├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── euroc.yaml ├── kaist.yaml ├── kaist2.yaml ├── mask_tumvi0.png ├── mask_tumvi1.png ├── tum_vi_corridor.yaml ├── tum_vi_magistrale.yaml └── tum_vi_room.yaml ├── doc └── demo_MH_02.gif ├── include ├── camera.h ├── feature.h ├── featureHelper.h ├── featureTracker.h ├── frame.h ├── initializer.h ├── initializerHelper.h ├── mapManagement.h ├── mapPoint.h ├── msckf.h ├── parameters.h ├── pixelSelector.h ├── preIntegration.h ├── quatOps.h ├── sensorData.h ├── state.h ├── stateHelper.h ├── stereoVio.h ├── updaterHelper.h └── utility.h ├── launch ├── vio_euroc.launch ├── vio_kaist.launch └── vio_tum_vi.launch ├── package.xml ├── rviz_cfg ├── euroc.rviz ├── kaist.rviz ├── tum_vi.rviz └── visualization.rviz ├── src ├── camera.cpp ├── feature.cpp ├── featureHelper.cpp ├── featureTracker.cpp ├── frame.cpp ├── initializer.cpp ├── initializerHelper.cpp ├── mapManagement.cpp ├── mapPoint.cpp ├── msckf.cpp ├── parameters.cpp ├── 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