├── ExtractData.m ├── PropagateIMU.m ├── README.md ├── augmentState.m ├── calcF.m ├── calcG.m ├── calcGNPosEst.m ├── calcHoj.m ├── calcJ.m ├── calcResidual.m ├── calcTH.m ├── data_extraction ├── extractBinnedFeatures.m ├── integration │ ├── integrateIMU.m │ ├── quat_normalize.m │ └── rotmat_from_quat.m ├── sanitizeData_KLT.m ├── sanitizeKITTI_KLT.m ├── test │ ├── left.png │ ├── right.png │ └── test_match.m └── utils │ ├── blurMetric.m │ ├── cart2homo.m │ ├── crossMat.m │ ├── crossMatToVec.m │ ├── devkit │ ├── convertOxtsToPose.m │ ├── drawBox2D.m │ ├── drawBox3D.m │ ├── latToScale.m │ ├── latlonToMercator.m │ ├── loadCalibration.m │ ├── loadCalibrationCamToCam.m │ ├── loadCalibrationRigid.m │ ├── loadOxtsliteData.m │ ├── loadTimestamps.m │ ├── make.m │ ├── project.m │ ├── projectToImage.m │ ├── readTrackletsMex.cpp │ ├── readTrackletsMex.mexa64 │ ├── run_demoTracklets.m │ ├── run_demoVehiclePath.m │ ├── run_demoVelodyne.m │ ├── test_labels.xml │ ├── visualization.m │ └── wrapToPi.m │ ├── getGroundTruth.m │ ├── getRnb.m │ ├── homo2cart.m │ ├── loadImageData.m │ ├── loadImuData.m │ ├── projectFeature.m │ ├── quatInv.m │ ├── quatLeftComp.m │ ├── quatMult.m │ ├── quatRightComp.m │ ├── quatToRotMat.m │ ├── removeCells.m │ ├── renormalizeRotMat.m │ ├── rotMatToQuat.m │ ├── triangulate.m │ └── undistort.m ├── dataset ├── EuRoC_MAV_Dataset │ └── MH_01_easy │ │ ├── MH_01_easy.mat │ │ ├── camera.mat │ │ ├── features.txt │ │ ├── groud_aligned_imu.mat │ │ ├── image_timestamp.txt │ │ ├── imagetimestamp.mat │ │ ├── imu_sensor.yaml │ │ ├── klt_features.mat │ │ ├── leica0.mat │ │ ├── leica0_sensor.yaml │ │ ├── raw_imu.mat │ │ ├── readme │ │ ├── state_groundtruth_estimate0.mat │ │ ├── syn_index.mat │ │ ├── tools │ │ ├── getGroudTruth.m │ │ ├── quat2axang.m │ │ ├── synchronizeTimestamp.m │ │ ├── transformFeatureTracksFormat.m │ │ └── undistortFeatureTracks.m │ │ └── y_k_j.mat └── tango │ └── data1 │ ├── accel.txt │ ├── accel_m.mat │ ├── accel_timestamp.mat │ ├── aligned_gyro_accel.mat │ ├── data1.mat │ ├── dataset_camera_alignedindex_featuretracks.mat │ ├── feature_tracks.mat │ ├── feature_tracks.txt │ ├── gyro.txt │ ├── gyro_m.mat │ ├── gyro_timestamp.mat │ ├── interpolated_accel.mat │ ├── matlab.mat │ ├── synchro_index.mat │ └── tracks_timestamp.mat ├── dataset_tools ├── EuRoC_MAV_Dataset_tool │ ├── MIT-license.txt │ ├── ReadYaml.m │ ├── ReadYamlRaw.m │ ├── dataset_load.m │ ├── dataset_load_sensor_data.m │ ├── dataset_load_test.m │ ├── dataset_plot.m │ ├── dataset_plot_body.m │ ├── dataset_plot_body_trajectory.m │ ├── dataset_plot_inertial_sensor_measurements.m │ ├── dataset_plot_target_observations.m │ ├── dataset_read_yaml.m │ ├── deflateimports.m │ ├── doinheritance.m │ ├── external │ │ ├── LICENSE-2.0.txt │ │ └── snakeyaml-1.9.jar │ ├── ismymatrix.m │ ├── kwd_parent.m │ ├── makematrices.m │ ├── mergeimports.m │ ├── quaternion │ │ ├── q_C2q.m │ │ ├── q_inv.m │ │ ├── q_min.m │ │ ├── q_mul.m │ │ ├── q_mul_multi.m │ │ ├── q_norm.m │ │ ├── q_plotPose.m │ │ ├── q_q2C.m │ │ ├── q_q2MR.m │ │ ├── q_r2R.m │ │ ├── q_r2S.m │ │ ├── q_smallErrorQuaternion.m │ │ ├── q_w2Omega.m │ │ └── skewOp.m │ └── readme └── tango │ ├── interpolate.m │ ├── interpolateAccelData.m │ ├── synchronousAccelGyroTimeStamp.m │ ├── synchronousTimeStamp.m │ ├── test_interpolateAccelData.m │ ├── transformFeatureTracksFormat.m │ └── undistortFeatureTracks.m ├── initializeMSCKF.m ├── msckf.m ├── part_propagateIMUState.m ├── plot_traj.m ├── propagateImuState.m ├── propagateMsckfStateAndCovar.m ├── propagatePositionOneStep.m ├── propagateQuaternionOneStep.m ├── propagateVelocityOneStep.m ├── pruneStates.m ├── removeTrackedFeature.m ├── test ├── plot_rejectory.m ├── plot_subRejectory.m ├── plot_two_pose.m ├── propagateIMUreading1.m ├── propagateIMUreading2.m ├── test_propagatePositionOneStep.m ├── test_propagateQuaternionOneStep.m └── test_propagateVelocityOneStep.m ├── transformFeatureTracksFormat.m ├── undistortFeatureTracks.m ├── updateState.m ├── 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