├── CMakeLists.txt ├── README.md ├── config ├── ct_odometry_tumrs.yaml ├── rviz │ └── ctrlvio.rviz └── tumrs │ ├── cam_tumrs.yaml │ └── imu_tumrs.yaml ├── figure ├── Ctrl-VIO-TUMRSVI.gif └── sliding-window-optimization.png ├── launch └── odometry.launch ├── msg ├── imu_array.msg └── pose_array.msg ├── package.xml └── src ├── app └── odometry_node.cpp ├── estimator ├── factor │ ├── analytic_diff │ │ ├── image_feature_factor.h │ │ ├── marginalization_factor.cpp │ │ ├── marginalization_factor.h │ │ ├── rd_spline_view.h │ │ ├── so3_spline_view.h │ │ ├── split_spline_view.h │ │ └── trajectory_value_factor.h │ └── ceres_local_param.h ├── odometry_manager.cpp ├── odometry_manager.h ├── odometry_viewer.h ├── parameter_manager.h ├── trajectory_estimator.cpp ├── trajectory_estimator.h ├── trajectory_estimator_options.h ├── trajectory_manager.cpp └── trajectory_manager.h ├── inertial ├── inertial_initializer.cpp └── inertial_initializer.h ├── sophus_lib ├── average.hpp ├── common.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 ├── types.hpp └── velocities.hpp ├── spline ├── assert.h ├── ceres_spline_helper.h ├── ceres_spline_helper_jet.h ├── rd_spline.h ├── se3_spline.h ├── so3_spline.h ├── spline_common.h ├── spline_segment.h ├── trajectory.cpp └── trajectory.h ├── utils ├── ceres_callbacks.h ├── eigen_utils.hpp ├── math_utils.h ├── mypcl_cloud_type.h ├── opt_weight.h ├── parameter_struct.h ├── sophus_utils.hpp ├── tic_toc.h └── yaml_utils.h └── visual_odometry ├── feature_manager.cpp ├── feature_manager.h ├── initial ├── initial_aligment.cpp ├── initial_alignment.h ├── initial_sfm.cpp ├── initial_sfm.h ├── solve_5pts.cpp └── solve_5pts.h ├── integration_base.h ├── parameters.cpp ├── parameters.h ├── utility.h ├── vio_initial.cpp ├── vio_initial.h ├── visual_feature ├── camera_models │ 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