├── README.md ├── VINS-Mono ├── .gitignore ├── LICENCE ├── README.md ├── ar_demo │ ├── CMakeLists.txt │ ├── cmake │ │ └── FindEigen.cmake │ ├── launch │ │ ├── 3dm_bag.launch │ │ ├── ar_rviz.launch │ │ └── realsense_ar.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 │ │ └── mynteye_config.yaml │ ├── extrinsic_parameter_example.pdf │ ├── fisheye_mask.jpg │ ├── fisheye_mask_752x480.jpg │ ├── realsense │ │ ├── realsense_color_config.yaml │ │ ├── realsense_fisheye_config.yaml │ │ └── realsense_zr300 │ └── tum │ │ └── tum_config.yaml ├── docker │ ├── Dockerfile │ ├── Makefile │ └── run.sh ├── 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 ├── 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 ├── support_files │ ├── brief_k10L6.bin │ ├── brief_pattern.yml │ ├── image │ │ ├── vins.png │ │ └── vins_black.png │ ├── paper │ │ └── tro_technical_report.pdf │ └── paper_bib.txt └── vins_estimator │ ├── CMakeLists.txt │ ├── cmake │ └── FindEigen.cmake │ ├── launch │ ├── 3dm.launch │ ├── black_box.launch │ ├── cla.launch │ ├── euroc.launch │ ├── euroc_mynteye.launch │ ├── euroc_no_extrinsic_param.launch │ ├── realsense_color.launch │ ├── realsense_fisheye.launch │ ├── superpoint.launch │ ├── superpoint_mynteye.launch │ ├── tum.launch │ └── vins_rviz.launch │ ├── package.xml │ └── src │ ├── estimator.cpp │ ├── estimator.h │ ├── estimator_node.cpp │ ├── factor │ ├── imu_factor.h │ ├── integration_base.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 │ ├── 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