├── .clang-format ├── .clang-tidy ├── .gitignore ├── .gitlab-ci.yml ├── .gitmodules ├── .pre-commit-config.yaml ├── .style.yapf ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cmake_modules ├── FindEigen3.cmake ├── FindOpenGV.cmake └── FindTBB.cmake ├── data ├── aprilgrid_5x4_uzh.json ├── aprilgrid_6x6.json ├── euroc_config.json ├── euroc_config_no_factors.json ├── euroc_config_no_weights.json ├── euroc_config_vo.json ├── euroc_ds_calib.json ├── euroc_eucm_calib.json ├── iccv21 │ ├── basalt_batch_config.toml │ └── experiments-iccv.toml ├── kitti_config.json ├── tumvi_512_config.json ├── tumvi_512_ds_calib.json └── tumvi_512_eucm_calib.json ├── doc ├── BatchEvaluation.md ├── Calibration.md ├── DevSetup.md ├── Realsense.md ├── Simulation.md ├── VioMapping.md ├── Vo.md └── img │ ├── MH_05_MAPPING.png │ ├── MH_05_OPT_FLOW.png │ ├── MH_05_VIO.png │ ├── SIM_MAPPER.png │ ├── SIM_VIO.png │ ├── euroc_cam_calib.png │ ├── euroc_imu_calib.png │ ├── kalibr_cam_calib.png │ ├── kalibr_imu_calib.png │ ├── kitti.png │ ├── kitti_video.png │ ├── magistrale1_mapping.png │ ├── magistrale1_vio.png │ ├── qt_creator_beautifier_clang_format.png │ ├── qt_creator_beautifier_general.png │ ├── qt_creator_configure_project.png │ ├── qt_creator_plugins.png │ ├── realsense_setup.jpg │ ├── t265_cam_calib.png │ ├── t265_imu_calib.png │ ├── t265_inv_resp_irradiance.png │ ├── t265_record.png │ ├── t265_time_align_error.png │ ├── t265_time_align_gyro.png │ ├── t265_vio.png │ ├── teaser.png │ ├── tumvi_cam_calib.png │ ├── tumvi_imu_calib.png │ ├── uzh_cam_calib.png │ └── uzh_imu_calib.png ├── docker ├── b_image_bionic │ └── Dockerfile ├── b_image_focal │ └── Dockerfile └── b_image_jammy │ └── Dockerfile ├── include └── basalt │ ├── calibration │ ├── aprilgrid.h │ ├── calibration_helper.h │ ├── cam_calib.h │ ├── cam_imu_calib.h │ └── vignette.h │ ├── device │ └── rs_t265.h │ ├── hash_bow │ └── hash_bow.h │ ├── io │ ├── dataset_io.h │ ├── dataset_io_euroc.h │ ├── dataset_io_kitti.h │ ├── dataset_io_rosbag.h │ ├── dataset_io_uzh.h │ └── marg_data_io.h │ ├── linearization │ ├── block_diagonal.hpp │ ├── imu_block.hpp │ ├── landmark_block.hpp │ ├── landmark_block_abs_dynamic.hpp │ ├── linearization_abs_qr.hpp │ ├── linearization_abs_sc.hpp │ ├── linearization_base.hpp │ └── linearization_rel_sc.hpp │ ├── optical_flow │ ├── frame_to_frame_optical_flow.h │ ├── multiscale_frame_to_frame_optical_flow.h │ ├── optical_flow.h │ ├── patch.h │ ├── patch_optical_flow.h │ └── patterns.h │ ├── optimization │ ├── accumulator.h │ ├── linearize.h │ ├── poses_linearize.h │ ├── poses_optimize.h │ ├── spline_linearize.h │ └── spline_optimize.h │ ├── utils │ ├── ba_utils.h │ ├── cast_utils.hpp │ ├── common_types.h │ ├── filesystem.h │ ├── format.hpp │ ├── imu_types.h │ ├── keypoints.h │ ├── nfr.h │ ├── sim_utils.h │ ├── system_utils.h │ ├── test_utils.h │ ├── time_utils.hpp │ ├── tracks.h │ ├── union_find.h │ ├── vio_config.h │ └── vis_utils.h │ └── vi_estimator │ ├── ba_base.h │ ├── landmark_database.h │ ├── marg_helper.h │ ├── nfr_mapper.h │ ├── sc_ba_base.h │ ├── sqrt_ba_base.h │ ├── sqrt_keypoint_vio.h │ ├── sqrt_keypoint_vo.h │ └── vio_estimator.h ├── python └── basalt │ ├── __init__.py │ ├── experiments.py │ ├── generate_tables.py │ ├── latex │ ├── containers.py │ ├── plot.py │ ├── results_table.py │ ├── summarize_sequences_table.py │ ├── templates.py │ └── util.py │ ├── log.py │ ├── metric.py │ ├── nullspace.py │ ├── run.py │ └── util.py ├── scripts ├── basalt_capture_mocap.py ├── basalt_convert_kitti_calib.py ├── basalt_response_calib.py ├── basalt_verify_dataset.py ├── batch │ ├── generate-batch-configs.py │ ├── generate-tables.py │ ├── list-jobs.sh │ ├── plot.py │ ├── query-config.py │ ├── rerun-failed-in.sh │ ├── rerun-one-in.sh │ ├── run-all-in.sh │ └── run-one.sh ├── clang-format-all.sh ├── compare_calib.py ├── eval_full │ ├── gen_results.py │ ├── gen_results_kitti.py │ ├── gen_results_tumvi.py │ ├── run_evaluations.sh │ ├── run_evaluations_kitti.sh │ └── run_evaluations_tumvi.sh ├── install_deps.sh ├── install_mac_os_deps.sh ├── install_ubuntu_deps.sh ├── templates │ └── license-py-sh.tmpl ├── update-license-headers.sh ├── update_submodules.sh └── yapf-all.sh ├── src ├── calibrate.cpp ├── calibrate_imu.cpp ├── calibration │ ├── aprilgrid.cpp │ ├── calibraiton_helper.cpp │ ├── cam_calib.cpp │ ├── cam_imu_calib.cpp │ └── vignette.cpp ├── device │ └── rs_t265.cpp ├── io │ ├── dataset_io.cpp │ └── marg_data_io.cpp ├── kitti_eval.cpp ├── linearization │ ├── landmark_block.cpp │ ├── linearization_abs_qr.cpp │ ├── linearization_abs_sc.cpp │ ├── linearization_base.cpp │ └── linearization_rel_sc.cpp ├── mapper.cpp ├── mapper_sim.cpp ├── mapper_sim_naive.cpp ├── opt_flow.cpp ├── optical_flow │ └── optical_flow.cpp ├── rs_t265_record.cpp ├── rs_t265_vio.cpp ├── time_alignment.cpp ├── utils │ ├── keypoints.cpp │ ├── system_utils.cpp │ ├── time_utils.cpp │ └── vio_config.cpp ├── vi_estimator │ ├── ba_base.cpp │ ├── landmark_database.cpp │ ├── marg_helper.cpp │ ├── nfr_mapper.cpp │ ├── sc_ba_base.cpp │ ├── sqrt_ba_base.cpp │ ├── sqrt_keypoint_vio.cpp │ ├── sqrt_keypoint_vo.cpp │ └── vio_estimator.cpp ├── vio.cpp └── vio_sim.cpp ├── test ├── CMakeLists.txt └── src │ ├── test_linearization.cpp │ ├── test_nfr.cpp │ ├── test_patch.cpp │ ├── test_qr.cpp │ ├── test_spline_opt.cpp │ └── test_vio.cpp └── thirdparty ├── CMakeLists.txt ├── apriltag ├── CMakeLists.txt ├── ethz_apriltag2 │ ├── CMakeLists.txt │ ├── LICENSE │ ├── include │ │ └── apriltags │ │ │ ├── Edge.h │ │ │ ├── FloatImage.h │ │ │ ├── GLine2D.h │ │ │ ├── GLineSegment2D.h │ │ │ ├── Gaussian.h │ │ │ ├── GrayModel.h │ │ │ ├── Gridder.h │ │ │ ├── Homography33.h │ │ │ ├── MathUtil.h │ │ │ ├── Quad.h │ │ │ ├── Segment.h │ │ │ ├── Tag16h5.h │ │ │ ├── Tag16h5_other.h │ │ │ ├── Tag25h7.h │ │ │ ├── Tag25h9.h │ │ │ ├── Tag36h11.h │ │ │ ├── Tag36h11_other.h │ │ │ ├── Tag36h9.h │ │ │ ├── TagDetection.h │ │ │ ├── TagDetector.h │ │ │ ├── TagFamily.h │ │ │ ├── UnionFindSimple.h │ │ │ ├── XYWeight.h │ │ │ └── pch.h │ ├── package.xml │ └── src │ │ ├── Edge.cc │ │ ├── FloatImage.cc │ │ ├── GLine2D.cc │ │ ├── GLineSegment2D.cc │ │ ├── Gaussian.cc │ │ ├── GrayModel.cc │ │ ├── Homography33.cc │ │ ├── MathUtil.cc │ │ ├── Quad.cc │ │ ├── Segment.cc │ │ ├── TagDetection.cc │ │ ├── TagDetector.cc │ │ ├── TagFamily.cc │ │ ├── UnionFindSimple.cc │ │ └── example │ │ ├── CMakeLists.txt │ │ ├── Serial.cpp │ │ ├── Serial.h │ │ ├── apriltags_demo.cpp │ │ ├── arduino_tags │ │ └── arduino_tags.ino │ │ └── imu.cpp ├── include │ └── basalt │ │ └── utils │ │ └── apriltag.h └── src │ └── apriltag.cpp ├── json └── nlohmann │ ├── json.hpp │ └── json_fwd.hpp └── ros ├── CMakeLists.txt └── include ├── console_bridge_export.h ├── geometry_msgs ├── Accel.h ├── AccelStamped.h ├── AccelWithCovariance.h ├── AccelWithCovarianceStamped.h ├── Inertia.h ├── InertiaStamped.h ├── Point.h ├── Point32.h ├── PointStamped.h ├── Polygon.h ├── PolygonStamped.h ├── Pose.h ├── Pose2D.h ├── PoseArray.h ├── PoseStamped.h ├── PoseWithCovariance.h ├── PoseWithCovarianceStamped.h ├── Quaternion.h ├── QuaternionStamped.h ├── Transform.h ├── TransformStamped.h ├── Twist.h ├── TwistStamped.h ├── TwistWithCovariance.h ├── TwistWithCovarianceStamped.h ├── Vector3.h ├── Vector3Stamped.h ├── Wrench.h └── WrenchStamped.h ├── sensor_msgs ├── BatteryState.h ├── CameraInfo.h ├── ChannelFloat32.h ├── CompressedImage.h ├── FluidPressure.h ├── Illuminance.h ├── Image.h ├── Imu.h ├── JointState.h ├── Joy.h ├── JoyFeedback.h ├── JoyFeedbackArray.h ├── LaserEcho.h ├── LaserScan.h ├── MagneticField.h ├── MultiDOFJointState.h ├── MultiEchoLaserScan.h ├── NavSatFix.h ├── NavSatStatus.h ├── PointCloud.h ├── PointCloud2.h ├── PointField.h ├── Range.h ├── RegionOfInterest.h ├── RelativeHumidity.h ├── SetCameraInfo.h ├── SetCameraInfoRequest.h ├── SetCameraInfoResponse.h ├── Temperature.h ├── TimeReference.h ├── distortion_models.h ├── fill_image.h ├── image_encodings.h ├── impl │ └── point_cloud2_iterator.h ├── 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