├── .clang-format ├── CMakeLists.txt ├── README.md ├── config ├── t265_example_calib.json └── t265_example_vio_config.json ├── include └── basalt_ros1 │ ├── image_subscriber.h │ ├── imu_publisher.h │ ├── imu_subscriber.h │ ├── optical_flow_publisher.h │ ├── optical_flow_subscriber.h │ ├── utils.h │ ├── vio_backend.h │ ├── vio_frontend.h │ └── vio_publisher.h ├── launch ├── uncompress.launch ├── vio.launch ├── vio_nodelet.launch ├── vio_split_nodelet.launch ├── vio_t265.launch └── viz_flow.launch ├── nodelet_plugin.xml ├── package.xml └── src ├── get_calibration.cpp ├── image_subscriber.cpp ├── imu_publisher.cpp ├── imu_subscriber.cpp ├── optical_flow_publisher.cpp ├── optical_flow_subscriber.cpp ├── utils.cpp ├── vio_backend.cpp ├── vio_backend_node.cpp ├── vio_backend_nodelet.cpp ├── vio_frontend.cpp ├── vio_frontend_node.cpp ├── vio_frontend_nodelet.cpp ├── vio_node.cpp ├── vio_nodelet.cpp ├── vio_publisher.cpp └── viz_flow_node.cpp /.clang-format: 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