├── CMakeLists.txt ├── README.md ├── VINS-Fusion ├── .gitignore ├── LICENCE ├── README.md ├── camera_models │ ├── CMakeLists.txt │ ├── camera_calib_example │ │ ├── calibrationdata │ │ │ ├── left-0000.png │ │ │ ├── left-0001.png │ │ │ ├── left-0002.png │ │ │ ├── left-0003.png │ │ │ ├── left-0004.png │ │ │ ├── left-0005.png │ │ │ ├── left-0006.png │ │ │ ├── left-0007.png │ │ │ ├── left-0008.png │ │ │ ├── left-0009.png │ │ │ ├── left-0010.png │ │ │ ├── left-0011.png │ │ │ ├── left-0012.png │ │ │ ├── left-0013.png │ │ │ ├── left-0014.png │ │ │ ├── left-0015.png │ │ │ ├── left-0016.png │ │ │ ├── left-0017.png │ │ │ ├── left-0018.png │ │ │ ├── left-0019.png │ │ │ ├── left-0020.png │ │ │ ├── left-0021.png │ │ │ ├── left-0022.png │ │ │ ├── left-0023.png │ │ │ ├── left-0024.png │ │ │ ├── left-0025.png │ │ │ ├── left-0026.png │ │ │ ├── left-0027.png │ │ │ ├── left-0028.png │ │ │ ├── left-0029.png │ │ │ ├── left-0030.png │ │ │ ├── left-0031.png │ │ │ ├── left-0032.png │ │ │ ├── left-0033.png │ │ │ ├── left-0034.png │ │ │ ├── left-0035.png │ │ │ ├── left-0036.png │ │ │ ├── left-0037.png │ │ │ ├── left-0038.png │ │ │ ├── left-0039.png │ │ │ ├── left-0040.png │ │ │ ├── left-0041.png │ │ │ ├── left-0042.png │ │ │ ├── left-0043.png │ │ │ ├── left-0044.png │ │ │ ├── left-0045.png │ │ │ ├── left-0046.png │ │ │ ├── left-0047.png │ │ │ ├── left-0048.png │ │ │ ├── left-0049.png │ │ │ ├── left-0050.png │ │ │ ├── left-0051.png │ │ │ ├── left-0052.png │ │ │ ├── left-0053.png │ │ │ ├── left-0054.png │ │ │ ├── left-0055.png │ │ │ ├── left-0056.png │ │ │ ├── left-0057.png │ │ │ ├── left-0058.png │ │ │ ├── left-0059.png │ │ │ ├── left-0060.png │ │ │ ├── left-0061.png │ │ │ ├── left-0062.png │ │ │ ├── left-0063.png │ │ │ ├── left-0064.png │ │ │ ├── left-0065.png │ │ │ ├── left-0066.png │ │ │ ├── left-0067.png │ │ │ ├── left-0068.png │ │ │ ├── left-0069.png │ │ │ ├── left-0070.png │ │ │ ├── left-0071.png │ │ │ ├── left-0072.png │ │ │ ├── left-0073.png │ │ │ ├── left-0074.png │ │ │ ├── left-0075.png │ │ │ ├── left-0076.png │ │ │ ├── left-0077.png │ │ │ ├── left-0078.png │ │ │ ├── left-0079.png │ │ │ ├── left-0080.png │ │ │ ├── left-0081.png │ │ │ ├── left-0082.png │ │ │ ├── left-0083.png │ │ │ └── left-0084.png │ │ └── readme.txt │ ├── cmake │ │ └── FindEigen.cmake │ ├── include │ │ └── camodocal │ │ │ ├── calib │ │ │ └── CameraCalibration.h │ │ │ ├── camera_models │ │ │ ├── Camera.h │ │ │ ├── CameraFactory.h │ │ │ ├── CataCamera.h │ │ │ ├── CostFunctionFactory.h │ │ │ ├── EquidistantCamera.h │ │ │ ├── PinholeCamera.h │ │ │ ├── PinholeFullCamera.h │ │ │ └── ScaramuzzaCamera.h │ │ │ ├── chessboard │ │ │ ├── Chessboard.h │ │ │ ├── ChessboardCorner.h │ │ │ ├── ChessboardQuad.h │ │ │ └── Spline.h │ │ │ ├── gpl │ │ │ ├── EigenQuaternionParameterization.h │ │ │ ├── EigenUtils.h │ │ │ └── gpl.h │ │ │ └── sparse_graph │ │ │ └── Transform.h │ ├── package.xml │ ├── readme.md │ └── src │ │ ├── calib │ │ └── CameraCalibration.cc │ │ ├── camera_models │ │ ├── Camera.cc │ │ ├── CameraFactory.cc │ │ ├── CataCamera.cc │ │ ├── CostFunctionFactory.cc │ │ ├── EquidistantCamera.cc │ │ ├── PinholeCamera.cc │ │ ├── PinholeFullCamera.cc │ │ └── ScaramuzzaCamera.cc │ │ ├── chessboard │ │ └── Chessboard.cc │ │ ├── gpl │ │ ├── EigenQuaternionParameterization.cc │ │ └── gpl.cc │ │ ├── intrinsic_calib.cc │ │ └── sparse_graph │ │ └── Transform.cc ├── config │ ├── A3_ptgrey │ │ ├── a3_ptgrey_mono_imu_config.yaml │ │ ├── a3_ptgrey_stereo_config.yaml │ │ ├── a3_ptgrey_stereo_imu_config.yaml │ │ ├── a3_ptgrey_stereo_imu_config_backup.yaml │ │ ├── left.yaml │ │ └── right.yaml │ ├── euroc │ │ ├── cam0_mei.yaml │ │ ├── cam0_pinhole.yaml │ │ ├── cam1_mei.yaml │ │ ├── cam1_pinhole.yaml │ │ ├── euroc_mono_imu_config.yaml │ │ ├── euroc_stereo_config.yaml │ │ └── euroc_stereo_imu_config.yaml │ ├── extrinsic_parameter_example.pdf │ ├── fisheye_mask.jpg │ ├── fisheye_mask_752x480.jpg │ ├── kitti_odom │ │ ├── cam00-02.yaml │ │ ├── cam03.yaml │ │ ├── cam04-12.yaml │ │ ├── cam13-21.yaml │ │ ├── kitti_config00-02.yaml │ │ ├── kitti_config03.yaml │ │ ├── kitti_config04-12.yaml │ │ └── kitti_config13-21.yaml │ ├── kitti_raw │ │ ├── cam_09_30.yaml │ │ ├── cam_10_03.yaml │ │ ├── kitti_09_30_config.yaml │ │ └── kitti_10_03_config.yaml │ ├── mynteye │ │ ├── left_mei.yaml │ │ ├── mynteye_mono_imu_config.yaml │ │ ├── mynteye_stereo_config.yaml │ │ ├── mynteye_stereo_imu_config.yaml │ │ └── right_mei.yaml │ ├── realsense_d435i │ │ ├── left.yaml │ │ ├── realsense_stereo_imu_config.yaml │ │ ├── right.yaml │ │ └── rs_camera.launch │ ├── simulation │ │ ├── cam0_mei.yaml │ │ ├── cam1_mei.yaml │ │ └── simulation_config.yaml │ ├── vi_car │ │ ├── cam0_mei.yaml │ │ ├── cam0_pinhole.yaml │ │ ├── cam1_mei.yaml │ │ ├── cam1_pinhole.yaml │ │ └── vi_car.yaml │ └── vins_rviz_config.rviz ├── docker │ ├── Dockerfile │ ├── Makefile │ └── run.sh ├── global_fusion │ ├── CMakeLists.txt │ ├── ThirdParty │ │ └── GeographicLib │ │ │ ├── CMakeLists.txt │ │ │ ├── include │ │ │ ├── Config.h │ │ │ ├── Constants.hpp │ │ │ ├── Geocentric.hpp │ │ │ ├── LocalCartesian.hpp │ │ │ └── Math.hpp │ │ │ └── src │ │ │ ├── Geocentric.cpp │ │ │ ├── LocalCartesian.cpp │ │ │ └── Math.cpp │ ├── models │ │ ├── car.dae │ │ └── hummingbird.mesh │ ├── package.xml │ └── src │ │ ├── Factors.h │ │ ├── globalOpt.cpp │ │ ├── globalOpt.h │ │ ├── globalOptNode.cpp │ │ └── tic_toc.h ├── loop_fusion │ ├── CMakeLists.txt │ ├── cmake │ │ └── FindEigen.cmake │ ├── package.xml │ └── src │ │ ├── ThirdParty │ │ ├── DBoW │ │ │ ├── BowVector.cpp │ │ │ ├── BowVector.h │ │ │ ├── DBoW2.h │ │ │ ├── FBrief.cpp │ │ │ ├── FBrief.h │ │ │ ├── FClass.h │ │ │ ├── FeatureVector.cpp │ │ │ ├── FeatureVector.h │ │ │ ├── QueryResults.cpp │ │ │ ├── QueryResults.h │ │ │ ├── ScoringObject.cpp │ │ │ ├── ScoringObject.h │ │ │ ├── TemplatedDatabase.h │ │ │ └── TemplatedVocabulary.h │ │ ├── DUtils │ │ │ ├── DException.h │ │ │ ├── DUtils.h │ │ │ ├── Random.cpp │ │ │ ├── Random.h │ │ │ ├── Timestamp.cpp │ │ │ └── Timestamp.h │ │ ├── DVision │ │ │ ├── BRIEF.cpp │ │ │ ├── BRIEF.h │ │ │ └── DVision.h │ │ ├── VocabularyBinary.cpp │ │ └── VocabularyBinary.hpp │ │ ├── keyframe.cpp │ │ ├── keyframe.h │ │ ├── parameters.h │ │ ├── pose_graph.cpp │ │ ├── pose_graph.h │ │ ├── pose_graph_node.cpp │ │ └── utility │ │ ├── CameraPoseVisualization.cpp │ │ ├── CameraPoseVisualization.h │ │ ├── tic_toc.h │ │ ├── utility.cpp │ │ └── utility.h ├── support_files │ ├── brief_k10L6.bin │ ├── brief_pattern.yml │ ├── image │ │ ├── car.png │ │ ├── car_gif.gif │ │ ├── euroc.gif │ │ ├── kitti.gif │ │ ├── kitti.png │ │ ├── kitti_rank.png │ │ ├── vins.png │ │ ├── vins_black.png │ │ └── vins_logo.png │ ├── paper │ │ └── VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator.pdf │ └── paper_bib.txt └── vins_estimator │ ├── CMakeLists.txt │ ├── cmake │ └── FindEigen.cmake │ ├── launch │ └── vins_rviz.launch │ ├── package.xml │ └── src │ ├── KITTIGPSTest.cpp │ ├── KITTIOdomTest.cpp │ ├── estimator │ ├── estimator.cpp │ ├── estimator.h │ ├── feature_manager.cpp │ ├── feature_manager.h │ ├── parameters.cpp │ └── parameters.h │ ├── factor │ ├── imu_factor.h │ ├── initial_bias_factor.h │ ├── initial_pose_factor.h │ ├── integration_base.h │ ├── marginalization_factor.cpp │ ├── marginalization_factor.h │ ├── pose_local_parameterization.cpp │ ├── pose_local_parameterization.h │ ├── projectionOneFrameTwoCamFactor.cpp │ ├── projectionOneFrameTwoCamFactor.h │ ├── projectionTwoFrameOneCamFactor.cpp │ ├── projectionTwoFrameOneCamFactor.h │ ├── projectionTwoFrameTwoCamFactor.cpp │ ├── projectionTwoFrameTwoCamFactor.h │ ├── projection_factor.cpp │ └── projection_factor.h │ ├── featureTracker │ ├── feature_tracker.cpp │ └── feature_tracker.h │ ├── initial │ ├── initial_aligment.cpp │ ├── initial_alignment.h │ ├── initial_ex_rotation.cpp │ ├── initial_ex_rotation.h │ ├── initial_sfm.cpp │ ├── initial_sfm.h │ ├── solve_5pts.cpp │ └── solve_5pts.h │ ├── rosNodeTest.cpp │ └── utility │ ├── CameraPoseVisualization.cpp │ ├── 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