├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── __init__.py ├── basalt_runner ├── CMakeLists.txt ├── README.md ├── benchmark ├── example │ ├── euroc_kb4_calibration.json │ └── realsense_kb4_calibration.json ├── run_benchmark.py ├── scripts │ ├── calibrate_euroc.sh │ ├── calibrate_jsonl.sh │ ├── calibrate_uzh.sh │ ├── setup_euroc.sh │ └── setup_uzh.sh └── src │ ├── calibration_converter.cpp │ ├── calibration_loader.h │ ├── dataset_io.cpp │ ├── dataset_io_jsonl.h │ ├── main.cpp │ └── mapper.cpp ├── benchmark ├── __init__.py ├── add_time_offset.py ├── benchmark.py ├── combine_jsonl.py ├── combine_usual.py ├── compute_metrics.py ├── draw_slam_maps.py ├── example_benchmark.py ├── sets │ ├── euroc.json │ ├── sensetime-a.json │ └── tum-vi-room.json ├── utils.py ├── visualize.py └── visualize_gps.py ├── convert ├── euroc_to_benchmark.py ├── export_to_colmap.py ├── from_realsense_capture.py ├── jsonl-to-kalibr.md ├── jsonl-to-kalibr.py ├── rtkgps.py ├── sensetime_to_benchmark.py ├── tartan_air_to_benchmark.py ├── tartan_air_transformations.py ├── tum_vi_to_benchmark.py └── uzh_fpv_to_benchmark.py ├── hybvio_runner ├── README.md ├── benchmark ├── compare_to_others.py ├── comparison_data │ ├── orbslam3_euroc.csv │ ├── orbslam3_tum.csv │ ├── vio_basalt_euroc.csv │ └── zjucvg_sensetime.csv ├── compute_paper_results.py ├── convert │ └── output_to_tum.py ├── postprocessing.py └── run.py ├── larvio_runner ├── CMakeLists.txt ├── README.md ├── benchmark ├── run_benchmark.py └── src │ └── larvio_runner.cpp ├── orbslam3_runner ├── CMakeLists.txt ├── Dockerfile ├── README.md ├── benchmark ├── build_dependencies.sh ├── docker_orbslam_build.sh ├── docker_orbslam_run.sh ├── run_benchmark.py └── src │ ├── orbslam3_runner.cc │ ├── stereo_inertial_euroc.cc │ └── system_ext.hpp ├── plot └── plot_biases.py └── vio-api ├── README.md ├── api ├── types.hpp ├── vio.hpp └── vio_implementation.hpp ├── cli ├── CMakeLists.txt └── src │ └── main.cpp ├── cli_visual ├── CMakeLists.txt └── src │ └── main.cpp ├── realsense ├── CMakeLists.txt └── src │ └── main.cpp ├── ros-realsense ├── CMakeLists.txt ├── README.md ├── package.xml └── src │ └── ros_realsense.cpp └── ros-vio ├── CMakeLists.txt ├── README.md ├── package.xml └── src └── ros_vio.cpp /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AaltoML/vio_benchmark/HEAD/.gitignore -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AaltoML/vio_benchmark/HEAD/.gitmodules -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AaltoML/vio_benchmark/HEAD/LICENSE -------------------------------------------------------------------------------- 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