmodules ├── .vscode ├── c_cpp_properties.json ├── settings.json └── tasks.json ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config └── configture.ini ├── doc ├── msckf.pdf └── 大气增强PPP-MEMS惯导-视觉里程计融合定位研究.pdf ├── example_process └── data.txt ├── exec ├── CMakeLists.txt └── mscnav.cc ├── include ├── camera │ ├── data.hpp │ ├── feature.hpp │ ├── imageprocess.h │ └── msckf.hpp ├── data │ ├── navcamera.h │ ├── navdataque.h │ ├── navgnss.h │ └── navimu.h ├── filter │ └── navfilter.h ├── imu │ ├── navinitialized.h │ └── navmech.h └── process │ ├── gpsprocess.h │ └── navstate.h ├── pic ├── 1.jpg ├── 10.jpg ├── 11.jpg ├── 12.jpg ├── 2.jpg ├── 3.jpg ├── 4.jpg ├── 5.jpg ├── 6.jpg ├── 7.jpg ├── 8.png └── 9.png ├── rebuild.sh ├── script ├── evaluate_couple.py ├── get_all_files.sh ├── merge_data.py └── picture_preprocess.py ├── src ├── camera │ ├── CMakeLists.txt │ ├── imageprocess.cc │ └── msckf.cc ├── data │ ├── CMakeLists.txt │ ├── navcamera.cc │ ├── navdataque.cc │ ├── navgnss.cc │ └── navimu.cc ├── filter │ ├── CMakeLists.txt │ └── navfilter.cc ├── imu │ ├── CMakeLists.txt │ ├── navinitialized.cc │ └── navmech.cc └── process │ ├── CMakeLists.txt │ ├── gpsprocess.cc │ └── navstate.cc ├── test ├── CMakeLists.txt ├── NavAlign.cc ├── NavCeres.cc ├── NavFilter.cc ├── NavImage.cc ├── NavProcessing.cc ├── NavPureMech.cc ├── NavTestCamera.cc ├── NavdataQueue.cc └── trianglePoints.cc └── tools ├── CMakeLists.txt ├── CoorTransformation.cc ├── CoorTransformationFile.cc ├── ImagePreview.cc ├── ImageUndistort.cc ├── PreprocessKittiData.cc ├── PrintKeypoints.cc ├── RawImuToImuData.cc ├── TimeTransformation.cc ├── calibration.cc └── picture_preprocess.cc /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/2013fangwentao/Multi_Sensor_Fusion/HEAD/.gitignore -------------------------------------------------------------------------------- /.gitmodules: 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