├── CMakeLists.txt ├── LICENSE ├── README.md ├── assets ├── GREAT.png ├── c-g.png ├── frame.svg ├── roadlib.svg └── whu.png ├── camodocal ├── camera_models │ ├── Camera.cc │ ├── Camera.h │ ├── CameraFactory.cc │ ├── CameraFactory.h │ ├── CataCamera.cc │ ├── CataCamera.h │ ├── EquidistantCamera.cc │ ├── EquidistantCamera.h │ ├── PinholeCamera.cc │ ├── PinholeCamera.h │ ├── PinholeFullCamera.cc │ ├── PinholeFullCamera.h │ ├── ScaramuzzaCamera.cc │ └── ScaramuzzaCamera.h └── gpl │ ├── gpl.cc │ └── gpl.h ├── config └── WHU_0412 │ ├── cam0_pinhole.yaml │ ├── vi.yaml │ └── vi_loc.yaml ├── demo ├── demo_localization.cpp ├── demo_mapping.cpp ├── main_phase_localization.cpp └── main_phase_mapping.cpp ├── gv_tools ├── gv_utils.cpp ├── gv_utils.h ├── ipm_processer.cpp └── ipm_processer.h ├── roadlib ├── fgo.hpp ├── gviewer.cpp ├── gviewer.h ├── roadlib.cpp ├── roadlib.h ├── roadlib_map.cpp ├── roadlib_optim.cpp ├── utils.hpp ├── visualization.cpp └── visualization.h └── scripts ├── 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