├── .gitignore ├── LICENSE ├── README.md ├── camera_models ├── CMakeLists.txt ├── camera_calib_example │ ├── calibrationdata │ │ ├── left-0000.png │ │ ├── left-0001.png │ │ ├── left-0002.png │ │ ├── left-0003.png │ │ ├── left-0004.png │ │ ├── left-0005.png │ │ ├── left-0006.png │ │ ├── left-0007.png │ │ ├── left-0008.png │ │ ├── left-0009.png │ │ ├── left-0010.png │ │ ├── left-0011.png │ │ ├── left-0012.png │ │ ├── left-0013.png │ │ ├── left-0014.png │ │ ├── left-0015.png │ │ ├── left-0016.png │ │ ├── left-0017.png │ │ ├── left-0018.png │ │ ├── left-0019.png │ │ ├── left-0020.png │ │ ├── left-0021.png │ │ ├── left-0022.png │ │ ├── left-0023.png │ │ ├── left-0024.png │ │ ├── left-0025.png │ │ ├── left-0026.png │ │ ├── left-0027.png │ │ ├── left-0028.png │ │ ├── left-0029.png │ │ ├── left-0030.png │ │ ├── left-0031.png │ │ ├── left-0032.png │ │ ├── left-0033.png │ │ ├── left-0034.png │ │ ├── left-0035.png │ │ ├── left-0036.png │ │ ├── left-0037.png │ │ ├── left-0038.png │ │ ├── left-0039.png │ │ ├── left-0040.png │ │ ├── left-0041.png │ │ ├── left-0042.png │ │ ├── left-0043.png │ │ ├── left-0044.png │ │ ├── left-0045.png │ │ ├── left-0046.png │ │ ├── left-0047.png │ │ ├── left-0048.png │ │ ├── left-0049.png │ │ ├── left-0050.png │ │ ├── left-0051.png │ │ ├── left-0052.png │ │ ├── left-0053.png │ │ ├── left-0054.png │ │ ├── left-0055.png │ │ ├── left-0056.png │ │ ├── left-0057.png │ │ ├── left-0058.png │ │ ├── left-0059.png │ │ ├── left-0060.png │ │ ├── left-0061.png │ │ ├── left-0062.png │ │ ├── left-0063.png │ │ ├── left-0064.png │ │ ├── left-0065.png │ │ ├── left-0066.png │ │ ├── left-0067.png │ │ ├── left-0068.png │ │ ├── left-0069.png │ │ ├── left-0070.png │ │ ├── left-0071.png │ │ ├── left-0072.png │ │ ├── left-0073.png │ │ ├── left-0074.png │ │ ├── left-0075.png │ │ ├── left-0076.png │ │ ├── left-0077.png │ │ ├── left-0078.png │ │ ├── left-0079.png │ │ ├── left-0080.png │ │ ├── left-0081.png │ │ ├── left-0082.png │ │ ├── left-0083.png │ │ └── left-0084.png │ └── readme.txt ├── cmake │ └── FindEigen.cmake ├── include │ └── camodocal │ │ ├── calib │ │ └── CameraCalibration.h │ │ ├── camera_models │ │ ├── Camera.h │ │ ├── CameraFactory.h │ │ ├── CataCamera.h │ │ ├── CostFunctionFactory.h │ │ ├── EquidistantCamera.h │ │ ├── PinholeCamera.h │ │ ├── PinholeFullCamera.h │ │ └── ScaramuzzaCamera.h │ │ ├── chessboard │ │ ├── Chessboard.h │ │ ├── ChessboardCorner.h │ │ ├── ChessboardQuad.h │ │ └── Spline.h │ │ ├── gpl │ │ ├── EigenQuaternionParameterization.h │ │ ├── EigenUtils.h │ │ └── gpl.h │ │ └── sparse_graph │ │ └── Transform.h ├── package.xml ├── readme.md └── src │ ├── calib │ └── CameraCalibration.cc │ ├── camera_models │ ├── Camera.cc │ ├── CameraFactory.cc │ ├── CataCamera.cc │ ├── CostFunctionFactory.cc │ ├── EquidistantCamera.cc │ ├── PinholeCamera.cc │ ├── PinholeFullCamera.cc │ └── ScaramuzzaCamera.cc │ ├── chessboard │ └── Chessboard.cc │ ├── gpl │ ├── EigenQuaternionParameterization.cc │ └── gpl.cc │ ├── intrinsic_calib.cc │ └── sparse_graph │ └── Transform.cc ├── config ├── SKBT_280.yaml ├── left.yaml ├── right.yaml ├── uwb.yaml └── vins_rviz_config.rviz ├── docker ├── Dockerfile ├── Makefile └── run.sh ├── estimator ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── launch │ ├── ros_test.launch │ └── rviz.launch ├── msg │ └── UWB_msg.msg ├── package.xml └── src │ ├── eliminator │ ├── UWB_eliminator.cpp │ └── UWB_eliminator.h │ ├── estimator │ ├── estimator.cpp │ ├── estimator.h │ ├── feature_manager.cpp │ ├── feature_manager.h │ ├── parameters.cpp │ └── parameters.h │ ├── factor │ ├── imu_factor.h │ ├── initial_bias_factor.h │ ├── initial_pose_factor.h │ ├── integration_base.h │ ├── marginalization_factor.cpp │ ├── marginalization_factor.h │ ├── pose_local_parameterization.cpp │ ├── pose_local_parameterization.h │ ├── projectionOneFrameTwoCamFactor.cpp │ ├── projectionOneFrameTwoCamFactor.h │ ├── projectionTwoFrameOneCamFactor.cpp │ ├── projectionTwoFrameOneCamFactor.h │ ├── projectionTwoFrameTwoCamFactor.cpp │ ├── projectionTwoFrameTwoCamFactor.h │ ├── projection_factor.cpp │ └── projection_factor.h │ ├── featureTracker │ ├── feature_tracker.cpp │ └── feature_tracker.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 │ ├── rosNodeTest.cpp │ └── utility │ ├── CameraPoseVisualization.cpp │ ├── CameraPoseVisualization.h │ ├── tic_toc.h │ ├── utility.cpp │ ├── utility.h │ ├── visualization.cpp │ └── visualization.h ├── global_fusion ├── CMakeLists.txt ├── ThirdParty │ └── GeographicLib │ │ ├── CMakeLists.txt │ │ ├── include │ │ ├── Config.h │ │ ├── Constants.hpp │ │ ├── Geocentric.hpp │ │ ├── LocalCartesian.hpp │ │ └── Math.hpp │ │ └── src │ │ ├── Geocentric.cpp │ │ ├── LocalCartesian.cpp │ │ └── Math.cpp ├── models │ ├── car.dae │ └── hummingbird.mesh ├── package.xml └── src │ ├── Factors.h │ ├── globalOpt.cpp │ ├── globalOpt.h │ ├── globalOptNode.cpp │ └── tic_toc.h ├── loop_fusion ├── 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 └── experimental_setup.jpeg └── uwb ├── CMakeLists.txt ├── VINS.txt ├── VINS_UWB.txt ├── build ├── .cmake │ └── api │ │ └── v1 │ │ ├── query │ │ └── client-vscode │ │ │ └── query.json │ │ └── reply │ │ ├── cache-v2-d0ef0dc36de87ee85023.json │ │ ├── cmakeFiles-v1-b7184ea6e385cbcf2be9.json │ │ ├── codemodel-v2-5052fdc0bbee38cd39b6.json │ │ ├── index-2024-01-28T15-41-20-0256.json │ │ ├── target-EKF-Debug-1f917a5cd3f9295a055a.json │ │ ├── target-Mini5-Debug-ab7395de75c1d3b3430f.json │ │ ├── target-Optimization-Debug-4dcd032b7380d4794542.json │ │ ├── target-UWB-Debug-4bed7fcdaa1be9704093.json │ │ ├── target-Write-Debug-2257227e31a2c7d79dfc.json │ │ ├── target-_uwb_generate_messages_check_deps_UWB_msg-Debug-cecba027bbd2a3f5a276.json │ │ ├── target-actionlib_msgs_generate_messages_cpp-Debug-7e7e94c98ef1532209a1.json │ │ ├── target-actionlib_msgs_generate_messages_eus-Debug-15a8fa4e575146b10bb6.json │ │ ├── target-actionlib_msgs_generate_messages_lisp-Debug-2245d28e4d05a1f9ae95.json │ │ ├── target-actionlib_msgs_generate_messages_nodejs-Debug-f37bec0034243849d88e.json │ │ ├── target-actionlib_msgs_generate_messages_py-Debug-172ce26a09d0b07c37a4.json │ │ ├── target-clean_test_results-Debug-f9996c1a6690a3314fc8.json │ │ ├── target-download_extra_data-Debug-e6c338ae85433d5a4b3e.json │ │ ├── target-doxygen-Debug-ef33435b757b640c0f24.json │ │ ├── target-geometry_msgs_generate_messages_cpp-Debug-11df35e6c3cd134f7919.json │ │ ├── target-geometry_msgs_generate_messages_eus-Debug-d6cab944cefabed9daa8.json │ │ ├── target-geometry_msgs_generate_messages_lisp-Debug-0b54e16c8045416dc0fa.json │ │ ├── target-geometry_msgs_generate_messages_nodejs-Debug-8cefcf46e9a34c800d08.json │ │ ├── target-geometry_msgs_generate_messages_py-Debug-42a48a01ca7b4b5708ea.json │ │ ├── target-gmock-Debug-36fec39a540096a024a5.json │ │ ├── target-gmock_main-Debug-cd7e0e750376a56d289d.json │ │ ├── target-gtest-Debug-a56083a1e6f2741cf5f6.json │ │ ├── target-gtest_main-Debug-c20479c6ce5c6a9b109f.json │ │ ├── target-nav_msgs_generate_messages_cpp-Debug-694785c1397684819a91.json │ │ ├── target-nav_msgs_generate_messages_eus-Debug-2b66a9e875c6d602d115.json │ │ ├── target-nav_msgs_generate_messages_lisp-Debug-3bd6efc58f3805124d62.json │ │ ├── target-nav_msgs_generate_messages_nodejs-Debug-b8b64699b1676203e072.json │ │ ├── target-nav_msgs_generate_messages_py-Debug-af1bc74d257a4dabf234.json │ │ ├── target-roscpp_generate_messages_cpp-Debug-bfb1db1eb0de23323403.json │ │ ├── target-roscpp_generate_messages_eus-Debug-a257d40a70f9a9693715.json │ │ ├── target-roscpp_generate_messages_lisp-Debug-128d5570c29225195aa5.json │ │ ├── target-roscpp_generate_messages_nodejs-Debug-8d60df3f6863b94411fe.json │ │ ├── target-roscpp_generate_messages_py-Debug-4e2e9ace4999afcc8448.json │ │ ├── target-rosgraph_msgs_generate_messages_cpp-Debug-1542d10960921e21cfc8.json │ │ ├── target-rosgraph_msgs_generate_messages_eus-Debug-4f6cc1468f33852fb895.json │ │ ├── target-rosgraph_msgs_generate_messages_lisp-Debug-443750f09d02a91907f0.json │ │ ├── target-rosgraph_msgs_generate_messages_nodejs-Debug-b3703bacb9b20ab978f4.json │ │ ├── target-rosgraph_msgs_generate_messages_py-Debug-5484b9e5d6ba67b32c45.json │ │ ├── target-run_tests-Debug-c136fe3e8284a8294acb.json │ │ ├── target-std_msgs_generate_messages_cpp-Debug-8ceec0454b5142ce8097.json │ │ ├── target-std_msgs_generate_messages_eus-Debug-a634a55c7f1caf7f6d64.json │ │ ├── target-std_msgs_generate_messages_lisp-Debug-c88ba1b0aa022010315e.json │ │ ├── target-std_msgs_generate_messages_nodejs-Debug-ec0164c36bc2c2464da3.json │ │ ├── target-std_msgs_generate_messages_py-Debug-a7609768ae4807ae8e4a.json │ │ ├── target-tests-Debug-aca79745e3fcda575766.json │ │ ├── target-uwb_gencpp-Debug-a90182089d54a1ec3eaf.json │ │ ├── target-uwb_generate_messages-Debug-7c85cd1422d45b82da36.json │ │ ├── target-uwb_generate_messages_cpp-Debug-021d99ce3809e31efdc2.json │ │ ├── target-uwb_generate_messages_eus-Debug-27e4c78828b4a588f4b6.json │ │ ├── target-uwb_generate_messages_lisp-Debug-dd74856e1f9580b7d5ad.json │ │ ├── target-uwb_generate_messages_nodejs-Debug-9a9e3449bdca80538460.json │ │ ├── target-uwb_generate_messages_py-Debug-0bfb2395626e17dc6982.json │ │ ├── target-uwb_geneus-Debug-8795a3a058e2e535291f.json │ │ ├── target-uwb_genlisp-Debug-7a5286acc464de5acd38.json │ │ ├── target-uwb_gennodejs-Debug-70031a1816d1364adc1b.json │ │ ├── target-uwb_genpy-Debug-c141ebfd4abeb698cb72.json │ │ └── target-visualization-Debug-fce85d5b7618a355ed99.json ├── CATKIN_IGNORE ├── CMakeCache.txt ├── CMakeFiles │ ├── 3.16.3 │ │ ├── CMakeCCompiler.cmake │ │ ├── CMakeCXXCompiler.cmake │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ ├── CMakeSystem.cmake │ │ ├── CompilerIdC │ │ │ ├── CMakeCCompilerId.c │ │ │ └── a.out │ │ └── CompilerIdCXX │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ └── a.out │ ├── CMakeDirectoryInformation.cmake │ ├── CMakeError.log │ ├── CMakeOutput.log │ ├── CMakeRuleHashes.txt │ ├── EKF.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── Makefile.cmake │ ├── Makefile2 │ ├── Mini5.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── Mini5_DT.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── Mini5_KM.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── Mini5_SW.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── Optimization.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── TargetDirectories.txt │ ├── Test.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── UWB.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── Write.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── _uwb_generate_messages_check_deps_UWB_msg.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── actionlib_msgs_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── actionlib_msgs_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── actionlib_msgs_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── actionlib_msgs_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── actionlib_msgs_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── clean_test_results.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── cmake.check_cache │ ├── download_extra_data.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── doxygen.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── geometry_msgs_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── geometry_msgs_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── geometry_msgs_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── geometry_msgs_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── geometry_msgs_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── nav_msgs_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── nav_msgs_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── nav_msgs_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── nav_msgs_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── nav_msgs_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── progress.marks │ ├── roscpp_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── roscpp_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── roscpp_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── roscpp_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── roscpp_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── rosgraph_msgs_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── rosgraph_msgs_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── rosgraph_msgs_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── rosgraph_msgs_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── rosgraph_msgs_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── run_tests.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── std_msgs_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── std_msgs_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── std_msgs_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── std_msgs_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── std_msgs_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── tests.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── uwb_gencpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── uwb_generate_messages.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── uwb_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── uwb_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── uwb_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── uwb_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── uwb_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── uwb_geneus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── uwb_genlisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── uwb_gennodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── uwb_genpy.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ └── visualization.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make ├── CTestConfiguration.ini ├── CTestCustom.cmake ├── CTestTestfile.cmake ├── Makefile ├── Testing │ ├── 20231205-1244 │ │ └── Test.xml │ ├── 20231206-0721 │ │ └── Test.xml │ ├── 20231207-0154 │ │ └── Test.xml │ ├── 20231208-0125 │ │ └── Test.xml │ ├── 20231212-2012 │ │ └── Test.xml │ ├── 20231214-0807 │ │ └── Test.xml │ ├── 20231218-1200 │ │ └── Test.xml │ ├── 20231219-0711 │ │ └── Test.xml │ ├── 20231220-0752 │ │ └── Test.xml │ ├── 20231225-0747 │ │ └── Test.xml │ ├── 20240105-0708 │ │ └── Test.xml │ ├── 20240106-0833 │ │ └── Test.xml │ ├── 20240107-0823 │ │ └── Test.xml │ ├── 20240110-0722 │ │ └── Test.xml │ ├── 20240111-0558 │ │ └── Test.xml │ ├── 20240121-1125 │ │ └── Test.xml │ ├── 20240128-1313 │ │ └── Test.xml │ ├── TAG │ └── Temporary │ │ ├── LastTest.log │ │ ├── LastTest_20231205-1244.log │ │ ├── LastTest_20231206-0721.log │ │ ├── LastTest_20231207-0154.log │ │ ├── LastTest_20231208-0125.log │ │ ├── LastTest_20231212-2012.log │ │ ├── LastTest_20231214-0807.log │ │ ├── LastTest_20231218-1200.log │ │ ├── LastTest_20231219-0711.log │ │ ├── LastTest_20231220-0752.log │ │ ├── LastTest_20231225-0747.log │ │ ├── LastTest_20240105-0708.log │ │ ├── LastTest_20240106-0833.log │ │ ├── LastTest_20240107-0823.log │ │ ├── LastTest_20240110-0722.log │ │ ├── LastTest_20240111-0558.log │ │ ├── LastTest_20240121-1125.log │ │ └── LastTest_20240128-1313.log ├── atomic_configure │ ├── .rosinstall │ ├── _setup_util.py │ ├── env.sh │ ├── local_setup.bash │ ├── local_setup.sh │ ├── local_setup.zsh │ ├── setup.bash │ ├── setup.sh │ └── setup.zsh ├── catkin │ └── catkin_generated │ │ └── version │ │ └── package.cmake ├── catkin_generated │ ├── env_cached.sh │ ├── generate_cached_setup.py │ ├── installspace │ │ ├── .rosinstall │ │ ├── _setup_util.py │ │ ├── env.sh │ │ ├── local_setup.bash │ │ ├── local_setup.sh │ │ ├── local_setup.zsh │ │ ├── setup.bash │ │ ├── setup.sh │ │ ├── setup.zsh │ │ ├── uwb-msg-extras.cmake │ │ ├── uwb-msg-paths.cmake │ │ ├── uwb.pc │ │ ├── uwbConfig-version.cmake │ │ └── uwbConfig.cmake │ ├── ordered_paths.cmake │ ├── package.cmake │ ├── pkg.develspace.context.pc.py │ ├── pkg.installspace.context.pc.py │ ├── setup_cached.sh │ ├── stamps │ │ └── uwb │ │ │ ├── _setup_util.py.stamp │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ ├── package.xml.stamp │ │ │ ├── pkg-genmsg.cmake.em.stamp │ │ │ └── pkg.pc.em.stamp │ ├── uwb-msg-extras.cmake.develspace.in │ └── uwb-msg-extras.cmake.installspace.in ├── cmake │ ├── uwb-genmsg-context.py │ └── uwb-genmsg.cmake ├── cmake_install.cmake ├── compile_commands.json ├── devel │ ├── .catkin │ ├── .rosinstall │ ├── _setup_util.py │ ├── cmake.lock │ ├── env.sh │ ├── lib │ │ ├── pkgconfig │ │ │ └── uwb.pc │ │ └── python3 │ │ │ └── dist-packages │ │ │ └── uwb │ │ │ └── __init__.py │ ├── local_setup.bash │ ├── local_setup.sh │ ├── local_setup.zsh │ ├── setup.bash │ ├── setup.sh │ ├── setup.zsh │ └── share │ │ └── uwb │ │ └── cmake │ │ ├── uwb-msg-extras.cmake │ │ ├── uwb-msg-paths.cmake │ │ ├── uwbConfig-version.cmake │ │ └── uwbConfig.cmake └── gtest │ ├── CMakeFiles │ ├── CMakeDirectoryInformation.cmake │ └── progress.marks │ ├── CTestTestfile.cmake │ ├── Makefile │ ├── cmake_install.cmake │ ├── googlemock │ ├── CMakeFiles │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── gmock.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ ├── gmock_main.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ └── progress.marks │ ├── CTestTestfile.cmake │ ├── Makefile │ └── cmake_install.cmake │ └── googletest │ ├── CMakeFiles │ ├── CMakeDirectoryInformation.cmake │ ├── gtest.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── gtest_main.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ └── progress.marks │ ├── CTestTestfile.cmake │ ├── Makefile │ └── cmake_install.cmake ├── include └── uwb │ ├── Serial.cpp │ └── Serial.hpp ├── launch ├── VIU_vis.rviz └── vis.launch ├── msg └── UWB_msg.msg ├── package.xml ├── positions.txt ├── script ├── memory_usage_mmap.dat ├── readstorage.py └── storage_image.py └── src ├── visualization.cpp └── write_to_txt.cpp /.gitignore: -------------------------------------------------------------------------------- 1 | *~ 2 | .vscode/ 3 | dataset/ 4 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 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