├── .github └── workflows │ └── doxygen.yml ├── .gitignore ├── CMakeLists.txt ├── Doxyfile ├── LICENSE ├── README.md ├── cmake └── native.cmake ├── docker ├── Dockerfile_ros1 └── Dockerfile_ros2 ├── examples ├── euroc │ ├── config │ │ └── config.yaml │ └── euroc.cpp └── uzhfpv │ ├── config │ └── config.yaml │ └── uzhfpv.cpp ├── include ├── msceqf │ ├── filter │ │ ├── checker │ │ │ └── checker.hpp │ │ ├── initializer │ │ │ └── static_initializer.hpp │ │ ├── propagator │ │ │ └── propagator.hpp │ │ └── updater │ │ │ ├── updater.hpp │ │ │ ├── updater_helper.hpp │ │ │ └── zero_velocity_updater.hpp │ ├── msceqf.hpp │ ├── options │ │ ├── msceqf_option_parser.hpp │ │ └── msceqf_options.hpp │ ├── state │ │ ├── state.hpp │ │ └── state_elements.hpp │ ├── symmetry │ │ └── symmetry.hpp │ └── system │ │ ├── system.hpp │ │ └── system_elements.hpp ├── sensors │ └── sensor_data.hpp ├── types │ └── fptypes.hpp ├── utils │ ├── data_parser.hpp │ ├── data_writer.hpp │ ├── logger.hpp │ ├── tools.hpp │ └── visualizer.hpp └── vision │ ├── camera.hpp │ ├── features.hpp │ ├── track.hpp │ ├── track_manager.hpp │ └── tracker.hpp ├── package.xml ├── resources ├── msceqf_logo.png └── msceqf_logo_docs.png ├── source ├── msceqf │ ├── filter │ │ ├── checker │ │ │ └── checker.cpp │ │ ├── initializer │ │ │ └── static_initializer.cpp │ │ ├── propagator │ │ │ └── propagator.cpp │ │ └── updater │ │ │ ├── updater.cpp │ │ │ ├── updater_helper.cpp │ │ │ └── zero_velocity_updater.cpp │ ├── msceqf.cpp │ ├── options │ │ └── msceqf_option_parser.cpp │ ├── state │ │ └── state.cpp │ ├── symmetry │ │ └── symmetry.cpp │ └── system │ │ └── system.cpp └── vision │ ├── camera.cpp │ ├── track_manager.cpp │ └── tracker.cpp ├── tests ├── config │ └── parameters.yaml ├── data │ └── noisefree_trajectory.csv ├── test_common.hpp ├── test_groups.hpp ├── test_imu_readings_selection.hpp ├── test_state.hpp ├── test_symmetry.hpp └── tests.cpp └── wrappers └── ros ├── ros1 ├── cmake │ └── ros1.cmake ├── config │ ├── rviz.rviz │ 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