├── MSCKF.doc ├── MSCKF1.0.doc ├── README.md └── msckf_vio ├── 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-fla3.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_fla3.launch ├── msckf_vio_euroc.launch ├── msckf_vio_euroc_noextrinsics.launch ├── msckf_vio_fla.launch ├── msckf_vio_fla3.launch └── reset.launch ├── msg ├── CameraMeasurement.msg ├── FeatureMeasurement.msg └── TrackingInfo.msg ├── nodelets.xml ├── package.xml ├── rviz ├── rviz_euroc_config.rviz └── rviz_fla_config.rviz ├── src ├── image_processor.cpp ├── image_processor_nodelet.cpp ├── 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