├── .catkin_workspace ├── .gitignore ├── Quaternion kinematics for the error-state Kalman filter.pdf ├── README.md ├── msckf_vio.jpg └── src ├── CMakeLists.txt ├── EKF_learning ├── KF │ ├── CMakeLists.txt │ ├── IMU_data │ │ └── circul │ │ │ ├── circul_accm.csv │ │ │ ├── circul_grvm.csv │ │ │ ├── circul_gyrm.csv │ │ │ ├── circul_lacm.csv │ │ │ └── circul_rotm.csv │ ├── README.md │ ├── include │ │ ├── imu_data_reader.h │ │ ├── imu_data_structure.h │ │ └── kalman_filter.h │ ├── lib │ │ └── libKF.so │ ├── src │ │ ├── imu_data_reader.cc │ │ └── kalman_filter.cc │ └── test │ │ ├── imu_data_read.cpp │ │ └── kalam_roll_pich_test_01.cpp ├── kalman-master.zip └── kalman │ ├── .gitignore │ ├── .gitmodules │ ├── .travis.yml │ ├── CMakeLists.txt │ ├── Doxyfile │ ├── LICENSE.txt │ ├── README.md │ ├── cmake │ ├── FindEigen3.cmake │ ├── KalmanConfig.cmake.in │ ├── KalmanUninstall.cmake │ ├── LibFindMacros.cmake │ └── UseKalman.cmake │ ├── examples │ └── Robot1 │ │ ├── OrientationMeasurementModel.hpp │ │ ├── PositionMeasurementModel.hpp │ │ ├── README.md │ │ ├── SystemModel.hpp │ │ ├── data.csv │ │ ├── data_output.txt │ │ ├── error.png │ │ ├── error_plot.py │ │ ├── estimate.png │ │ ├── main.cpp │ │ ├── path_plot_x_y.py │ │ ├── pose.png │ │ └── visualization.m │ ├── include │ └── kalman │ │ ├── ExtendedKalmanFilter.hpp │ │ ├── KalmanFilterBase.hpp │ │ ├── LinearizedMeasurementModel.hpp │ │ ├── LinearizedSystemModel.hpp │ │ ├── Matrix.hpp │ │ ├── MeasurementModel.hpp │ │ ├── SquareRootBase.hpp │ │ ├── SquareRootExtendedKalmanFilter.hpp │ │ ├── SquareRootFilterBase.hpp │ │ ├── SquareRootUnscentedKalmanFilter.hpp │ │ ├── StandardBase.hpp │ │ ├── StandardFilterBase.hpp │ │ ├── SystemModel.hpp │ │ ├── Types.hpp │ │ ├── UnscentedKalmanFilter.hpp │ │ └── UnscentedKalmanFilterBase.hpp │ └── test │ ├── ExtendedKalmanFilter.cpp │ ├── Matrix.cpp │ ├── SquareRootBase.cpp │ ├── SquareRootUnscentedKalmanFilter.cpp │ ├── StandardBase.cpp │ ├── TestHelper.h │ ├── UnscentedKalmanFilter.cpp │ ├── UnscentedKalmanFilterBase.cpp │ └── models │ └── Quadratic.hpp ├── msckf_mine ├── CMakeLists.txt ├── README.md ├── config │ └── config.yaml ├── include │ ├── LICENSE │ ├── ORBextractor.h │ ├── ORBmatcher.h │ ├── README.md │ ├── camera.h │ ├── chi2table.h │ ├── common_include.h │ ├── config.h │ ├── converter.h │ ├── data_reader.h │ ├── feature.h │ ├── frame.h │ ├── msckf.h │ ├── triangulation.h │ └── types.h ├── lib │ └── libMSCKF_MINE.so ├── src │ ├── ORBextractor.cc │ ├── ORBmatcher.cc │ ├── camera.cc │ ├── config.cc │ ├── converter.cc │ ├── data_reader.cc │ ├── frame.cc │ └── msckf.cc ├── test │ ├── asl_dataset_to_mars.cpp │ ├── camera_test.cpp │ ├── eigen_function_test.cpp │ ├── frame_and_orb_test.cpp │ ├── load_imu_camera_data.cpp │ ├── msckf_construct_test.cpp │ ├── msckf_test_v0.cpp │ ├── optical_flow_test │ │ ├── optical_flow_tracking.cpp │ │ ├── optical_flow_tracking_frame2frame.cpp │ │ ├── optical_flow_tracking_mask.cpp │ │ └── tracking_feature_manager.cpp │ ├── orb_feature_extract.cpp │ ├── orb_feature_match_test.cpp │ └── read_csv_file.cpp └── useful_python_scripts │ ├── .idea │ ├── misc.xml │ ├── modules.xml │ ├── useful_python_scripts.iml │ └── workspace.xml │ ├── README.md │ ├── data.txt │ └── parase_csv2txt.py ├── msckf_mine_1.0 ├── CMakeLists.txt ├── README.md ├── backup │ └── msckf_20180131.cc ├── config │ └── config.yaml ├── include │ ├── backup_old_include_files.zip │ ├── camera.h │ ├── chi2table.h │ ├── common_include.h │ ├── config.h │ ├── converter.h │ ├── data_reader.h │ ├── feature.h │ ├── frame.h │ ├── msckf.h │ ├── triangulation.h │ └── types.h ├── lib │ ├── libMSCKF_MINE.so │ └── libMSCKF_MINE_1.0.so ├── src │ ├── backup_old_files.zip │ ├── camera.cc │ ├── config.cc │ ├── converter.cc │ ├── data_reader.cc │ ├── frame.cc │ └── msckf.cc ├── test │ ├── asl_dataset_to_mars.cpp │ ├── camera_test.cpp │ ├── eigen_function_test.cpp │ ├── frame_and_orb_test.cpp │ ├── frame_test │ │ ├── eigen_function_test.cpp │ │ ├── frame_test.cpp │ │ └── frame_with_imu_test.cpp │ ├── load_imu_camera_data.cpp │ ├── msckf_construct_test.cpp │ ├── msckf_test_v0.cpp │ ├── msckf_vio_stereo_test │ │ └── fast_feature_detect.cpp │ ├── optical_flow_test │ │ ├── optical_flow_tracking.cpp │ │ ├── optical_flow_tracking_frame2frame.cpp │ │ ├── optical_flow_tracking_mask.cpp │ │ └── tracking_feature_manager.cpp │ ├── orb_feature_extract.cpp │ ├── orb_feature_match_test.cpp │ └── read_csv_file.cpp └── useful_python_scripts │ ├── .idea │ ├── misc.xml │ ├── modules.xml │ ├── useful_python_scripts.iml │ └── workspace.xml │ ├── README.md │ ├── data.txt │ ├── parase_csv2txt.py │ └── test │ └── show_optical_flow_trajectory.py ├── msckf_mine_1.5 ├── CMakeLists.txt ├── README.md ├── config │ └── config.yaml ├── include │ ├── camera.h │ ├── chi2table.h │ ├── common_include.h │ ├── config.h │ ├── converter.h │ ├── data_reader.h │ ├── feature.h │ ├── frame.h │ ├── image_processor.h │ ├── triangulation.h │ └── types.h ├── lib │ ├── libMSCKF_MINE.so │ └── libMSCKF_MINE_1.0.so ├── src │ ├── camera.cc │ ├── config.cc │ ├── converter.cc │ ├── data_reader.cc │ ├── frame.cc │ └── image_processor.cc └── useful_python_scripts │ ├── .idea │ ├── misc.xml │ ├── modules.xml │ ├── useful_python_scripts.iml │ └── workspace.xml │ ├── README.md │ ├── parase_csv2txt.py │ └── test │ └── show_optical_flow_trajectory.py └── msckf_vio_note ├── CMakeLists.txt ├── LICENSE.txt ├── README.md ├── cmake └── FindSuiteSparse.cmake ├── config ├── camchain-imucam-euroc-noextrinsics.yaml ├── camchain-imucam-euroc.yaml ├── camchain-imucam-fla.yaml └── camchain-imucam-mynteye.yaml ├── include └── msckf_vio │ ├── cam_state.h │ ├── feature.hpp │ ├── image_processor.h │ ├── image_processor_nodelet.h │ ├── imu_state.h │ ├── math_utils.hpp │ ├── msckf_vio.h │ ├── msckf_vio_nodelet.h │ └── utils.h ├── launch ├── image_processor_euroc.launch ├── image_processor_fla.launch ├── image_processor_mynteye.launch ├── msckf_vio_euroc.launch ├── msckf_vio_euroc_noextrinsics.launch ├── 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