├── .editorconfig ├── .github └── workflows │ └── build-and-test.yml ├── .gitignore ├── .gitmodules ├── CITATION.bib ├── CMakeLists.txt ├── LICENSE ├── README.md ├── codegen ├── CMakeLists.txt ├── cmd_parameter_definitions.json ├── cmd_parameters_base.cpp ├── cmd_parameters_base.hpp ├── generate_parameters.py ├── parameter_definitions.c ├── parameters_base.cpp └── parameters_base.hpp ├── src ├── api │ ├── api.cpp │ ├── implementation_helpers.hpp │ ├── internal.hpp │ ├── output_buffer.hpp │ ├── slam.hpp │ ├── slam_map_point_record.hpp │ ├── type_convert.cpp │ ├── type_convert.hpp │ ├── types.hpp │ ├── vio.hpp │ ├── visualizations.cpp │ └── visualizations.hpp ├── commandline │ ├── command_queue.cpp │ ├── command_queue.hpp │ ├── draw_gl.cpp │ ├── draw_gl.hpp │ ├── imu_visualization.hpp │ ├── input.cpp │ ├── input.hpp │ ├── input_csv.cpp │ ├── input_jsonl.cpp │ ├── main.cpp │ ├── parameters.hpp │ ├── video_input.cpp │ ├── video_input.hpp │ ├── videoutil.cpp │ ├── videoutil.hpp │ ├── visual_update_viewer.cpp │ └── visual_update_viewer.hpp ├── odometry │ ├── backend.cpp │ ├── control.cpp │ ├── control.hpp │ ├── debug.hpp │ ├── ekf.cpp │ ├── ekf.hpp │ ├── ekf_state_index.cpp │ ├── ekf_state_index.hpp │ ├── output.cpp │ ├── output.hpp │ ├── parameters.hpp │ ├── processed_frame.hpp │ ├── sample_sync.cpp │ ├── sample_sync.hpp │ ├── tagged_frame.hpp │ ├── triangulation.cpp │ ├── triangulation.hpp │ ├── util.cpp │ ├── util.hpp │ └── visual_update_stats.hpp ├── tracker │ ├── CMakeLists.txt │ ├── camera.cpp │ ├── camera.hpp │ ├── feature_detector.cpp │ ├── feature_detector.hpp │ ├── feature_detector_legacy.cpp │ ├── five_point.cpp │ ├── five_point.hpp │ ├── gpu_util.cpp │ ├── gpu_util.hpp │ ├── image.cpp │ ├── image.hpp │ ├── image_pyramid.cpp │ ├── image_pyramid.hpp │ ├── optical_flow.cpp │ ├── optical_flow.hpp │ ├── precomp.hpp │ ├── ptsetreg.cpp │ ├── ptsetreg.hpp │ ├── ransac_pipeline.cpp │ ├── ransac_pipeline.hpp │ ├── ransac_result.hpp │ ├── rot_ransac.cpp │ ├── rot_ransac.hpp │ ├── stereo_disparity.cpp │ ├── stereo_disparity.hpp │ ├── stereo_rectifier.cpp │ ├── stereo_rectifier.hpp │ ├── stereo_upright_2p.cpp │ ├── stereo_upright_2p.hpp │ ├── subpixel_adjuster.cpp │ ├── subpixel_adjuster.hpp │ ├── track.hpp │ ├── tracker.cpp │ ├── tracker.hpp │ ├── tracker_internals.hpp │ ├── undistorter.cpp │ ├── undistorter.hpp │ ├── util.cpp │ └── util.hpp ├── util │ ├── allocator.hpp │ ├── auto_help_parser.hpp │ ├── bounded_processing_queue.hpp │ ├── gps.hpp │ ├── logging.hpp │ ├── parameter_parser.cpp │ ├── parameter_parser.hpp │ ├── slam_noop.cpp │ ├── string_utils.hpp │ ├── timer.cpp │ ├── timer.hpp │ ├── util.cpp │ └── util.hpp └── views │ ├── api_visualization_helpers.cpp │ ├── api_visualization_helpers.hpp │ ├── views.hpp │ ├── visualization_internals.cpp │ ├── visualization_internals.hpp │ └── visualization_pose.cpp └── test ├── CMakeLists.txt ├── allocator.cpp ├── camera.cpp ├── catch2 ├── data ├── P.csv ├── hilb10.csv └── m.csv ├── ekf.cpp ├── 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