├── .gitignore ├── CMakeLists.txt ├── CMakeModules ├── FindEigen.cmake └── sanitizers.cmake ├── LICENSE.md ├── README.md ├── dependencies.rosinstall ├── drawDenseFrames.m ├── include ├── ImuErrorWithGravity.hpp ├── RotationManifold.h ├── geodetic_enu_converter.h ├── gravity_manifold.h ├── hamilton_quaternion.h ├── okvis │ ├── Duration.hpp │ ├── ImuMeasurements.hpp │ ├── Time.hpp │ ├── Transformation.hpp │ ├── implementation │ │ ├── Duration.hpp │ │ ├── Time.hpp │ │ └── Transformation.hpp │ ├── imu_parameters.hpp │ └── operators.hpp ├── pgo.h ├── pose_factors.h ├── pose_manifold.h └── small_factors.h ├── package.xml ├── src ├── Duration.cpp ├── ImuErrorWithGravity.cpp ├── Time.cpp ├── geodetic_enu_converter.cpp ├── imu_parameters.cpp ├── pgo.cpp └── pose_manifold.cpp └── test ├── data ├── dataset-corridor1_512_16_kfposes.txt └── dataset-corridor1_512_16_poses.txt ├── entrypoint.sh ├── pgo_core.sh ├── run_pgo.py └── selected_bags.py /.gitignore: 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