├── .gitignore ├── CMakeLists.txt ├── LICENSE.txt ├── License-gpl.txt ├── README.md ├── Thirdparty ├── DBoW2 │ ├── CMakeLists.txt │ ├── DBoW2 │ │ ├── BowVector.cpp │ │ ├── BowVector.h │ │ ├── FClass.h │ │ ├── FORB.cpp │ │ ├── FORB.h │ │ ├── FeatureVector.cpp │ │ ├── FeatureVector.h │ │ ├── ScoringObject.cpp │ │ ├── ScoringObject.h │ │ └── TemplatedVocabulary.h │ ├── DUtils │ │ ├── Random.cpp │ │ ├── Random.h │ │ ├── Timestamp.cpp │ │ └── Timestamp.h │ ├── LICENSE.txt │ └── README.txt ├── libviso2 │ ├── .gitignore │ ├── CMakeLists.txt │ ├── include │ │ └── viso2 │ │ │ ├── MEstimator.h │ │ │ ├── TrackerData.h │ │ │ ├── filter.h │ │ │ ├── five-point.h │ │ │ ├── matcher.h │ │ │ ├── matrix.h │ │ │ ├── p_match.h │ │ │ ├── precomp.h │ │ │ ├── reconstruction.h │ │ │ ├── timer.h │ │ │ ├── triangle.h │ │ │ ├── viso.h │ │ │ ├── viso_mono.h │ │ │ └── viso_stereo.h │ ├── readme.txt │ ├── src │ │ ├── TrackerData.cpp │ │ ├── filter.cpp │ │ ├── five-point.cpp │ │ ├── matcher.cpp │ │ ├── matrix.cpp │ │ ├── ptsetreg.cpp │ │ ├── reconstruction.cpp │ │ ├── triangle.cpp │ │ ├── viso.cpp │ │ ├── viso_mono.cpp │ │ └── viso_stereo.cpp │ └── test │ │ ├── compare_5point_8point.m │ │ └── demo.cpp ├── vikit_common │ ├── CMakeLists.txt │ ├── CMakeModules │ │ └── FindEigen.cmake │ ├── include │ │ └── vikit │ │ │ ├── abstract_camera.h │ │ │ ├── aligned_mem.h │ │ │ ├── math_utils.h │ │ │ ├── performance_monitor.h │ │ │ ├── pinhole_camera.h │ │ │ ├── timer.h │ │ │ └── vision.h │ ├── package.xml │ ├── src │ │ ├── math_utils.cpp │ │ ├── performance_monitor.cpp │ │ ├── pinhole_camera.cpp │ │ └── vision.cpp │ └── vikit_commonConfig.cmake.in ├── vio_common │ ├── .gitignore │ ├── CMakeLists.txt │ ├── CMakeModules │ │ └── FindEigen.cmake │ ├── LICENSE.md │ ├── README.md │ ├── include │ │ └── vio │ │ │ ├── CsvReader.h │ │ │ ├── DataGrabber.h │ │ │ ├── FrameGrabber.h │ │ │ ├── GPSGrabber.h │ │ │ ├── IMUErrorModel.h │ │ │ ├── ImuGrabber.h │ │ │ ├── PointStatistics.h │ │ │ ├── eigen_utils.h │ │ │ ├── implementation │ │ │ └── IMUErrorModel.h │ │ │ ├── maths_utils.h │ │ │ ├── rand_sampler.h │ │ │ ├── timegrabber.h │ │ │ └── utils.h │ ├── kalibr_bagcreater.py │ ├── package.xml │ ├── src │ │ ├── CsvReader.cpp │ │ ├── FrameGrabber.cpp │ │ ├── GPSGrabber.cpp │ │ ├── ImuGrabber.cpp │ │ ├── eigen_utils.cpp │ │ ├── maths_utils.cpp │ │ ├── rand_sampler.cpp │ │ ├── timegrabber.cpp │ │ └── utils.cpp │ ├── test │ │ ├── IndexedImu.txt │ │ ├── OkvisOutput.csv │ │ ├── dilili_video_timestamps.txt │ │ ├── hessian_0.txt │ │ ├── rtkliboutput.pos │ │ ├── testImuGrabber.cpp │ │ ├── testcsvreader.cpp │ │ ├── testeigeninverse.cpp │ │ ├── testgpsgrabber.cpp │ │ ├── testimugrabber.csv │ │ ├── testtimegrabber.cpp │ │ └── times_kitti_seq00.txt │ ├── vio_commonConfig.cmake.in │ └── visualizematrix.py └── vio_g2o │ ├── .gitignore │ ├── CMakeLists.txt │ ├── CMakeModules │ ├── FindCholmod.cmake │ ├── FindEigen.cmake │ └── FindSuiteSparse.cmake │ ├── LICENSE.md │ ├── README.md │ ├── include │ ├── g2o_EXTERNAL │ │ └── ceres │ │ │ ├── LICENSE │ │ │ ├── autodiff.h │ │ │ ├── eigen.h │ │ │ ├── fixed_array.h │ │ │ ├── fpclassify.h │ │ │ ├── jet.h │ │ │ ├── macros.h │ │ │ ├── manual_constructor.h │ │ │ └── variadic_evaluate.h │ └── vio_g2o │ │ ├── IMU_constraint.h │ │ ├── anchored_points.h │ │ ├── scale_solver.h │ │ └── transformations.h │ ├── package.xml │ ├── src │ ├── IMU_constraint.cpp │ ├── anchored_points.cpp │ └── scale_solver.cpp │ ├── test │ └── test_IMU.cpp │ └── vio_g2oConfig.cmake.in ├── cmake_modules ├── FindCholmod.cmake ├── FindEigen3.cmake └── FindSuiteSparse.cmake ├── data ├── kittiseq00_imu_samplesnoisy.txt ├── rviz.rviz ├── rviz.vcg ├── settingfiles_stereo │ ├── kittiseq00.yaml │ └── tsukuba.yaml ├── settingfiles_stereo_imu │ ├── dilili.yaml │ ├── kittiseq00_imu.yaml │ └── tsukuba_imu.yaml ├── setttingfiles_mono │ ├── kittiseq00_mono.yaml │ └── tsukuba_mono.yaml └── tsukuba_imu_samplesnoisy.txt ├── include ├── Converter.h ├── FeatureGrid.h ├── Frame.h ├── FramePublisher.h ├── 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