├── .clang-format ├── .github └── ISSUE_TEMPLATE │ └── bug_report.md ├── .gitignore ├── CMakeLists.txt ├── Doxygen.config ├── LICENSE ├── README.md ├── batch_format.sh ├── config ├── camchain-imucam-euroc.yaml └── camchain-imucam-mynteye-s1030.yaml ├── docs ├── CNAME ├── app.md ├── gis.md ├── gnss │ ├── README.md │ ├── app.md │ ├── geomagnetics.md │ ├── img │ └── rtk.md ├── img │ ├── gnss.jpg │ ├── magnetic_declination.png │ ├── rtk.png │ ├── sensor │ │ ├── rplidar.jpg │ │ └── view_rplidar.jpg │ ├── sensor_fusion_autonomous_driving.jpg │ └── sensor_fusion_methods.jpg ├── index.md ├── ins │ ├── README.md │ ├── imu.md │ └── sins_ahrs.md └── sensor │ ├── README.md │ ├── calib │ └── README.md │ ├── img │ └── type │ └── radar.md ├── imgs ├── google_map.jpg ├── rosgraph_imu_gnss.jpg ├── rosgraph_imu_vo.png ├── run_imu_gnss_fusion.jpg └── run_imu_vo_fusion.png ├── include ├── common │ ├── state.hpp │ ├── utils.hpp │ └── view.hpp ├── estimator │ ├── ekf.hpp │ ├── estimator.hpp │ ├── kf.hpp │ ├── map.hpp │ ├── map_cs.hpp │ ├── map_g2o.hpp │ ├── map_gtsam.hpp │ └── ukf.hpp ├── fusion │ ├── factor.hpp │ ├── observer.hpp │ └── predictor.hpp └── sensor │ ├── gnss.hpp │ ├── imu.hpp │ └── odom_6dof.hpp ├── launch ├── imu_gnss_fusion.launch ├── imu_vo_fusion.launch └── imu_vo_fusion_mynteye.launch ├── mkdocs.yml ├── msg └── Encoder.msg ├── package.xml ├── rviz ├── imu_gnss_fusion.rviz └── imu_vo_fusion.rviz ├── scripts ├── draw_rtk_geo.py ├── draw_rtk_pymap3d.py ├── draw_rtk_pyproj.py ├── folium_csv.py └── run_docker.sh └── src ├── dataset └── kaist_pub.cpp ├── imu_gnss_ekf.cpp ├── imu_vo_ekf.cpp ├── imu_vo_map.cpp └── imu_vo_ukf.cpp /.clang-format: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/.clang-format -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/bug_report.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/.github/ISSUE_TEMPLATE/bug_report.md -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/.gitignore -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /Doxygen.config: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/Doxygen.config -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/README.md -------------------------------------------------------------------------------- /batch_format.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/batch_format.sh -------------------------------------------------------------------------------- /config/camchain-imucam-euroc.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/config/camchain-imucam-euroc.yaml -------------------------------------------------------------------------------- /config/camchain-imucam-mynteye-s1030.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/config/camchain-imucam-mynteye-s1030.yaml -------------------------------------------------------------------------------- /docs/CNAME: -------------------------------------------------------------------------------- 1 | msf.cgabc.xyz -------------------------------------------------------------------------------- /docs/app.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/docs/app.md -------------------------------------------------------------------------------- /docs/gis.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/docs/gis.md -------------------------------------------------------------------------------- /docs/gnss/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/docs/gnss/README.md -------------------------------------------------------------------------------- /docs/gnss/app.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/docs/gnss/app.md -------------------------------------------------------------------------------- /docs/gnss/geomagnetics.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/docs/gnss/geomagnetics.md -------------------------------------------------------------------------------- /docs/gnss/img: -------------------------------------------------------------------------------- 1 | ../img -------------------------------------------------------------------------------- /docs/gnss/rtk.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/docs/gnss/rtk.md -------------------------------------------------------------------------------- /docs/img/gnss.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/docs/img/gnss.jpg -------------------------------------------------------------------------------- /docs/img/magnetic_declination.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/docs/img/magnetic_declination.png -------------------------------------------------------------------------------- /docs/img/rtk.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/docs/img/rtk.png -------------------------------------------------------------------------------- /docs/img/sensor/rplidar.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/docs/img/sensor/rplidar.jpg -------------------------------------------------------------------------------- /docs/img/sensor/view_rplidar.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/docs/img/sensor/view_rplidar.jpg -------------------------------------------------------------------------------- /docs/img/sensor_fusion_autonomous_driving.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/docs/img/sensor_fusion_autonomous_driving.jpg -------------------------------------------------------------------------------- /docs/img/sensor_fusion_methods.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/docs/img/sensor_fusion_methods.jpg -------------------------------------------------------------------------------- /docs/index.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/docs/index.md -------------------------------------------------------------------------------- /docs/ins/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/docs/ins/README.md -------------------------------------------------------------------------------- /docs/ins/imu.md: -------------------------------------------------------------------------------- 1 | # IMU 2 | 3 | * https://cgabc.xyz/tags/IMU/ 4 | 5 | --- 6 | -------------------------------------------------------------------------------- /docs/ins/sins_ahrs.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/docs/ins/sins_ahrs.md -------------------------------------------------------------------------------- /docs/sensor/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/docs/sensor/README.md -------------------------------------------------------------------------------- /docs/sensor/calib/README.md: -------------------------------------------------------------------------------- 1 | # Calibration 2 | 3 | --- 4 | -------------------------------------------------------------------------------- /docs/sensor/img: -------------------------------------------------------------------------------- 1 | ../img -------------------------------------------------------------------------------- /docs/sensor/type/radar.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/docs/sensor/type/radar.md -------------------------------------------------------------------------------- /imgs/google_map.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/imgs/google_map.jpg -------------------------------------------------------------------------------- /imgs/rosgraph_imu_gnss.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/imgs/rosgraph_imu_gnss.jpg -------------------------------------------------------------------------------- /imgs/rosgraph_imu_vo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/imgs/rosgraph_imu_vo.png -------------------------------------------------------------------------------- /imgs/run_imu_gnss_fusion.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/imgs/run_imu_gnss_fusion.jpg -------------------------------------------------------------------------------- /imgs/run_imu_vo_fusion.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/imgs/run_imu_vo_fusion.png -------------------------------------------------------------------------------- /include/common/state.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/include/common/state.hpp -------------------------------------------------------------------------------- /include/common/utils.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/include/common/utils.hpp -------------------------------------------------------------------------------- /include/common/view.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/include/common/view.hpp -------------------------------------------------------------------------------- /include/estimator/ekf.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/include/estimator/ekf.hpp -------------------------------------------------------------------------------- /include/estimator/estimator.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/include/estimator/estimator.hpp -------------------------------------------------------------------------------- /include/estimator/kf.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/include/estimator/kf.hpp -------------------------------------------------------------------------------- /include/estimator/map.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/include/estimator/map.hpp -------------------------------------------------------------------------------- /include/estimator/map_cs.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/include/estimator/map_cs.hpp -------------------------------------------------------------------------------- /include/estimator/map_g2o.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/include/estimator/map_g2o.hpp -------------------------------------------------------------------------------- /include/estimator/map_gtsam.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/include/estimator/map_gtsam.hpp -------------------------------------------------------------------------------- /include/estimator/ukf.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/include/estimator/ukf.hpp -------------------------------------------------------------------------------- /include/fusion/factor.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/include/fusion/factor.hpp -------------------------------------------------------------------------------- /include/fusion/observer.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/include/fusion/observer.hpp -------------------------------------------------------------------------------- /include/fusion/predictor.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/include/fusion/predictor.hpp -------------------------------------------------------------------------------- /include/sensor/gnss.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/include/sensor/gnss.hpp -------------------------------------------------------------------------------- /include/sensor/imu.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/include/sensor/imu.hpp -------------------------------------------------------------------------------- /include/sensor/odom_6dof.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/include/sensor/odom_6dof.hpp -------------------------------------------------------------------------------- /launch/imu_gnss_fusion.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/launch/imu_gnss_fusion.launch -------------------------------------------------------------------------------- /launch/imu_vo_fusion.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/launch/imu_vo_fusion.launch -------------------------------------------------------------------------------- /launch/imu_vo_fusion_mynteye.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/launch/imu_vo_fusion_mynteye.launch -------------------------------------------------------------------------------- /mkdocs.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/mkdocs.yml -------------------------------------------------------------------------------- /msg/Encoder.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/msg/Encoder.msg -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/package.xml -------------------------------------------------------------------------------- /rviz/imu_gnss_fusion.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/rviz/imu_gnss_fusion.rviz -------------------------------------------------------------------------------- /rviz/imu_vo_fusion.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/rviz/imu_vo_fusion.rviz -------------------------------------------------------------------------------- /scripts/draw_rtk_geo.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/scripts/draw_rtk_geo.py -------------------------------------------------------------------------------- /scripts/draw_rtk_pymap3d.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/scripts/draw_rtk_pymap3d.py -------------------------------------------------------------------------------- /scripts/draw_rtk_pyproj.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/scripts/draw_rtk_pyproj.py -------------------------------------------------------------------------------- /scripts/folium_csv.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/scripts/folium_csv.py -------------------------------------------------------------------------------- /scripts/run_docker.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/scripts/run_docker.sh -------------------------------------------------------------------------------- /src/dataset/kaist_pub.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/src/dataset/kaist_pub.cpp -------------------------------------------------------------------------------- /src/imu_gnss_ekf.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/src/imu_gnss_ekf.cpp -------------------------------------------------------------------------------- /src/imu_vo_ekf.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/src/imu_vo_ekf.cpp -------------------------------------------------------------------------------- /src/imu_vo_map.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/src/imu_vo_map.cpp -------------------------------------------------------------------------------- /src/imu_vo_ukf.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cggos/imu_x_fusion/HEAD/src/imu_vo_ukf.cpp --------------------------------------------------------------------------------