├── .gitignore ├── CMakeLists.txt ├── README.md ├── README_EN.md ├── bin ├── euroc_mh05_groundtruth.csv ├── pose_output.txt ├── run_euroc └── testCurveFitting ├── config ├── MH_05_cam0.txt ├── MH_05_imu0.txt └── euroc_config.yaml ├── doc ├── README-English-yellow.svg ├── README-中文-yellow.svg ├── results.png └── vins.gif ├── include ├── System.h ├── backend │ ├── backend.h │ ├── edge.h │ ├── edge_imu.h │ ├── edge_prior.h │ ├── edge_reprojection.h │ ├── eigen_types.h │ ├── imu_integration.h │ ├── loss_function.h │ ├── problem.h │ ├── vertex.h │ ├── vertex_inverse_depth.h │ ├── vertex_point_xyz.h │ ├── vertex_pose.h │ └── vertex_speedbias.h ├── camodocal │ ├── calib │ │ └── CameraCalibration.h │ ├── camera_models │ │ ├── Camera.h │ │ ├── CameraFactory.h │ │ ├── CataCamera.h │ │ ├── CostFunctionFactory.h │ │ ├── EquidistantCamera.h │ │ ├── PinholeCamera.h │ │ └── ScaramuzzaCamera.h │ ├── chessboard │ │ ├── Chessboard.h │ │ ├── ChessboardCorner.h │ │ ├── ChessboardQuad.h │ │ └── Spline.h │ ├── gpl │ │ ├── EigenQuaternionParameterization.h │ │ ├── EigenUtils.h │ │ └── gpl.h │ └── sparse_graph │ │ └── Transform.h ├── estimator.h ├── factor │ └── integration_base.h ├── feature_manager.h ├── feature_tracker.h ├── feature_tracker_parameters.h ├── initial │ ├── initial_alignment.h │ ├── initial_ex_rotation.h │ ├── initial_sfm.h │ └── solve_5pts.h ├── parameters.h └── utility │ ├── tic_toc.h │ └── utility.h ├── src ├── System.cpp ├── backend │ ├── edge.cc │ ├── edge_imu.cc │ ├── edge_prior.cpp │ ├── edge_reprojection.cc │ ├── imu_integration.cc │ ├── loss_function.cc │ ├── problem.cc │ ├── vertex.cc │ └── vertex_pose.cc ├── camera_models │ ├── calib │ │ └── CameraCalibration.cc │ ├── camera_models │ │ ├── Camera.cc │ │ ├── CameraFactory.cc │ │ ├── CataCamera.cc │ │ ├── CostFunctionFactory.cc │ │ ├── EquidistantCamera.cc │ │ ├── PinholeCamera.cc │ │ └── ScaramuzzaCamera.cc │ ├── chessboard │ │ └── Chessboard.cc │ ├── gpl │ │ ├── EigenQuaternionParameterization.cc │ │ └── gpl.cc │ ├── intrinsic_calib.cc │ └── sparse_graph │ │ └── Transform.cc ├── estimator.cpp ├── feature_manager.cpp ├── feature_tracker.cpp ├── feature_tracker_parameters.cpp ├── initial │ ├── initial_aligment.cpp │ ├── initial_ex_rotation.cpp │ ├── initial_sfm.cpp │ └── solve_5pts.cpp ├── parameters.cpp └── utility │ └── utility.cpp ├── test ├── CurveFitting.cpp └── run_euroc.cpp └── thirdparty └── Sophus └── sophus ├── se3.hpp ├── so3.hpp └── sophus.hpp /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HeYijia/VINS-Course/HEAD/.gitignore -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HeYijia/VINS-Course/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /README.md: 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