├── .gitignore ├── CHANGES.md ├── LICENSE ├── Q&A.md ├── README.md ├── ar_demo ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── launch │ ├── 3dm_bag.launch │ └── ar_rviz.launch ├── package.xml └── src │ └── ar_demo_node.cpp ├── benchmark_publisher ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── config │ ├── MH_01_easy │ │ └── data.csv │ ├── MH_02_easy │ │ └── data.csv │ ├── MH_03_medium │ │ └── data.csv │ ├── MH_04_difficult │ │ └── data.csv │ ├── MH_05_difficult │ │ └── data.csv │ ├── V1_01_easy │ │ └── data.csv │ ├── V1_02_medium │ │ └── data.csv │ ├── V1_03_difficult │ │ └── data.csv │ ├── V2_01_easy │ │ └── data.csv │ ├── V2_02_medium │ │ └── data.csv │ └── V2_03_difficult │ │ └── data.csv ├── launch │ └── publish.launch ├── package.xml └── src │ └── benchmark_publisher_node.cpp ├── camera_model ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── include │ └── 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 ├── instruction ├── package.xml ├── readme.md └── src │ ├── 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 ├── config ├── 3dm │ └── 3dm_config.yaml ├── black_box │ └── black_box_config.yaml ├── cla │ └── cla_config.yaml ├── euroc │ ├── euroc_config.yaml │ └── euroc_config_no_extrinsic.yaml ├── extrinsic_parameter_example.pdf ├── fisheye_mask.jpg ├── fisheye_mask_752x480.jpg ├── my_config │ └── my_config.yaml ├── realsense │ ├── realsense_color_config.yaml │ └── realsense_fisheye_config.yaml ├── tum │ └── tum_config.yaml └── vins_rviz_config.rviz ├── feature_tracker ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── package.xml └── src │ ├── feature_tracker.cpp │ ├── feature_tracker.h │ ├── feature_tracker_node.cpp │ ├── parameters.cpp │ ├── parameters.h │ └── tic_toc.h ├── line_feature_tracker ├── CMakeLists.txt ├── config │ ├── aux │ │ ├── help.png │ │ ├── legend.png │ │ ├── legend_comp.png │ │ └── legend_full.png │ ├── config │ │ ├── config.yaml │ │ ├── config_euroc.yaml │ │ ├── config_fast.yaml │ │ ├── config_full.yaml │ │ ├── config_kitti.yaml │ │ └── config_reduced.yaml │ ├── dataset_params │ │ ├── asusxtion_params.yaml │ │ ├── dataset_params.yaml │ │ ├── euroc_params.yaml │ │ ├── kitti00-02.yaml │ │ ├── kitti03.yaml │ │ ├── kitti04-10.yaml │ │ └── perceptin_params.yaml │ ├── scene_config.ini │ └── scene_config_indoor.ini ├── line_descriptor │ ├── CMakeLists.txt │ ├── README.md │ ├── build │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeOutput.log │ │ │ ├── CMakeRuleHashes.txt │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── TargetDirectories.txt │ │ │ ├── cmake.check_cache │ │ │ ├── feature_tests.bin │ │ │ ├── feature_tests.c │ │ │ ├── feature_tests.cxx │ │ │ ├── linedesc.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── src │ │ │ │ │ ├── LSDDetector_custom.cpp.o │ │ │ │ │ ├── binary_descriptor_custom.cpp.o │ │ │ │ │ ├── binary_descriptor_matcher.cpp.o │ │ │ │ │ └── draw_custom.cpp.o │ │ │ ├── linedesc_includes.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ ├── Makefile │ │ └── cmake_install.cmake │ ├── include │ │ ├── line_descriptor │ │ │ └── descriptor_custom.hpp │ │ └── line_descriptor_custom.hpp │ ├── lib │ │ └── liblinedesc.so │ └── src │ │ ├── LSDDetector_custom.cpp │ │ ├── binary_descriptor_custom.cpp │ │ ├── binary_descriptor_matcher.cpp │ │ ├── bitarray_custom.hpp │ │ ├── bitops_custom.hpp │ │ ├── draw_custom.cpp │ │ ├── precomp_custom.hpp │ │ └── types_custom.hpp ├── package.xml └── src │ ├── feature_tracker.cpp │ ├── feature_tracker.h │ ├── feature_traker_node.cpp │ ├── line_feature │ ├── auxiliar.cpp │ ├── auxiliar.h │ ├── config.cpp │ ├── config.h │ ├── gridStructure.cpp │ ├── gridStructure.h │ ├── lineIterator.cpp │ ├── lineIterator.h │ ├── line_feature.cpp │ ├── line_feature.h │ ├── matching.cpp │ └── matching.h │ ├── parameters.cpp │ ├── parameters.h │ └── tic_toc.h ├── line_vins_estimator ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── launch │ ├── 3dm.launch │ ├── black_box.launch │ ├── cla.launch │ ├── euroc.launch │ ├── euroc_line.launch │ ├── euroc_no_extrinsic_param.launch │ ├── realsense_color.launch │ ├── realsense_fisheye.launch │ ├── test_feature_tracking.launch │ ├── tum.launch │ ├── vins_pro.launch │ └── vins_rviz.launch ├── package.xml └── src │ ├── estimator.cpp │ ├── estimator.h │ ├── estimator_node.cpp │ ├── factor │ ├── imu_factor.h │ ├── integration_base.h │ ├── line_local_parameterization.cpp │ ├── line_local_parameterization.h │ ├── line_projection_factor.cpp │ ├── line_projection_factor.h │ ├── marginalization_factor.cpp │ ├── marginalization_factor.h │ ├── pose_local_parameterization.cpp │ ├── pose_local_parameterization.h │ ├── projection_factor.cpp │ ├── projection_factor.h │ ├── projection_td_factor.cpp │ └── projection_td_factor.h │ ├── feature_manager.cpp │ ├── feature_manager.h │ ├── initial │ ├── initial_aligment.cpp │ ├── initial_alignment.h │ ├── initial_ex_rotation.cpp │ ├── initial_ex_rotation.h │ ├── initial_sfm.cpp │ ├── initial_sfm.h │ ├── solve_5pts.cpp │ └── solve_5pts.h │ ├── line_feature_manager.cpp │ ├── line_feature_manager.h │ ├── parameters.cpp │ ├── parameters.h │ └── utility │ ├── CameraPoseVisualization.cpp │ ├── CameraPoseVisualization.h │ ├── tic_toc.h │ ├── utility.cpp │ ├── utility.h │ ├── visualization.cpp │ └── visualization.h ├── pose_graph ├── 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 │ │ ├── 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