├── .clang-format ├── .clang-tidy ├── .gitignore ├── .gitlab-ci.yml ├── .gitmodules ├── CMakeLists.txt ├── Doxyfile ├── LICENSE ├── README.md ├── cmake_modules ├── FindEigen3.cmake └── PreProjectWorkarounds.cmake ├── doc ├── img │ ├── basalt_light.png │ ├── ds.png │ ├── eucm.png │ ├── fov.png │ ├── kb.png │ ├── mipmap.jpeg │ ├── stereographic.png │ └── ucm.png └── mainpage.dox ├── include └── basalt │ ├── calibration │ ├── calib_bias.hpp │ └── calibration.hpp │ ├── camera │ ├── bal_camera.hpp │ ├── camera_static_assert.hpp │ ├── double_sphere_camera.hpp │ ├── extended_camera.hpp │ ├── fov_camera.hpp │ ├── generic_camera.hpp │ ├── kannala_brandt_camera4.hpp │ ├── pinhole_camera.hpp │ ├── stereographic_param.hpp │ └── unified_camera.hpp │ ├── image │ ├── image.h │ └── image_pyr.h │ ├── imu │ ├── imu_types.h │ └── preintegration.h │ ├── serialization │ ├── eigen_io.h │ └── headers_serialization.h │ ├── spline │ ├── ceres_local_param.hpp │ ├── ceres_spline_helper.h │ ├── rd_spline.h │ ├── 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