├── .gitignore ├── README.md ├── docs ├── drawio_diagrams │ ├── Axis drawing.drawio │ ├── Coordinate systems.drawio │ └── images │ │ ├── Coordinate_systems-2_coordinate_systems_with_landmark.png │ │ └── Coordinate_systems-3_coordinate_systems.png └── images │ └── SLAM_Viewer.png ├── examples ├── run_on_euroc.py ├── run_on_vi_simulator.py └── run_viewer_example.py ├── poetry.lock ├── pyproject.toml ├── scripts └── scripts.py ├── setup.py ├── src ├── __init__.py ├── dataset_utils.py ├── feature_tracker.py ├── jpl_quat_ops.py ├── math_utilities.py ├── msckf.py ├── msckf_tutorial │ └── __init__.py ├── msckf_types.py ├── params.py ├── render_camera.py ├── render_primitives.py ├── spatial_transformations.py ├── triangulation.py └── viewer.py ├── style.yapf └── tests ├── __init__.py ├── test_msckf.py ├── test_msckf_tutorial.py ├── test_quaternions.py ├── test_triangulation.py ├── test_twopoint_ransac.py └── utilities.py /.gitignore: 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