├── .gitignore ├── .idea ├── .gitignore ├── .name ├── VINS-Fusion.iml ├── libraries │ ├── ROS.xml │ └── workspace.xml ├── misc.xml ├── modules.xml ├── ros.xml └── vcs.xml ├── LICENCE ├── README.md ├── camera_models ├── CMakeLists.txt ├── camera_calib_example │ ├── calibrationdata │ │ ├── left-0000.png │ │ ├── left-0001.png │ │ ├── left-0002.png │ │ ├── left-0003.png │ │ ├── left-0004.png │ │ ├── left-0005.png │ │ ├── left-0006.png │ │ ├── left-0007.png │ │ ├── left-0008.png │ │ ├── left-0009.png │ │ ├── left-0010.png │ │ ├── left-0011.png │ │ ├── left-0012.png │ │ ├── left-0013.png │ │ ├── left-0014.png │ │ ├── left-0015.png │ │ ├── left-0016.png │ │ ├── left-0017.png │ │ ├── left-0018.png │ │ ├── left-0019.png │ │ ├── left-0020.png │ │ ├── left-0021.png │ │ ├── left-0022.png │ │ ├── left-0023.png │ │ ├── left-0024.png │ │ ├── left-0025.png │ │ ├── left-0026.png │ │ ├── left-0027.png │ │ ├── left-0028.png │ │ ├── left-0029.png │ │ ├── left-0030.png │ │ ├── left-0031.png │ │ ├── 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left-0077.png │ │ ├── left-0078.png │ │ ├── left-0079.png │ │ ├── left-0080.png │ │ ├── left-0081.png │ │ ├── left-0082.png │ │ ├── left-0083.png │ │ └── left-0084.png │ └── readme.txt ├── cmake │ └── FindEigen.cmake ├── include │ └── camodocal │ │ ├── calib │ │ └── CameraCalibration.h │ │ ├── camera_models │ │ ├── Camera.h │ │ ├── CameraFactory.h │ │ ├── CataCamera.h │ │ ├── CostFunctionFactory.h │ │ ├── EquidistantCamera.h │ │ ├── PinholeCamera.h │ │ ├── PinholeFullCamera.h │ │ └── ScaramuzzaCamera.h │ │ ├── chessboard │ │ ├── Chessboard.h │ │ ├── ChessboardCorner.h │ │ ├── ChessboardQuad.h │ │ └── Spline.h │ │ ├── gpl │ │ ├── EigenQuaternionParameterization.h │ │ ├── EigenUtils.h │ │ └── gpl.h │ │ └── sparse_graph │ │ └── Transform.h ├── package.xml ├── readme.md └── src │ ├── calib │ └── CameraCalibration.cc │ ├── camera_models │ ├── Camera.cc │ ├── CameraFactory.cc │ ├── CataCamera.cc │ ├── CostFunctionFactory.cc │ ├── EquidistantCamera.cc │ ├── PinholeCamera.cc │ ├── PinholeFullCamera.cc │ └── ScaramuzzaCamera.cc │ ├── chessboard │ └── Chessboard.cc │ ├── gpl │ ├── EigenQuaternionParameterization.cc │ └── gpl.cc │ ├── intrinsic_calib.cc │ └── sparse_graph │ └── Transform.cc ├── config ├── A3_ptgrey │ ├── a3_ptgrey_mono_imu_config.yaml │ ├── a3_ptgrey_stereo_config.yaml │ ├── a3_ptgrey_stereo_imu_config.yaml │ ├── a3_ptgrey_stereo_imu_config_backup.yaml │ ├── left.yaml │ └── right.yaml ├── euroc │ ├── cam0_mei.yaml │ ├── cam0_pinhole.yaml │ ├── cam1_mei.yaml │ ├── cam1_pinhole.yaml │ ├── euroc_mono_imu_config.yaml │ ├── euroc_stereo_config.yaml │ ├── euroc_stereo_imu_config.yaml │ ├── left_equ.yaml │ ├── mynt_stereo_config.yaml │ ├── mynt_stereo_imu_config.yaml │ └── right_equ.yaml ├── extrinsic_parameter_example.pdf ├── fisheye_mask.jpg ├── fisheye_mask_752x480.jpg ├── kaist │ ├── cam0_pinhole_18-37.yaml │ ├── cam0_pinhole_38-39.yaml │ ├── cam1_pinhole_18-37.yaml │ ├── cam1_pinhole_38-39.yaml │ ├── kaist_cam0_viwo_18-37.yaml │ └── kaist_cam0_viwo_38-39.yaml ├── kaist_use_kitti_formate │ ├── cam00-02.yaml │ └── kaist_config00-02.yaml ├── kitti_odom │ ├── cam00-02.yaml │ ├── cam03.yaml │ ├── cam04-12.yaml │ ├── cam13-21.yaml │ ├── kitti_config00-02.yaml │ ├── kitti_config03.yaml │ ├── kitti_config04-12.yaml │ ├── kitti_config13-21.yaml │ └── kitti_sfm_config00-02.yaml ├── kitti_raw │ ├── cam_09_30.yaml │ ├── cam_10_03.yaml │ ├── kitti_09_30_config.yaml │ └── kitti_10_03_config.yaml ├── mynteye │ ├── left_mei.yaml │ ├── mynteye_mono_imu_config.yaml │ ├── mynteye_stereo_config.yaml │ ├── mynteye_stereo_imu_config.yaml │ └── right_mei.yaml ├── mynteye_lab │ ├── left_equ.yaml │ ├── left_mei.yaml │ ├── left_pinhole.yaml │ ├── mynteye_mono_imu_config.yaml │ ├── mynteye_stereo_config.yaml │ ├── mynteye_stereo_imu_config.yaml │ ├── readme.txt │ ├── right_equ.yaml │ ├── right_mei.yaml │ └── right_pinhole.yaml ├── mynteye_testq │ ├── left_equ.yaml │ ├── left_mei.yaml │ ├── left_pinhole.yaml │ ├── mynteye_mono_imu_config.yaml │ ├── mynteye_stereo_config.yaml │ ├── mynteye_stereo_imu_config.yaml │ ├── readme.txt │ ├── right_equ.yaml │ ├── right_mei.yaml │ └── right_pinhole.yaml ├── nclt │ ├── cam0_mei.yaml │ ├── cam1_mei.yaml │ ├── nclt_mono_imu_config.yaml │ ├── nclt_stereo_config.yaml │ └── nclt_stereo_imu_config.yaml ├── realsense_d435i │ ├── left.yaml │ ├── realsense_stereo_imu_config.yaml │ ├── right.yaml │ └── rs_camera.launch ├── simulation │ ├── cam0_mei.yaml │ ├── cam1_mei.yaml │ └── simulation_config.yaml ├── three_cam │ ├── left_equ.yaml │ ├── left_mei.yaml │ ├── left_pinhole.yaml │ ├── mynteye_mono_imu_config.yaml │ ├── mynteye_stereo_config.yaml │ ├── mynteye_stereo_imu_config.yaml │ ├── readme.txt │ ├── right_equ.yaml │ ├── right_mei.yaml │ └── right_pinhole.yaml ├── tum_q │ ├── left_equ.yaml │ ├── left_mei.yaml │ ├── left_pinhole.yaml │ ├── mynteye_mono_imu_config.yaml │ ├── mynteye_stereo_imu_config.yaml │ ├── readme.txt │ ├── right_equ.yaml │ ├── right_mei.yaml │ ├── right_pinhole.yaml │ └── tum_stereo_config.yaml ├── uisee │ ├── image_capturer_0.yaml │ ├── image_capturer_1.yaml │ ├── uisee_cam0_sfm_config.yaml │ └── uisee_cam1_sfm_config.yaml ├── vi_car │ ├── cam0_mei.yaml │ ├── cam0_pinhole.yaml │ ├── cam1_mei.yaml │ ├── cam1_pinhole.yaml │ └── vi_car.yaml └── vins_rviz_config.rviz ├── docker ├── Dockerfile ├── Makefile └── run.sh ├── global_fusion ├── CMakeLists.txt ├── ThirdParty │ └── GeographicLib │ │ ├── CMakeLists.txt │ │ ├── include │ │ ├── Config.h │ │ ├── Constants.hpp │ │ ├── Geocentric.hpp │ │ ├── LocalCartesian.hpp │ │ └── Math.hpp │ │ └── src │ │ ├── Geocentric.cpp │ │ ├── LocalCartesian.cpp │ │ └── Math.cpp ├── models │ ├── car.dae │ └── hummingbird.mesh ├── package.xml └── src │ ├── Factors.h │ ├── globalOpt.cpp │ ├── globalOpt.h │ ├── globalOptNode.cpp │ ├── globalOptReadFile.cpp │ ├── globalOptReadUiseeFile.cpp │ └── tic_toc.h ├── loop_fusion ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── package.xml └── src │ ├── ThirdParty │ ├── DBoW │ │ ├── BowVector.cpp │ │ ├── BowVector.h │ │ ├── DBoW2.h │ │ ├── FBrief.cpp │ │ ├── FBrief.h │ │ ├── FClass.h │ │ ├── FeatureVector.cpp │ │ ├── FeatureVector.h │ │ ├── QueryResults.cpp │ │ ├── QueryResults.h │ │ ├── ScoringObject.cpp │ │ ├── ScoringObject.h │ │ ├── TemplatedDatabase.h │ │ └── TemplatedVocabulary.h │ ├── DUtils │ │ ├── DException.h │ │ ├── DUtils.h │ │ ├── Random.cpp │ │ ├── Random.h │ │ ├── Timestamp.cpp │ │ └── Timestamp.h │ ├── DVision │ │ ├── BRIEF.cpp │ │ ├── BRIEF.h │ │ └── DVision.h │ ├── VocabularyBinary.cpp │ └── VocabularyBinary.hpp │ ├── featureTracker │ ├── feature_tracker.cpp │ └── feature_tracker.h │ ├── keyframe.cpp │ ├── keyframe.h │ ├── keyframe_uisee.cpp │ ├── keyframe_uisee.h │ ├── parameters.h │ ├── parameters │ ├── parameters.cpp │ └── parameters.h │ ├── pose_graph.cpp │ ├── pose_graph.h │ ├── pose_graph_node.cpp │ ├── pose_graph_node_uisee.cpp │ ├── pose_graph_uisee.cpp │ ├── pose_graph_uisee.h │ └── utility │ ├── CameraPoseVisualization.cpp │ ├── CameraPoseVisualization.h │ ├── tic_toc.h │ ├── utility.cpp │ └── utility.h ├── run_kaist_cam0.sh ├── run_kaist_cam0_26-39.sh ├── support_files ├── brief_k10L6.bin ├── brief_pattern.yml ├── image │ ├── car.png │ ├── car_gif.gif │ ├── euroc.gif │ ├── kitti.gif │ ├── kitti.png │ ├── kitti_rank.png │ ├── vins.png │ ├── vins_black.png │ └── vins_logo.png ├── paper │ └── VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator.pdf └── paper_bib.txt ├── vins_estimator ├── .idea │ ├── .gitignore │ ├── .name │ ├── libraries │ │ ├── ROS.xml │ │ └── workspace.xml │ ├── misc.xml │ ├── modules.xml │ ├── ros.xml │ ├── vcs.xml │ └── vins_estimator.iml ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── kaist_start.txt ├── launch │ ├── star.launch │ ├── star_q.launch │ ├── start_loop_fusion.launch │ └── vins_rviz.launch ├── package.xml ├── src │ ├── KAISTSfm.cpp │ ├── KAISTViwo.cpp │ ├── KITTIGPSTest.cpp │ ├── KITTIOdomTest.cpp │ ├── KITTISfm.cpp │ ├── NCLTSfm.cpp │ ├── estimator │ │ ├── estimator.cpp │ │ ├── estimator.h │ │ ├── feature_manager.cpp │ │ ├── feature_manager.h │ │ ├── parameters.cpp │ │ └── parameters.h │ ├── factor │ │ ├── imu_encoder_factor.h │ │ ├── imu_factor.h │ │ ├── imu_factor_origin.h │ │ ├── initial_bias_factor.h │ │ ├── initial_pose_factor.h │ │ ├── integration_base.h │ │ ├── marginalization_factor.cpp │ │ ├── marginalization_factor.h │ │ ├── pose_local_parameterization.cpp │ │ ├── pose_local_parameterization.h │ │ ├── projectionOneFrameTwoCamFactor.cpp │ │ ├── projectionOneFrameTwoCamFactor.h │ │ ├── projectionTwoFrameOneCamFactor.cpp │ │ ├── projectionTwoFrameOneCamFactor.h │ │ ├── projectionTwoFrameTwoCamFactor.cpp │ │ ├── projectionTwoFrameTwoCamFactor.h │ │ ├── projection_factor.cpp │ │ ├── projection_factor.h │ │ └── wheels_factor.h │ ├── featureTracker │ │ ├── feature_tracker.cpp │ │ └── feature_tracker.h │ ├── initial │ │ ├── initial_aligment.cpp │ │ ├── initial_alignment.h │ │ ├── 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