├── .clang-format ├── .github └── ISSUE_TEMPLATE │ ├── error-report.md │ ├── feature_request.md │ └── question-about-a-concept.md ├── .gitignore ├── CMakeLists.txt ├── Dockerfile ├── LICENSE.BSD ├── README.md ├── cfg ├── calib │ └── euroc_camchain.yaml └── viz │ ├── rqt_multiplot_diagnostics.xml │ └── rqt_multiplot_state.xml ├── docs ├── hardware_setup.md ├── media │ └── Kimera-VIO-ROS_mesh.gif └── ros_installation.md ├── include └── kimera_vio_ros │ ├── KimeraVioRos.h │ ├── LcdRegistrationServer.h │ ├── RosBagDataProvider.h │ ├── RosDataProviderInterface.h │ ├── RosDisplay.h │ ├── RosLoopClosureVisualizer.h │ ├── RosOnlineDataProvider.h │ ├── RosPublishers.h │ ├── RosVisualizer.h │ └── utils │ ├── CsvPublisher.h │ └── UtilsRos.h ├── install ├── kimera_vio_ros_https.rosinstall └── kimera_vio_ros_ssh.rosinstall ├── launch ├── cam_info_yamlizer.launch ├── gt_publisher.launch ├── kimera_vio_d455.launch ├── kimera_vio_eval.bash ├── kimera_vio_ros.launch ├── kimera_vio_ros_euroc.launch ├── kimera_vio_ros_euroc_mono.launch ├── kimera_vio_ros_kinect_azure.launch ├── kimera_vio_ros_realsense_IR.launch ├── kimera_vio_ros_uhumans1.launch └── kimera_vio_ros_uhumans2.launch ├── output_logs ├── .gitignore ├── D455 │ └── .gitignore ├── Euroc │ └── .gitignore ├── EurocMono │ └── .gitignore ├── KinectAzure │ └── .gitignore ├── uHumans1 │ └── .gitignore └── uHumans2 │ └── .gitignore ├── package.xml ├── rviz ├── kimera_vio_euroc.rviz ├── kimera_vio_kinect_azure.rviz └── kimera_vio_tesse.rviz ├── scripts ├── camera_info_yamlizer_node.py ├── kimera_vio_eval.bash ├── retimestamp_rosbag.py ├── write_tfs_in_rosbag.py └── write_traj_to_rosbag.bash ├── src ├── KimeraVioRos.cpp ├── KimeraVioRosNode.cpp ├── LcdRegistrationServer.cpp ├── RosBagDataProvider.cpp ├── RosDataProviderInterface.cpp ├── RosDisplay.cpp ├── RosLoopClosureVisualizer.cpp ├── RosOnlineDataProvider.cpp ├── RosVisualizer.cpp └── utils │ ├── CsvPublisher.cpp │ ├── CsvPublisherNode.cpp │ └── UtilsRos.cpp └── test └── 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