├── .devcontainer ├── Dockerfile ├── configure_xauth.bash └── devcontainer.json ├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── LICENCE ├── README.md ├── bags └── put_rosbags_here.txt ├── config ├── a1_config │ ├── a1_realsense_left.yaml │ ├── a1_realsense_right.yaml │ ├── hardware_a1_vilo_config.yaml │ └── hardware_a1_vins_config.yaml ├── go1_config │ ├── go1_realsense_left.yaml │ ├── go1_realsense_right.yaml │ ├── hardware_go1_vilo_config.yaml │ ├── hardware_go1_vilo_config_dense.yaml │ └── hardware_go1_vins_config.yaml └── rviz │ ├── isaac_a1 │ ├── vilo_rviz_config.rviz │ └── vins_rviz_config.rviz │ ├── isaac_a1_elev_map_rviz_config.rviz │ ├── vilo_rviz_config.rviz │ └── vins_rviz_config.rviz ├── docs └── images │ ├── campus_trajectory.png │ ├── cut_trajectory.png │ ├── street_trajectory.jpg │ └── track_trajectory.png ├── launch ├── dataset │ ├── run_campus_bag_vilo.launch │ ├── run_cut_bag_vilo.launch │ ├── run_street_bag_vilo.launch │ └── run_track_bag_vilo.launch ├── front_camera_read.launch ├── hardware_a1 │ ├── hardware_a1_vilo.launch │ ├── hardware_a1_vilo_rviz.launch │ ├── hardware_a1_vilo_together.launch │ ├── hardware_a1_vins.launch │ ├── hardware_a1_vins_rviz.launch │ └── hardware_a1_vins_together.launch └── hardware_go1 │ ├── camera.txt │ ├── hardware_go1_vilo.launch │ └── hardware_go1_vins.launch ├── output └── vilo_output_goes_here.txt ├── package.xml ├── src ├── estimator │ ├── estimator.cpp │ └── estimator.h ├── factor │ ├── imu_factor.h │ ├── imu_leg_factor.cpp │ ├── imu_leg_factor.h │ ├── imu_leg_integration_base.cpp │ ├── imu_leg_integration_base.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_manager.cpp │ ├── feature_manager.h │ ├── 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 ├── legKinematics │ ├── A1Kinematics.cpp │ ├── A1Kinematics.h │ └── README.md ├── main.cpp ├── test │ └── ceres_test.cpp └── utils │ ├── CameraPoseVisualization.cpp │ ├── CameraPoseVisualization.h │ ├── filter.hpp │ ├── parameters.cpp │ ├── parameters.h │ ├── tic_toc.h │ ├── utility.cpp │ ├── utility.h │ ├── visualization.cpp │ └── visualization.h └── urdf └── a1_description ├── CMakeLists.txt ├── config └── robot_control.yaml ├── launch ├── a1_rviz.launch └── check_joint.rviz ├── meshes ├── MTi_10.stl ├── calf.dae ├── d435.dae ├── hip.dae 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