├── .github └── stale.yml ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── brief_k10L6.bin ├── brief_pattern.yml ├── extrinsic_parameter_example.pdf ├── fisheye_mask_720x540.jpg ├── params_camera.yaml └── params_lidar.yaml ├── doc ├── demo.gif ├── handheld-earth.png ├── jackal-earth.png ├── paper.pdf └── sensor.jpeg ├── docker ├── Dockerfile ├── docker_start.md └── ros_entrypoint.sh ├── launch ├── include │ ├── config │ │ ├── robot.urdf.xacro │ │ └── rviz.rviz │ ├── module_robot_state_publisher.launch │ ├── module_rviz.launch │ ├── module_sam.launch │ └── rosconsole │ │ ├── rosconsole_error.conf │ │ ├── rosconsole_info.conf │ │ └── rosconsole_warn.conf └── run.launch ├── msg └── cloud_info.msg ├── package.xml └── src ├── lidar_odometry ├── featureExtraction.cpp ├── imageProjection.cpp ├── imuPreintegration.cpp ├── mapOptmization.cpp └── utility.h └── visual_odometry ├── visual_estimator ├── 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 │ ├── initial_ex_rotation.h │ ├── initial_sfm.cpp │ ├── initial_sfm.h │ ├── solve_5pts.cpp │ └── solve_5pts.h ├── parameters.cpp ├── parameters.h └── utility │ ├── CameraPoseVisualization.cpp │ ├── CameraPoseVisualization.h │ ├── tic_toc.h │ ├── utility.cpp │ ├── utility.h │ ├── visualization.cpp │ └── visualization.h ├── visual_feature ├── camera_models │ ├── Camera.cc │ ├── Camera.h │ ├── CameraFactory.cc │ ├── CameraFactory.h │ ├── CataCamera.cc │ ├── CataCamera.h │ ├── CostFunctionFactory.cc │ ├── CostFunctionFactory.h │ ├── EquidistantCamera.cc │ ├── EquidistantCamera.h │ ├── PinholeCamera.cc │ ├── PinholeCamera.h │ ├── ScaramuzzaCamera.cc │ ├── ScaramuzzaCamera.h │ ├── gpl.cc │ └── gpl.h ├── feature_tracker.cpp ├── feature_tracker.h ├── feature_tracker_node.cpp ├── parameters.cpp ├── parameters.h └── tic_toc.h └── visual_loop ├── 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 ├── loop_detection.cpp ├── loop_detection.h ├── loop_detection_node.cpp └── parameters.h /.github/stale.yml: 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