├── LICENSE ├── README.md ├── benchmark_publisher ├── CMakeLists.txt ├── config │ ├── MH_01_easy │ │ ├── data.csv │ │ └── mh01_gt_tum.txt │ ├── MH_02_easy │ │ ├── data.csv │ │ └── mh02_gt_tum.txt │ ├── MH_03_medium │ │ ├── data.csv │ │ └── mh03_gt_tum.txt │ ├── MH_04_difficult │ │ ├── data.csv │ │ └── mh04_gt_tum.txt │ ├── MH_05_difficult │ │ ├── data.csv │ │ └── mh05_gt_tum.txt │ ├── V1_01_easy │ │ ├── data.csv │ │ └── v101_gt_tum.txt │ ├── V1_02_medium │ │ ├── data.csv │ │ └── v102_gt_tum.txt │ ├── V1_03_difficult │ │ ├── data.csv │ │ └── v103_gt_tum.txt │ ├── V2_01_easy │ │ ├── data.csv │ │ └── v201_gt_tum.txt │ ├── V2_02_medium │ │ ├── data.csv │ │ └── v202_gt_tum.txt │ └── V2_03_difficult │ │ ├── data.csv │ │ └── v203_gt_tum.txt ├── launch │ └── publish.launch ├── package.xml └── src │ └── benchmark_publisher_node.cpp ├── camera_model ├── CMakeLists.txt ├── 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 ├── KAIST.yaml ├── M2DGR.yaml ├── cam0.yaml ├── euroc │ ├── euroc_config.yaml │ ├── euroc_config_fix_extrinsic.yaml │ ├── euroc_config_no_extrinsic.yaml │ ├── ex_calib_result.yaml │ ├── lfloop.yaml │ └── lfloop_my.yaml ├── fisheye_mask.jpg ├── fisheye_mask_752x480.jpg ├── pennCOSYVIO │ └── pennCOSYVIO_config_fix_extrinsic.yaml ├── realrobot.yaml ├── simdata.zip ├── tum │ └── tum_config.yaml ├── tum_config.yaml ├── tum_vio.yaml ├── vins_rviz_config.rviz ├── vins_rviz_config1.rviz └── zed2 │ └── zed2_config.yaml ├── image_node_b ├── CMakeLists.txt ├── aaa.sh ├── package.xml └── src │ └── image_node_b.cpp ├── lf_feature_tracker ├── CMakeLists.txt ├── package.xml └── src │ ├── feature_tracker.cpp │ ├── feature_tracker.h │ ├── feature_tracker_node.cpp │ ├── parameters.cpp │ ├── parameters.h │ └── tic_toc.h ├── lf_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 │ │ ├── BRIEF.cpp │ │ ├── BRIEF.h │ │ └── DVision.h │ ├── VocabularyBinary.cpp │ └── VocabularyBinary.hpp │ ├── keyframe.cpp │ ├── keyframe.h │ ├── parameters.h │ ├── pose_graph.cpp │ ├── pose_graph.h │ ├── pose_graph_node.cpp │ └── utility │ ├── CameraPoseVisualization.cpp │ ├── CameraPoseVisualization.h │ ├── tic_toc.h │ ├── utility.cpp │ └── utility.h ├── lfvins_estimator ├── CMakeLists.txt ├── launch │ ├── M2DGR.launch │ ├── edgelet.launch │ ├── euroc.launch │ ├── euroc_fix_extrinsic.launch │ ├── gazebo_lfvins.launch │ ├── graph.launch │ ├── kaistvio.launch │ ├── kaistvio2.launch │ ├── lfloop.launch │ ├── lfvins.launch │ ├── mars_fix.launch │ ├── pennCOSYVIO_fix.launch │ ├── plvins-show-linepoint.launch │ ├── real.launch │ ├── simdata.launch │ ├── simdata_fix.launch │ ├── tumvi.launch │ ├── vins_rviz.launch │ └── zed2lfvins.launch ├── package.xml └── src │ ├── estimator.cpp │ ├── estimator.h │ ├── estimator_node.cpp │ ├── factor │ ├── imu_factor.h │ ├── integration_base.h │ ├── line_parameterization.cpp │ ├── line_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 │ ├── 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 │ ├── loop-closure │ ├── DLoopDetector.h │ ├── TemplatedLoopDetector.h │ ├── 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 │ ├── demoDetector.h │ ├── keyframe.cpp │ ├── keyframe.h │ ├── keyframe_database.cpp │ ├── keyframe_database.h │ ├── loop_closure.cpp │ └── loop_closure.h │ ├── parameters.cpp │ ├── parameters.h │ ├── sophus │ ├── common.hpp │ ├── so3.hpp │ └── types.hpp │ └── utility │ ├── CameraPoseVisualization.cpp │ ├── CameraPoseVisualization.h │ ├── line_geometry.cpp │ ├── line_geometry.h │ ├── tic_toc.h │ ├── utility.cpp │ ├── utility.h │ ├── visualization.cpp │ └── visualization.h ├── linefeature_tracker ├── CMakeLists.txt ├── launch │ ├── linefeature.launch │ ├── linefeature.yaml │ ├── zed.yaml │ └── zed_linefeature.launch ├── package.xml ├── rviz │ └── linefeature_tracker.rviz └── src │ ├── linefeature_tracker.cpp │ ├── linefeature_tracker.h │ ├── linefeature_tracker_node.cpp │ ├── parameters.cpp │ ├── parameters.h │ ├── tic_toc.h │ ├── utility.cpp │ └── utility.h ├── pythontool └── draw_trajcory.py ├── sim_data_pub ├── CMakeLists.txt ├── Myimg2bag │ ├── MyReadMe.txt │ ├── bag2img.py │ ├── groundtruth2bag.py │ ├── img2bag_Mars_imu.py │ └── img2bag_PennCOSYVIO.py ├── package.xml └── src │ ├── pub_feature.cpp │ ├── pub_imu.cpp │ ├── pub_imu_features.cpp │ ├── pub_stereo_feature.cpp │ └── pub_stereo_pl.cpp └── support_files ├── brief_k10L6.bin ├── brief_pattern.yml ├── paper_bib.txt └── plvins-vinsmono.png /LICENSE: -------------------------------------------------------------------------------- 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