├── .clang-format ├── .github └── workflows │ └── actions.yml ├── .gitignore ├── CITATION.cff ├── CMakeLists.txt ├── CODE_OF_CONDUCT.md ├── LICENSE ├── README.md ├── apps └── tests │ ├── CMakeLists.txt │ └── main.cpp ├── include └── hyper │ ├── ceres │ └── manifolds │ │ └── sensors │ │ ├── camera.hpp │ │ ├── imu.hpp │ │ ├── sensor.hpp │ │ └── sensors.hpp │ ├── messages │ ├── forward.hpp │ ├── measurements │ │ ├── absolute.hpp │ │ ├── forward.hpp │ │ ├── inertial.hpp │ │ ├── measurement.hpp │ │ ├── measurements.hpp │ │ ├── relative.hpp │ │ └── visual.hpp │ ├── message.hpp │ ├── messages.hpp │ └── visual.hpp │ ├── sensors │ ├── camera.hpp │ ├── forward.hpp │ ├── imu.hpp │ ├── sensor.hpp │ └── sensors.hpp │ └── yaml │ ├── definitions.hpp │ ├── forward.hpp │ └── yaml.hpp ├── internal └── hyper │ ├── ceres │ └── manifolds │ │ └── sensors │ │ ├── camera.cpp │ │ ├── imu.cpp │ │ └── sensor.cpp │ ├── sensors │ ├── camera.cpp │ ├── imu.cpp │ └── sensor.cpp │ └── yaml │ └── yaml.cpp ├── setup.sh 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