├── .gitignore ├── LICENCE ├── README.md ├── Trajactory └── TrajVINS │ ├── MH-01-easy │ └── vins_result_no_loop.csv │ ├── MH-04 │ └── vins_result_no_loop.csv │ ├── MH-05-difficult │ ├── 2.png │ ├── associate.py │ ├── associate.pyc │ ├── data.csv │ ├── vins_result_loop.csv │ └── vins_result_no_loop.csv │ ├── V1-02 │ └── vins_result_no_loop.csv │ ├── V1-03 │ └── vins_result_no_loop.csv │ └── V2-03-difficult │ └── vins_result_no_loop.csv ├── benchmark_publisher ├── CMakeLists.txt ├── config │ ├── MH_01_easy │ │ ├── data.csv │ │ └── mh01_gt_tum.txt │ ├── MH_02_easy │ │ ├── data.csv │ │ └── mh02_gt_tum.txt │ ├── MH_03_medium │ │ ├── data.csv │ │ └── mh03_gt_tum.txt │ ├── MH_04_difficult │ │ ├── data.csv │ │ └── mh04_gt_tum.txt │ ├── MH_05_difficult │ │ ├── data.csv │ │ └── mh05_gt_tum.txt │ ├── V1_01_easy │ │ ├── data.csv │ │ └── v101_gt_tum.txt │ ├── V1_02_medium │ │ ├── data.csv │ │ └── v102_gt_tum.txt │ ├── V1_03_difficult │ │ ├── data.csv │ │ └── v103_gt_tum.txt │ ├── V2_01_easy │ │ ├── data.csv │ │ └── v201_gt_tum.txt │ ├── V2_02_medium │ │ ├── data.csv │ │ └── v202_gt_tum.txt │ └── V2_03_difficult │ │ ├── data.csv │ │ └── v203_gt_tum.txt ├── launch │ └── publish.launch ├── package.xml └── src │ └── benchmark_publisher_node.cpp ├── camera_model ├── CMakeLists.txt ├── include │ └── camodocal │ │ ├── calib │ │ └── CameraCalibration.h │ │ ├── camera_models │ │ ├── Camera.h │ │ ├── CameraFactory.h │ │ ├── CataCamera.h │ │ ├── CostFunctionFactory.h │ │ ├── EquidistantCamera.h │ │ ├── PinholeCamera.h │ │ └── ScaramuzzaCamera.h │ │ ├── chessboard │ │ ├── Chessboard.h │ │ ├── ChessboardCorner.h │ │ ├── ChessboardQuad.h │ │ └── Spline.h │ │ ├── gpl │ │ ├── EigenQuaternionParameterization.h │ │ ├── EigenUtils.h │ │ └── gpl.h │ │ └── sparse_graph │ │ └── Transform.h ├── instruction ├── package.xml ├── readme.md └── src │ ├── calib │ └── CameraCalibration.cc │ ├── camera_models │ ├── Camera.cc │ ├── CameraFactory.cc │ ├── CataCamera.cc │ ├── CostFunctionFactory.cc │ ├── EquidistantCamera.cc │ ├── PinholeCamera.cc │ └── ScaramuzzaCamera.cc │ ├── chessboard │ └── Chessboard.cc │ ├── gpl │ ├── EigenQuaternionParameterization.cc │ └── gpl.cc │ ├── intrinsic_calib.cc │ └── sparse_graph │ └── Transform.cc ├── config ├── euroc │ ├── euroc_config.yaml │ ├── euroc_config_fix_extrinsic.yaml │ ├── euroc_config_no_extrinsic.yaml │ ├── ex_calib_result.yaml │ └── loop.yaml ├── extrinsic_parameter_example.pdf ├── mh05_feature.bag ├── pennCOSYVIO │ └── pennCOSYVIO_config_fix_extrinsic.yaml ├── simdata │ ├── data │ │ ├── cam_pose.txt │ │ ├── imu_pose.txt │ │ └── keyframe │ │ │ ├── all_lines_0.txt │ │ │ ├── all_lines_1.txt │ │ │ ├── all_lines_10.txt │ │ │ ├── all_lines_100.txt │ │ │ ├── all_lines_101.txt │ │ │ ├── all_lines_102.txt │ │ │ ├── all_lines_103.txt │ │ │ ├── all_lines_104.txt │ │ │ ├── all_lines_105.txt │ │ │ ├── all_lines_106.txt │ │ │ ├── all_lines_107.txt │ │ │ ├── all_lines_108.txt │ │ │ ├── all_lines_109.txt │ │ │ ├── all_lines_11.txt │ │ │ ├── all_lines_110.txt │ │ │ ├── all_lines_111.txt │ │ │ ├── all_lines_112.txt │ │ │ ├── all_lines_113.txt │ │ │ ├── all_lines_114.txt │ │ │ ├── all_lines_115.txt │ │ │ ├── all_lines_116.txt │ │ │ ├── all_lines_117.txt │ │ │ ├── all_lines_118.txt │ │ │ ├── all_lines_119.txt │ │ │ ├── all_lines_12.txt │ │ │ ├── all_lines_120.txt │ │ │ ├── all_lines_121.txt │ │ │ ├── all_lines_122.txt │ │ │ ├── all_lines_123.txt │ │ │ ├── all_lines_124.txt │ │ │ ├── all_lines_125.txt │ │ │ ├── all_lines_126.txt │ │ │ ├── all_lines_127.txt │ │ │ ├── all_lines_128.txt │ │ │ ├── all_lines_129.txt │ │ │ ├── all_lines_13.txt │ │ │ ├── all_lines_130.txt │ │ │ ├── all_lines_131.txt │ │ │ ├── all_lines_132.txt │ │ │ ├── all_lines_133.txt │ │ │ ├── all_lines_134.txt │ │ │ ├── all_lines_135.txt │ │ │ ├── all_lines_136.txt │ │ │ ├── all_lines_137.txt │ │ │ ├── all_lines_138.txt │ │ │ ├── all_lines_139.txt │ │ │ ├── all_lines_14.txt │ │ │ ├── all_lines_140.txt │ │ │ ├── all_lines_141.txt │ │ │ ├── all_lines_142.txt │ │ │ ├── all_lines_143.txt │ │ │ ├── all_lines_144.txt │ │ │ ├── all_lines_145.txt │ │ │ ├── all_lines_146.txt │ │ │ ├── all_lines_147.txt │ │ │ ├── all_lines_148.txt │ │ │ ├── all_lines_149.txt │ │ │ ├── all_lines_15.txt │ │ │ ├── all_lines_150.txt │ │ │ ├── all_lines_151.txt │ │ │ ├── all_lines_152.txt │ │ │ ├── all_lines_153.txt │ │ │ ├── all_lines_154.txt │ │ │ ├── all_lines_155.txt │ │ │ ├── all_lines_156.txt │ │ │ ├── all_lines_157.txt │ │ │ ├── all_lines_158.txt │ │ │ ├── all_lines_159.txt │ │ │ ├── all_lines_16.txt │ │ │ ├── all_lines_160.txt │ │ │ ├── all_lines_161.txt │ │ │ ├── all_lines_162.txt │ │ │ ├── all_lines_163.txt │ │ │ ├── all_lines_164.txt │ │ │ ├── all_lines_165.txt │ │ │ ├── all_lines_166.txt │ │ │ ├── all_lines_167.txt │ │ │ ├── all_lines_168.txt │ │ │ ├── all_lines_169.txt │ │ │ ├── all_lines_17.txt │ │ │ ├── all_lines_170.txt │ │ │ ├── all_lines_171.txt │ │ │ ├── all_lines_172.txt │ │ │ ├── all_lines_173.txt │ │ │ ├── all_lines_174.txt │ │ │ ├── all_lines_175.txt │ │ │ ├── all_lines_176.txt │ │ │ ├── all_lines_177.txt │ │ │ ├── all_lines_178.txt │ │ │ ├── all_lines_179.txt │ │ │ ├── all_lines_18.txt │ │ │ ├── all_lines_180.txt │ │ │ ├── all_lines_181.txt │ │ │ ├── all_lines_182.txt │ │ │ ├── all_lines_183.txt │ │ │ ├── all_lines_184.txt │ │ │ ├── all_lines_185.txt │ │ │ ├── all_lines_186.txt │ │ │ ├── all_lines_187.txt │ │ │ ├── all_lines_188.txt │ │ │ ├── all_lines_189.txt │ │ │ ├── all_lines_19.txt │ │ │ ├── all_lines_190.txt │ │ │ ├── all_lines_191.txt │ │ │ ├── all_lines_192.txt │ │ │ ├── all_lines_193.txt │ │ │ ├── all_lines_194.txt │ │ │ ├── all_lines_195.txt │ │ │ ├── all_lines_196.txt │ │ │ ├── all_lines_197.txt │ │ │ ├── all_lines_198.txt │ │ │ ├── all_lines_199.txt │ │ │ ├── all_lines_2.txt │ │ │ ├── all_lines_20.txt │ │ │ ├── all_lines_200.txt │ │ │ ├── all_lines_201.txt │ │ │ ├── all_lines_202.txt │ │ │ ├── all_lines_203.txt │ │ │ ├── all_lines_204.txt │ │ │ ├── all_lines_205.txt │ │ │ ├── all_lines_206.txt │ │ │ ├── all_lines_207.txt │ │ │ ├── all_lines_208.txt │ │ │ ├── all_lines_209.txt │ │ │ ├── all_lines_21.txt │ │ │ ├── all_lines_210.txt │ │ │ ├── all_lines_211.txt │ │ │ ├── all_lines_212.txt │ │ │ ├── all_lines_213.txt │ │ │ ├── all_lines_214.txt │ │ │ ├── all_lines_215.txt │ │ │ ├── all_lines_216.txt │ │ │ ├── all_lines_217.txt │ │ │ ├── all_lines_218.txt │ │ │ ├── all_lines_219.txt │ │ │ ├── all_lines_22.txt │ │ │ ├── all_lines_220.txt │ │ │ ├── all_lines_221.txt │ │ │ ├── all_lines_222.txt │ │ │ ├── all_lines_223.txt │ │ │ ├── all_lines_224.txt │ │ │ ├── all_lines_225.txt │ │ │ ├── all_lines_226.txt │ │ │ ├── all_lines_227.txt │ │ │ ├── all_lines_228.txt │ │ │ ├── all_lines_229.txt │ │ │ ├── all_lines_23.txt │ │ │ ├── all_lines_230.txt │ │ │ ├── all_lines_231.txt │ │ │ ├── all_lines_232.txt │ │ │ ├── all_lines_233.txt │ │ │ ├── all_lines_234.txt │ │ │ ├── all_lines_235.txt │ │ │ ├── all_lines_236.txt │ │ │ ├── all_lines_237.txt │ │ │ ├── all_lines_238.txt │ │ │ ├── all_lines_239.txt │ │ │ ├── all_lines_24.txt │ │ │ ├── all_lines_240.txt │ │ │ ├── all_lines_241.txt │ │ │ ├── all_lines_242.txt │ │ │ ├── all_lines_243.txt │ │ │ ├── all_lines_244.txt │ │ │ ├── all_lines_245.txt │ │ │ ├── all_lines_246.txt │ │ │ ├── all_lines_247.txt │ │ │ ├── all_lines_248.txt │ │ │ ├── all_lines_249.txt │ │ │ ├── all_lines_25.txt │ │ │ ├── all_lines_250.txt │ │ │ ├── all_lines_251.txt │ │ │ ├── all_lines_252.txt │ │ │ ├── all_lines_253.txt │ │ │ ├── all_lines_254.txt │ │ │ ├── all_lines_255.txt │ │ │ ├── all_lines_256.txt │ │ │ ├── all_lines_257.txt │ │ │ ├── all_lines_258.txt │ │ │ ├── all_lines_259.txt │ │ │ ├── all_lines_26.txt │ │ │ ├── all_lines_260.txt │ │ │ ├── all_lines_261.txt │ │ │ ├── all_lines_262.txt │ │ │ ├── all_lines_263.txt │ │ │ ├── all_lines_264.txt │ │ │ ├── all_lines_265.txt │ │ │ ├── all_lines_266.txt │ │ │ ├── all_lines_267.txt │ │ │ ├── all_lines_268.txt │ │ │ ├── all_lines_269.txt │ │ │ ├── all_lines_27.txt │ │ │ ├── all_lines_270.txt │ │ │ ├── all_lines_271.txt │ │ │ ├── all_lines_272.txt │ │ │ ├── all_lines_273.txt │ │ │ ├── all_lines_274.txt │ │ │ ├── all_lines_275.txt │ │ │ ├── all_lines_276.txt │ │ │ ├── all_lines_277.txt │ │ │ ├── all_lines_278.txt │ │ │ ├── all_lines_279.txt │ │ │ ├── all_lines_28.txt │ │ │ ├── all_lines_280.txt │ │ │ ├── all_lines_281.txt │ │ │ ├── all_lines_282.txt │ │ │ ├── all_lines_283.txt │ │ │ ├── all_lines_284.txt │ │ │ ├── all_lines_285.txt │ │ │ ├── all_lines_286.txt │ │ │ ├── all_lines_287.txt │ │ │ ├── all_lines_288.txt │ │ │ ├── all_lines_289.txt │ │ │ ├── all_lines_29.txt │ │ │ ├── all_lines_290.txt │ │ │ ├── all_lines_291.txt │ │ │ ├── all_lines_292.txt │ │ │ ├── all_lines_293.txt │ │ │ ├── all_lines_294.txt │ │ │ ├── all_lines_295.txt │ │ │ ├── all_lines_296.txt │ │ │ ├── all_lines_297.txt │ │ │ ├── all_lines_298.txt │ │ │ ├── all_lines_299.txt │ │ │ ├── all_lines_3.txt │ │ │ ├── all_lines_30.txt │ │ │ ├── all_lines_300.txt │ │ │ ├── all_lines_301.txt │ │ │ ├── all_lines_302.txt │ │ │ ├── all_lines_303.txt │ │ │ ├── all_lines_304.txt │ │ │ ├── all_lines_305.txt │ │ │ ├── all_lines_306.txt │ │ │ ├── all_lines_307.txt │ │ │ ├── all_lines_308.txt │ │ │ ├── all_lines_309.txt │ │ │ ├── all_lines_31.txt │ │ │ ├── all_lines_310.txt │ │ │ ├── all_lines_311.txt │ │ │ ├── all_lines_312.txt │ │ │ ├── all_lines_313.txt │ │ │ ├── all_lines_314.txt │ │ │ ├── all_lines_315.txt │ │ │ ├── all_lines_316.txt │ │ │ ├── all_lines_317.txt │ │ │ ├── all_lines_318.txt │ │ │ ├── all_lines_319.txt │ │ │ ├── all_lines_32.txt │ │ │ ├── all_lines_320.txt │ │ │ ├── all_lines_321.txt │ │ │ ├── all_lines_322.txt │ │ │ ├── all_lines_323.txt │ │ │ ├── all_lines_324.txt │ │ │ ├── all_lines_325.txt │ │ │ ├── all_lines_326.txt │ │ │ ├── all_lines_327.txt │ │ │ ├── all_lines_328.txt │ │ │ ├── all_lines_329.txt │ │ │ ├── all_lines_33.txt │ │ │ ├── all_lines_330.txt │ │ │ ├── all_lines_331.txt │ │ │ ├── all_lines_332.txt │ │ │ ├── all_lines_333.txt │ │ │ ├── all_lines_334.txt │ │ │ ├── all_lines_335.txt │ │ │ ├── all_lines_336.txt │ │ │ ├── all_lines_337.txt │ │ │ ├── all_lines_338.txt │ │ │ ├── all_lines_339.txt │ │ │ ├── all_lines_34.txt │ │ │ ├── all_lines_340.txt │ │ │ ├── all_lines_341.txt │ │ │ ├── all_lines_342.txt │ │ │ ├── all_lines_343.txt │ │ │ ├── all_lines_344.txt │ │ │ ├── all_lines_345.txt │ │ │ ├── all_lines_346.txt │ │ │ ├── all_lines_347.txt │ │ │ ├── all_lines_348.txt │ │ │ ├── all_lines_349.txt │ │ │ ├── all_lines_35.txt │ │ │ ├── all_lines_350.txt │ │ │ ├── all_lines_351.txt │ │ │ ├── all_lines_352.txt │ │ │ ├── all_lines_353.txt │ │ │ ├── all_lines_354.txt │ │ │ ├── all_lines_355.txt │ │ │ ├── all_lines_356.txt │ │ │ ├── all_lines_357.txt │ │ │ ├── all_lines_358.txt │ │ │ ├── all_lines_359.txt │ │ │ ├── all_lines_36.txt │ │ │ ├── all_lines_360.txt │ │ │ ├── all_lines_361.txt │ │ │ ├── all_lines_362.txt │ │ │ ├── all_lines_363.txt │ │ │ ├── all_lines_364.txt │ │ │ ├── all_lines_365.txt │ │ │ ├── all_lines_366.txt │ │ │ ├── all_lines_367.txt │ │ │ ├── all_lines_368.txt │ │ │ ├── all_lines_369.txt │ │ │ ├── all_lines_37.txt │ │ │ ├── all_lines_370.txt │ │ │ ├── all_lines_371.txt │ │ │ ├── all_lines_372.txt │ │ │ ├── all_lines_373.txt │ │ │ ├── all_lines_374.txt │ │ │ ├── all_lines_375.txt │ │ │ ├── all_lines_376.txt │ │ │ ├── all_lines_377.txt │ │ │ ├── all_lines_378.txt │ │ │ ├── all_lines_379.txt │ │ │ ├── all_lines_38.txt │ │ │ ├── all_lines_380.txt │ │ │ ├── all_lines_381.txt │ │ │ ├── all_lines_382.txt │ │ │ ├── all_lines_383.txt │ │ │ ├── all_lines_384.txt │ │ │ ├── all_lines_385.txt │ │ │ ├── all_lines_386.txt │ │ │ ├── all_lines_387.txt │ │ │ ├── all_lines_388.txt │ │ │ ├── all_lines_389.txt │ │ │ ├── all_lines_39.txt │ │ │ ├── all_lines_390.txt │ │ │ ├── all_lines_391.txt │ │ │ ├── all_lines_392.txt │ │ │ ├── all_lines_393.txt │ │ │ ├── all_lines_394.txt │ │ │ ├── all_lines_395.txt │ │ │ ├── all_lines_396.txt │ │ │ ├── all_lines_397.txt │ │ │ ├── all_lines_398.txt │ │ │ ├── all_lines_399.txt │ │ │ ├── all_lines_4.txt │ │ │ ├── all_lines_40.txt │ │ │ ├── all_lines_400.txt │ │ │ ├── all_lines_401.txt │ │ │ ├── all_lines_402.txt │ │ │ ├── all_lines_403.txt │ │ │ ├── all_lines_404.txt │ │ │ ├── all_lines_405.txt │ │ │ ├── all_lines_406.txt │ │ │ ├── all_lines_407.txt │ │ │ ├── all_lines_408.txt │ │ │ ├── all_lines_409.txt │ │ │ ├── all_lines_41.txt │ │ │ ├── all_lines_410.txt │ │ │ ├── all_lines_411.txt │ │ │ ├── all_lines_412.txt │ │ │ ├── all_lines_413.txt │ │ │ ├── all_lines_414.txt │ │ │ ├── all_lines_415.txt │ │ │ ├── all_lines_416.txt │ │ │ ├── all_lines_417.txt │ │ │ ├── all_lines_418.txt │ │ │ ├── all_lines_419.txt │ │ │ ├── all_lines_42.txt │ │ │ ├── all_lines_420.txt │ │ │ ├── all_lines_421.txt │ │ │ ├── all_lines_422.txt │ │ │ ├── all_lines_423.txt │ │ │ ├── all_lines_424.txt │ │ │ ├── all_lines_425.txt │ │ │ ├── all_lines_426.txt │ │ │ ├── all_lines_427.txt │ │ │ ├── all_lines_428.txt │ │ │ ├── all_lines_429.txt │ │ │ ├── all_lines_43.txt │ │ │ ├── all_lines_430.txt │ │ │ ├── all_lines_431.txt │ │ │ ├── all_lines_432.txt │ │ │ ├── all_lines_433.txt │ │ │ ├── all_lines_434.txt │ │ │ ├── all_lines_435.txt │ │ │ ├── all_lines_436.txt │ │ │ ├── all_lines_437.txt │ │ │ ├── all_lines_438.txt │ │ │ ├── all_lines_439.txt │ │ │ ├── all_lines_44.txt │ │ │ ├── all_lines_440.txt │ │ │ ├── all_lines_441.txt │ │ │ ├── all_lines_442.txt │ │ │ ├── all_lines_443.txt │ │ │ ├── all_lines_444.txt │ │ │ ├── all_lines_445.txt │ │ │ ├── all_lines_446.txt │ │ │ ├── all_lines_447.txt │ │ │ ├── all_lines_448.txt │ │ │ ├── all_lines_449.txt │ │ │ ├── all_lines_45.txt │ │ │ ├── all_lines_450.txt │ │ │ ├── all_lines_451.txt │ │ │ ├── all_lines_452.txt │ │ │ ├── all_lines_453.txt │ │ │ ├── all_lines_454.txt │ │ │ ├── all_lines_455.txt │ │ │ ├── all_lines_456.txt │ │ │ ├── all_lines_457.txt │ │ │ ├── all_lines_458.txt │ │ │ ├── all_lines_459.txt │ │ │ ├── all_lines_46.txt │ │ │ ├── all_lines_460.txt │ │ │ ├── all_lines_461.txt │ │ │ ├── all_lines_462.txt │ │ │ ├── all_lines_463.txt │ │ │ ├── all_lines_464.txt │ │ │ ├── all_lines_465.txt │ │ │ ├── all_lines_466.txt │ │ │ ├── all_lines_467.txt │ │ │ ├── all_lines_468.txt │ │ │ ├── all_lines_469.txt │ │ │ ├── all_lines_47.txt │ │ │ ├── all_lines_470.txt │ │ │ ├── all_lines_471.txt │ │ │ ├── all_lines_472.txt │ │ │ ├── all_lines_473.txt │ │ │ ├── all_lines_474.txt │ │ │ ├── all_lines_475.txt │ │ │ ├── all_lines_476.txt │ │ │ ├── all_lines_477.txt │ │ │ ├── all_lines_478.txt │ │ │ ├── all_lines_479.txt │ │ │ ├── all_lines_48.txt │ │ │ ├── all_lines_480.txt │ │ │ ├── all_lines_481.txt │ │ │ ├── all_lines_482.txt │ │ │ ├── all_lines_483.txt │ │ │ ├── all_lines_484.txt │ │ │ ├── all_lines_485.txt │ │ │ ├── all_lines_486.txt │ │ │ ├── all_lines_487.txt │ │ │ ├── all_lines_488.txt │ │ │ ├── all_lines_489.txt │ │ │ ├── all_lines_49.txt │ │ │ ├── all_lines_490.txt │ │ │ ├── all_lines_491.txt │ │ │ ├── all_lines_492.txt │ │ │ ├── all_lines_493.txt │ │ │ ├── all_lines_494.txt │ │ │ ├── all_lines_495.txt │ │ │ ├── all_lines_496.txt │ │ │ ├── all_lines_497.txt │ │ │ ├── all_lines_498.txt │ │ │ ├── all_lines_499.txt │ │ │ ├── all_lines_5.txt │ │ │ ├── all_lines_50.txt │ │ │ ├── all_lines_500.txt │ │ │ ├── all_lines_501.txt │ │ │ ├── all_lines_502.txt │ │ │ ├── all_lines_503.txt │ │ │ ├── all_lines_504.txt │ │ │ ├── all_lines_505.txt │ │ │ ├── all_lines_506.txt │ │ │ ├── all_lines_507.txt │ │ │ ├── all_lines_508.txt │ │ │ ├── all_lines_509.txt │ │ │ ├── all_lines_51.txt │ │ │ ├── all_lines_510.txt │ │ │ ├── all_lines_511.txt │ │ │ ├── all_lines_512.txt │ │ │ ├── all_lines_513.txt │ │ │ ├── all_lines_514.txt │ │ │ ├── all_lines_515.txt │ │ │ ├── all_lines_516.txt │ │ │ ├── all_lines_517.txt │ │ │ ├── all_lines_518.txt │ │ │ ├── all_lines_519.txt │ │ │ ├── all_lines_52.txt │ │ │ ├── all_lines_520.txt │ │ │ ├── all_lines_521.txt │ │ │ ├── all_lines_522.txt │ │ │ ├── all_lines_523.txt │ │ │ ├── all_lines_524.txt │ │ │ ├── all_lines_525.txt │ │ │ ├── all_lines_526.txt │ │ │ ├── all_lines_527.txt │ │ │ ├── all_lines_528.txt │ │ │ ├── all_lines_529.txt │ │ │ ├── all_lines_53.txt │ │ │ ├── all_lines_530.txt │ │ │ ├── all_lines_531.txt │ │ │ ├── all_lines_532.txt │ │ │ ├── all_lines_533.txt │ │ │ ├── all_lines_534.txt │ │ │ ├── all_lines_535.txt │ │ │ ├── all_lines_536.txt │ │ │ ├── all_lines_537.txt │ │ │ ├── all_lines_538.txt │ │ │ ├── all_lines_539.txt │ │ │ ├── all_lines_54.txt │ │ │ ├── all_lines_540.txt │ │ │ ├── all_lines_541.txt │ │ │ ├── all_lines_542.txt │ │ │ ├── all_lines_543.txt │ │ │ ├── all_lines_544.txt │ │ │ ├── all_lines_545.txt │ │ │ ├── all_lines_546.txt │ │ │ ├── all_lines_547.txt │ │ │ ├── all_lines_548.txt │ │ │ ├── all_lines_549.txt │ │ │ ├── all_lines_55.txt │ │ │ ├── all_lines_550.txt │ │ │ ├── all_lines_551.txt │ │ │ ├── all_lines_552.txt │ │ │ ├── all_lines_553.txt │ │ │ ├── all_lines_554.txt │ │ │ ├── all_lines_555.txt │ │ │ ├── all_lines_556.txt │ │ │ ├── all_lines_557.txt │ │ │ ├── all_lines_558.txt │ │ │ ├── all_lines_559.txt │ │ │ ├── all_lines_56.txt │ │ │ ├── all_lines_560.txt │ │ │ ├── all_lines_561.txt │ │ │ ├── all_lines_562.txt │ │ │ ├── all_lines_563.txt │ │ │ ├── all_lines_564.txt │ │ │ ├── all_lines_565.txt │ │ │ ├── all_lines_566.txt │ │ │ ├── all_lines_567.txt │ │ │ ├── all_lines_568.txt │ │ │ ├── all_lines_569.txt │ │ │ ├── all_lines_57.txt │ │ │ ├── all_lines_570.txt │ │ │ ├── all_lines_571.txt │ │ │ ├── all_lines_572.txt │ │ │ ├── all_lines_573.txt │ │ │ ├── all_lines_574.txt │ │ │ ├── all_lines_575.txt │ │ │ ├── all_lines_576.txt │ │ │ ├── all_lines_577.txt │ │ │ ├── all_lines_578.txt │ │ │ ├── all_lines_579.txt │ │ │ ├── all_lines_58.txt │ │ │ ├── all_lines_580.txt │ │ │ ├── all_lines_581.txt │ │ │ ├── all_lines_582.txt │ │ │ ├── all_lines_583.txt │ │ │ ├── all_lines_584.txt │ │ │ ├── all_lines_585.txt │ │ │ ├── all_lines_586.txt │ │ │ ├── all_lines_587.txt │ │ │ ├── all_lines_588.txt │ │ │ ├── all_lines_589.txt │ │ │ ├── all_lines_59.txt │ │ │ ├── all_lines_590.txt │ │ │ ├── all_lines_591.txt │ │ │ ├── all_lines_592.txt │ │ │ ├── all_lines_593.txt │ │ │ ├── all_lines_594.txt │ │ │ ├── all_lines_595.txt │ │ │ ├── all_lines_596.txt │ │ │ ├── all_lines_597.txt │ │ │ ├── all_lines_598.txt │ │ │ ├── all_lines_599.txt │ │ │ ├── all_lines_6.txt │ │ │ ├── all_lines_60.txt │ │ │ ├── all_lines_61.txt │ │ │ ├── all_lines_62.txt │ │ │ ├── all_lines_63.txt │ │ │ ├── all_lines_64.txt │ │ │ ├── all_lines_65.txt │ │ │ ├── all_lines_66.txt │ │ │ ├── all_lines_67.txt │ │ │ ├── all_lines_68.txt │ │ │ ├── all_lines_69.txt │ │ │ ├── all_lines_7.txt │ │ │ ├── all_lines_70.txt │ │ │ ├── all_lines_71.txt │ │ │ ├── all_lines_72.txt │ │ │ ├── all_lines_73.txt │ │ │ ├── all_lines_74.txt │ │ │ ├── all_lines_75.txt │ │ │ ├── all_lines_76.txt │ │ │ ├── all_lines_77.txt │ │ │ ├── all_lines_78.txt │ │ │ ├── all_lines_79.txt │ │ │ ├── all_lines_8.txt │ │ │ ├── all_lines_80.txt │ │ │ ├── all_lines_81.txt │ │ │ ├── all_lines_82.txt │ │ │ ├── all_lines_83.txt │ │ │ ├── all_lines_84.txt │ │ │ ├── all_lines_85.txt │ │ │ ├── all_lines_86.txt │ │ │ ├── all_lines_87.txt │ │ │ ├── all_lines_88.txt │ │ │ ├── all_lines_89.txt │ │ │ ├── all_lines_9.txt │ │ │ ├── all_lines_90.txt │ │ │ ├── all_lines_91.txt │ │ │ ├── all_lines_92.txt │ │ │ ├── all_lines_93.txt │ │ │ ├── all_lines_94.txt │ │ │ ├── all_lines_95.txt │ │ │ ├── all_lines_96.txt │ │ │ ├── all_lines_97.txt │ │ │ ├── all_lines_98.txt │ │ │ ├── all_lines_99.txt │ │ │ ├── all_points_0.txt │ │ │ ├── all_points_1.txt │ │ │ ├── all_points_10.txt │ │ │ ├── all_points_100.txt │ │ │ ├── all_points_101.txt │ │ │ ├── all_points_102.txt │ │ │ ├── all_points_103.txt │ │ │ ├── all_points_104.txt │ │ │ ├── all_points_105.txt │ │ │ ├── all_points_106.txt │ │ │ ├── all_points_107.txt │ │ │ ├── all_points_108.txt │ │ │ ├── all_points_109.txt │ │ │ ├── all_points_11.txt │ │ │ ├── all_points_110.txt │ │ │ ├── all_points_111.txt │ │ │ ├── all_points_112.txt │ │ │ ├── all_points_113.txt │ │ │ ├── all_points_114.txt │ │ │ ├── all_points_115.txt │ │ │ ├── all_points_116.txt │ │ │ ├── all_points_117.txt │ │ │ ├── all_points_118.txt │ │ │ ├── all_points_119.txt │ │ │ ├── all_points_12.txt │ │ │ ├── all_points_120.txt │ │ │ ├── all_points_121.txt │ │ │ ├── all_points_122.txt │ │ │ ├── all_points_123.txt │ │ │ ├── all_points_124.txt │ │ │ ├── all_points_125.txt │ │ │ ├── all_points_126.txt │ │ │ ├── all_points_127.txt │ │ │ ├── all_points_128.txt │ │ │ ├── all_points_129.txt │ │ │ ├── all_points_13.txt │ │ │ ├── all_points_130.txt │ │ │ ├── all_points_131.txt │ │ │ ├── all_points_132.txt │ │ │ ├── all_points_133.txt │ │ │ ├── all_points_134.txt │ │ │ ├── all_points_135.txt │ │ │ ├── all_points_136.txt │ │ │ ├── all_points_137.txt │ │ │ ├── all_points_138.txt │ │ │ ├── all_points_139.txt │ │ │ ├── all_points_14.txt │ │ │ ├── all_points_140.txt │ │ │ ├── all_points_141.txt │ │ │ ├── all_points_142.txt │ │ │ ├── all_points_143.txt │ │ │ ├── all_points_144.txt │ │ │ ├── all_points_145.txt │ │ │ ├── all_points_146.txt │ │ │ ├── all_points_147.txt │ │ │ ├── all_points_148.txt │ │ │ ├── all_points_149.txt │ │ │ ├── all_points_15.txt │ │ │ ├── all_points_150.txt │ │ │ ├── all_points_151.txt │ │ │ ├── all_points_152.txt │ │ │ ├── all_points_153.txt │ │ │ ├── all_points_154.txt │ │ │ ├── all_points_155.txt │ │ │ ├── all_points_156.txt │ │ │ ├── all_points_157.txt │ │ │ ├── all_points_158.txt │ │ │ ├── all_points_159.txt │ │ │ ├── all_points_16.txt │ │ │ ├── all_points_160.txt │ │ │ ├── all_points_161.txt │ │ │ ├── all_points_162.txt │ │ │ ├── all_points_163.txt │ │ │ ├── all_points_164.txt │ │ │ ├── all_points_165.txt │ │ │ ├── all_points_166.txt │ │ │ ├── all_points_167.txt │ │ │ ├── all_points_168.txt │ │ │ ├── all_points_169.txt │ │ │ ├── all_points_17.txt │ │ │ ├── all_points_170.txt │ │ │ ├── all_points_171.txt │ │ │ ├── all_points_172.txt │ │ │ ├── all_points_173.txt │ │ │ ├── all_points_174.txt │ │ │ ├── all_points_175.txt │ │ │ ├── all_points_176.txt │ │ │ ├── all_points_177.txt │ │ │ ├── all_points_178.txt │ │ │ ├── all_points_179.txt │ │ │ ├── all_points_18.txt │ │ │ ├── all_points_180.txt │ │ │ ├── all_points_181.txt │ │ │ ├── all_points_182.txt │ │ │ ├── all_points_183.txt │ │ │ ├── all_points_184.txt │ │ │ ├── all_points_185.txt │ │ │ ├── all_points_186.txt │ │ │ ├── all_points_187.txt │ │ │ ├── all_points_188.txt │ │ │ ├── all_points_189.txt │ │ │ ├── all_points_19.txt │ │ │ ├── all_points_190.txt │ │ │ ├── all_points_191.txt │ │ │ ├── all_points_192.txt │ │ │ ├── all_points_193.txt │ │ │ ├── all_points_194.txt │ │ │ ├── all_points_195.txt │ │ │ ├── all_points_196.txt │ │ │ ├── all_points_197.txt │ │ │ ├── all_points_198.txt │ │ │ ├── all_points_199.txt │ │ │ ├── all_points_2.txt │ │ │ ├── all_points_20.txt │ │ │ ├── all_points_200.txt │ │ │ ├── all_points_201.txt │ │ │ ├── all_points_202.txt │ │ │ ├── all_points_203.txt │ │ │ ├── all_points_204.txt │ │ │ ├── all_points_205.txt │ │ │ ├── all_points_206.txt │ │ │ ├── all_points_207.txt │ │ │ ├── all_points_208.txt │ │ │ ├── all_points_209.txt │ │ │ ├── all_points_21.txt │ │ │ ├── all_points_210.txt │ │ │ ├── all_points_211.txt │ │ │ ├── all_points_212.txt │ │ │ ├── all_points_213.txt │ │ │ ├── all_points_214.txt │ │ │ ├── all_points_215.txt │ │ │ ├── all_points_216.txt │ │ │ ├── all_points_217.txt │ │ │ ├── all_points_218.txt │ │ │ ├── all_points_219.txt │ │ │ ├── all_points_22.txt │ │ │ ├── all_points_220.txt │ │ │ ├── all_points_221.txt │ │ │ ├── all_points_222.txt │ │ │ ├── all_points_223.txt │ │ │ ├── all_points_224.txt │ │ │ ├── all_points_225.txt │ │ │ ├── all_points_226.txt │ │ │ ├── all_points_227.txt │ │ │ ├── all_points_228.txt │ │ │ ├── all_points_229.txt │ │ │ ├── all_points_23.txt │ │ │ ├── all_points_230.txt │ │ │ ├── all_points_231.txt │ │ │ ├── all_points_232.txt │ │ │ ├── all_points_233.txt │ │ │ ├── all_points_234.txt │ │ │ ├── all_points_235.txt │ │ │ ├── all_points_236.txt │ │ │ ├── all_points_237.txt │ │ │ ├── all_points_238.txt │ │ │ ├── all_points_239.txt │ │ │ ├── all_points_24.txt │ │ │ ├── all_points_240.txt │ │ │ ├── all_points_241.txt │ │ │ ├── all_points_242.txt │ │ │ ├── all_points_243.txt │ │ │ ├── all_points_244.txt │ │ │ ├── all_points_245.txt │ │ │ ├── all_points_246.txt │ │ │ ├── all_points_247.txt │ │ │ ├── all_points_248.txt │ │ │ ├── all_points_249.txt │ │ │ ├── all_points_25.txt │ │ │ ├── all_points_250.txt │ │ │ ├── all_points_251.txt │ │ │ ├── all_points_252.txt │ │ │ ├── all_points_253.txt │ │ │ ├── all_points_254.txt │ │ │ ├── all_points_255.txt │ │ │ ├── all_points_256.txt │ │ │ ├── all_points_257.txt │ │ │ ├── all_points_258.txt │ │ │ ├── all_points_259.txt │ │ │ ├── all_points_26.txt │ │ │ ├── all_points_260.txt │ │ │ ├── all_points_261.txt │ │ │ ├── all_points_262.txt │ │ │ ├── all_points_263.txt │ │ │ ├── all_points_264.txt │ │ │ ├── all_points_265.txt │ │ │ ├── all_points_266.txt │ │ │ ├── all_points_267.txt │ │ │ ├── all_points_268.txt │ │ │ ├── all_points_269.txt │ │ │ ├── all_points_27.txt │ │ │ ├── all_points_270.txt │ │ │ ├── all_points_271.txt │ │ │ ├── all_points_272.txt │ │ │ ├── all_points_273.txt │ │ │ ├── all_points_274.txt │ │ │ ├── all_points_275.txt │ │ │ ├── all_points_276.txt │ │ │ ├── all_points_277.txt │ │ │ ├── all_points_278.txt │ │ │ ├── all_points_279.txt │ │ │ ├── all_points_28.txt │ │ │ ├── all_points_280.txt │ │ │ ├── all_points_281.txt │ │ │ ├── all_points_282.txt │ │ │ ├── all_points_283.txt │ │ │ ├── all_points_284.txt │ │ │ ├── all_points_285.txt │ │ │ ├── all_points_286.txt │ │ │ ├── all_points_287.txt │ │ │ ├── all_points_288.txt │ │ │ ├── all_points_289.txt │ │ │ ├── all_points_29.txt │ │ │ ├── all_points_290.txt │ │ │ ├── all_points_291.txt │ │ │ ├── all_points_292.txt │ │ │ ├── all_points_293.txt │ │ │ ├── all_points_294.txt │ │ │ ├── all_points_295.txt │ │ │ ├── all_points_296.txt │ │ │ ├── all_points_297.txt │ │ │ ├── all_points_298.txt │ │ │ ├── all_points_299.txt │ │ │ ├── all_points_3.txt │ │ │ ├── all_points_30.txt │ │ │ ├── all_points_300.txt │ │ │ ├── all_points_301.txt │ │ │ ├── all_points_302.txt │ │ │ ├── all_points_303.txt │ │ │ ├── all_points_304.txt │ │ │ ├── all_points_305.txt │ │ │ ├── all_points_306.txt │ │ │ ├── all_points_307.txt │ │ │ ├── all_points_308.txt │ │ │ ├── all_points_309.txt │ │ │ ├── all_points_31.txt │ │ │ ├── all_points_310.txt │ │ │ ├── all_points_311.txt │ │ │ ├── all_points_312.txt │ │ │ ├── all_points_313.txt │ │ │ ├── all_points_314.txt │ │ │ ├── all_points_315.txt │ │ │ ├── all_points_316.txt │ │ │ ├── all_points_317.txt │ │ │ ├── all_points_318.txt │ │ │ ├── all_points_319.txt │ │ │ ├── all_points_32.txt │ │ │ ├── all_points_320.txt │ │ │ ├── all_points_321.txt │ │ │ ├── all_points_322.txt │ │ │ ├── all_points_323.txt │ │ │ ├── all_points_324.txt │ │ │ ├── all_points_325.txt │ │ │ ├── all_points_326.txt │ │ │ ├── all_points_327.txt │ │ │ ├── all_points_328.txt │ │ │ ├── all_points_329.txt │ │ │ ├── all_points_33.txt │ │ │ ├── all_points_330.txt │ │ │ ├── all_points_331.txt │ │ │ ├── all_points_332.txt │ │ │ ├── all_points_333.txt │ │ │ ├── all_points_334.txt │ │ │ ├── all_points_335.txt │ │ │ ├── all_points_336.txt │ │ │ ├── all_points_337.txt │ │ │ ├── all_points_338.txt │ │ │ ├── all_points_339.txt │ │ │ ├── all_points_34.txt │ │ │ ├── all_points_340.txt │ │ │ ├── all_points_341.txt │ │ │ ├── all_points_342.txt │ │ │ ├── all_points_343.txt │ │ │ ├── all_points_344.txt │ │ │ ├── all_points_345.txt │ │ │ ├── all_points_346.txt │ │ │ ├── all_points_347.txt │ │ │ ├── all_points_348.txt │ │ │ ├── all_points_349.txt │ │ │ ├── all_points_35.txt │ │ │ ├── all_points_350.txt │ │ │ ├── all_points_351.txt │ │ │ ├── all_points_352.txt │ │ │ ├── all_points_353.txt │ │ │ ├── all_points_354.txt │ │ │ ├── all_points_355.txt │ │ │ ├── all_points_356.txt │ │ │ ├── all_points_357.txt │ │ │ ├── all_points_358.txt │ │ │ ├── all_points_359.txt │ │ │ ├── all_points_36.txt │ │ │ ├── all_points_360.txt │ │ │ ├── all_points_361.txt │ │ │ ├── all_points_362.txt │ │ │ ├── all_points_363.txt │ │ │ ├── all_points_364.txt │ │ │ ├── all_points_365.txt │ │ │ ├── all_points_366.txt │ │ │ ├── all_points_367.txt │ │ │ ├── all_points_368.txt │ │ │ ├── all_points_369.txt │ │ │ ├── all_points_37.txt │ │ │ ├── all_points_370.txt │ │ │ ├── all_points_371.txt │ │ │ ├── all_points_372.txt │ │ │ ├── all_points_373.txt │ │ │ ├── all_points_374.txt │ │ │ ├── all_points_375.txt │ │ │ ├── all_points_376.txt │ │ │ ├── all_points_377.txt │ │ │ ├── all_points_378.txt │ │ │ ├── all_points_379.txt │ │ │ ├── all_points_38.txt │ │ │ ├── all_points_380.txt │ │ │ ├── all_points_381.txt │ │ │ ├── all_points_382.txt │ │ │ ├── all_points_383.txt │ │ │ ├── all_points_384.txt │ │ │ ├── all_points_385.txt │ │ │ ├── all_points_386.txt │ │ │ ├── all_points_387.txt │ │ │ ├── all_points_388.txt │ │ │ ├── all_points_389.txt │ │ │ ├── all_points_39.txt │ │ │ ├── all_points_390.txt │ │ │ ├── all_points_391.txt │ │ │ ├── all_points_392.txt │ │ │ ├── all_points_393.txt │ │ │ ├── all_points_394.txt │ │ │ ├── all_points_395.txt │ │ │ ├── all_points_396.txt │ │ │ ├── all_points_397.txt │ │ │ ├── all_points_398.txt │ │ │ ├── all_points_399.txt │ │ │ ├── all_points_4.txt │ │ │ ├── all_points_40.txt │ │ │ ├── all_points_400.txt │ │ │ ├── all_points_401.txt │ │ │ ├── all_points_402.txt │ │ │ ├── all_points_403.txt │ │ │ ├── all_points_404.txt │ │ │ ├── all_points_405.txt │ │ │ ├── all_points_406.txt │ │ │ ├── all_points_407.txt │ │ │ ├── all_points_408.txt │ │ │ ├── all_points_409.txt │ │ │ ├── all_points_41.txt │ │ │ ├── all_points_410.txt │ │ │ ├── all_points_411.txt │ │ │ ├── all_points_412.txt │ │ │ ├── all_points_413.txt │ │ │ ├── all_points_414.txt │ │ │ ├── all_points_415.txt │ │ │ ├── all_points_416.txt │ │ │ ├── all_points_417.txt │ │ │ ├── all_points_418.txt │ │ │ ├── all_points_419.txt │ │ │ ├── all_points_42.txt │ │ │ ├── all_points_420.txt │ │ │ ├── all_points_421.txt │ │ │ ├── all_points_422.txt │ │ │ ├── all_points_423.txt │ │ │ ├── all_points_424.txt │ │ │ ├── all_points_425.txt │ │ │ ├── all_points_426.txt │ │ │ ├── all_points_427.txt │ │ │ ├── all_points_428.txt │ │ │ ├── all_points_429.txt │ │ │ ├── all_points_43.txt │ │ │ ├── all_points_430.txt │ │ │ ├── all_points_431.txt │ │ │ ├── all_points_432.txt │ │ │ ├── all_points_433.txt │ │ │ ├── all_points_434.txt │ │ │ ├── all_points_435.txt │ │ │ ├── all_points_436.txt │ │ │ ├── all_points_437.txt │ │ │ ├── all_points_438.txt │ │ │ ├── all_points_439.txt │ │ │ ├── all_points_44.txt │ │ │ ├── all_points_440.txt │ │ │ ├── all_points_441.txt │ │ │ ├── all_points_442.txt │ │ │ ├── all_points_443.txt │ │ │ ├── all_points_444.txt │ │ │ ├── all_points_445.txt │ │ │ ├── all_points_446.txt │ │ │ ├── all_points_447.txt │ │ │ ├── all_points_448.txt │ │ │ ├── all_points_449.txt │ │ │ ├── all_points_45.txt │ │ │ ├── all_points_450.txt │ │ │ ├── all_points_451.txt │ │ │ ├── all_points_452.txt │ │ │ ├── all_points_453.txt │ │ │ ├── all_points_454.txt │ │ │ ├── all_points_455.txt │ │ │ ├── all_points_456.txt │ │ │ ├── all_points_457.txt │ │ │ ├── all_points_458.txt │ │ │ ├── all_points_459.txt │ │ │ ├── all_points_46.txt │ │ │ ├── all_points_460.txt │ │ │ ├── all_points_461.txt │ │ │ ├── all_points_462.txt │ │ │ ├── all_points_463.txt │ │ │ ├── all_points_464.txt │ │ │ ├── all_points_465.txt │ │ │ ├── all_points_466.txt │ │ │ ├── all_points_467.txt │ │ │ ├── all_points_468.txt │ │ │ ├── all_points_469.txt │ │ │ ├── all_points_47.txt │ │ │ ├── all_points_470.txt │ │ │ ├── all_points_471.txt │ │ │ ├── all_points_472.txt │ │ │ ├── all_points_473.txt │ │ │ ├── all_points_474.txt │ │ │ ├── all_points_475.txt │ │ │ ├── all_points_476.txt │ │ │ ├── all_points_477.txt │ │ │ ├── all_points_478.txt │ │ │ ├── all_points_479.txt │ │ │ ├── all_points_48.txt │ │ │ ├── all_points_480.txt │ │ │ ├── all_points_481.txt │ │ │ ├── all_points_482.txt │ │ │ ├── all_points_483.txt │ │ │ ├── all_points_484.txt │ │ │ ├── all_points_485.txt │ │ │ ├── all_points_486.txt │ │ │ ├── all_points_487.txt │ │ │ ├── all_points_488.txt │ │ │ ├── all_points_489.txt │ │ │ ├── all_points_49.txt │ │ │ ├── all_points_490.txt │ │ │ ├── all_points_491.txt │ │ │ ├── all_points_492.txt │ │ │ ├── all_points_493.txt │ │ │ ├── all_points_494.txt │ │ │ ├── all_points_495.txt │ │ │ ├── all_points_496.txt │ │ │ ├── all_points_497.txt │ │ │ ├── all_points_498.txt │ │ │ ├── all_points_499.txt │ │ │ ├── all_points_5.txt │ │ │ ├── all_points_50.txt │ │ │ ├── all_points_500.txt │ │ │ ├── all_points_501.txt │ │ │ ├── all_points_502.txt │ │ │ ├── all_points_503.txt │ │ │ ├── all_points_504.txt │ │ │ ├── all_points_505.txt │ │ │ ├── all_points_506.txt │ │ │ ├── all_points_507.txt │ │ │ ├── all_points_508.txt │ │ │ ├── all_points_509.txt │ │ │ ├── all_points_51.txt │ │ │ ├── all_points_510.txt │ │ │ ├── all_points_511.txt │ │ │ ├── all_points_512.txt │ │ │ ├── all_points_513.txt │ │ │ ├── all_points_514.txt │ │ │ ├── all_points_515.txt │ │ │ ├── all_points_516.txt │ │ │ ├── all_points_517.txt │ │ │ ├── all_points_518.txt │ │ │ ├── all_points_519.txt │ │ │ ├── all_points_52.txt │ │ │ ├── all_points_520.txt │ │ │ ├── all_points_521.txt │ │ │ ├── all_points_522.txt │ │ │ ├── all_points_523.txt │ │ │ ├── all_points_524.txt │ │ │ ├── all_points_525.txt │ │ │ ├── all_points_526.txt │ │ │ ├── all_points_527.txt │ │ │ ├── all_points_528.txt │ │ │ ├── all_points_529.txt │ │ │ ├── all_points_53.txt │ │ │ ├── all_points_530.txt │ │ │ ├── all_points_531.txt │ │ │ ├── all_points_532.txt │ │ │ ├── all_points_533.txt │ │ │ ├── all_points_534.txt │ │ │ ├── all_points_535.txt │ │ │ ├── all_points_536.txt │ │ │ ├── all_points_537.txt │ │ │ ├── all_points_538.txt │ │ │ ├── all_points_539.txt │ │ │ ├── all_points_54.txt │ │ │ ├── all_points_540.txt │ │ │ ├── all_points_541.txt │ │ │ ├── all_points_542.txt │ │ │ ├── all_points_543.txt │ │ │ ├── all_points_544.txt │ │ │ ├── all_points_545.txt │ │ │ ├── all_points_546.txt │ │ │ ├── all_points_547.txt │ │ │ ├── all_points_548.txt │ │ │ ├── all_points_549.txt │ │ │ ├── all_points_55.txt │ │ │ ├── all_points_550.txt │ │ │ ├── all_points_551.txt │ │ │ ├── all_points_552.txt │ │ │ ├── all_points_553.txt │ │ │ ├── all_points_554.txt │ │ │ ├── all_points_555.txt │ │ │ ├── all_points_556.txt │ │ │ ├── all_points_557.txt │ │ │ ├── all_points_558.txt │ │ │ ├── all_points_559.txt │ │ │ ├── all_points_56.txt │ │ │ ├── all_points_560.txt │ │ │ ├── all_points_561.txt │ │ │ ├── all_points_562.txt │ │ │ ├── all_points_563.txt │ │ │ ├── all_points_564.txt │ │ │ ├── all_points_565.txt │ │ │ ├── all_points_566.txt │ │ │ ├── all_points_567.txt │ │ │ ├── all_points_568.txt │ │ │ ├── all_points_569.txt │ │ │ ├── all_points_57.txt │ │ │ ├── all_points_570.txt │ │ │ ├── all_points_571.txt │ │ │ ├── all_points_572.txt │ │ │ ├── all_points_573.txt │ │ │ ├── all_points_574.txt │ │ │ ├── all_points_575.txt │ │ │ ├── all_points_576.txt │ │ │ ├── all_points_577.txt │ │ │ ├── all_points_578.txt │ │ │ ├── all_points_579.txt │ │ │ ├── all_points_58.txt │ │ │ ├── all_points_580.txt │ │ │ ├── all_points_581.txt │ │ │ ├── all_points_582.txt │ │ │ ├── all_points_583.txt │ │ │ ├── all_points_584.txt │ │ │ ├── all_points_585.txt │ │ │ ├── all_points_586.txt │ │ │ ├── all_points_587.txt │ │ │ ├── all_points_588.txt │ │ │ ├── all_points_589.txt │ │ │ ├── all_points_59.txt │ │ │ ├── all_points_590.txt │ │ │ ├── all_points_591.txt │ │ │ ├── all_points_592.txt │ │ │ ├── all_points_593.txt │ │ │ ├── all_points_594.txt │ │ │ ├── all_points_595.txt │ │ │ ├── all_points_596.txt │ │ │ ├── all_points_597.txt │ │ │ ├── all_points_598.txt │ │ │ ├── all_points_599.txt │ │ │ ├── all_points_6.txt │ │ │ ├── all_points_60.txt │ │ │ ├── all_points_61.txt │ │ │ ├── all_points_62.txt │ │ │ ├── all_points_63.txt │ │ │ ├── all_points_64.txt │ │ │ ├── all_points_65.txt │ │ │ ├── all_points_66.txt │ │ │ ├── all_points_67.txt │ │ │ ├── all_points_68.txt │ │ │ ├── all_points_69.txt │ │ │ ├── all_points_7.txt │ │ │ ├── all_points_70.txt │ │ │ ├── all_points_71.txt │ │ │ ├── all_points_72.txt │ │ │ ├── all_points_73.txt │ │ │ ├── all_points_74.txt │ │ │ ├── all_points_75.txt │ │ │ ├── all_points_76.txt │ │ │ ├── all_points_77.txt │ │ │ ├── all_points_78.txt │ │ │ ├── all_points_79.txt │ │ │ ├── all_points_8.txt │ │ │ ├── all_points_80.txt │ │ │ ├── all_points_81.txt │ │ │ ├── all_points_82.txt │ │ │ ├── all_points_83.txt │ │ │ ├── all_points_84.txt │ │ │ ├── all_points_85.txt │ │ │ ├── all_points_86.txt │ │ │ ├── all_points_87.txt │ │ │ ├── all_points_88.txt │ │ │ ├── all_points_89.txt │ │ │ ├── all_points_9.txt │ │ │ ├── all_points_90.txt │ │ │ ├── all_points_91.txt │ │ │ ├── all_points_92.txt │ │ │ ├── all_points_93.txt │ │ │ ├── all_points_94.txt │ │ │ ├── all_points_95.txt │ │ │ ├── all_points_96.txt │ │ │ ├── all_points_97.txt │ │ │ ├── all_points_98.txt │ │ │ └── all_points_99.txt │ ├── ex_calib_simdata.yaml │ ├── simdata_config.yaml │ ├── simdata_config_fix_extrinsic.yaml │ └── stereo_simdata_config_fix_extrinsic.yaml ├── vins_rviz_config.rviz └── vins_rviz_config1.rviz ├── feature_tracker ├── .idea │ ├── feature_tracker.iml │ ├── misc.xml │ ├── modules.xml │ └── workspace.xml ├── CMakeLists.txt ├── package.xml └── src │ ├── feature_tracker.cpp │ ├── feature_tracker.h │ ├── feature_tracker_node.cpp │ ├── line_descriptor │ ├── CMakeLists.txt │ ├── README.md │ ├── build │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 3.5.1 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeOutput.log │ │ │ ├── CMakeRuleHashes.txt │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── TargetDirectories.txt │ │ │ ├── cmake.check_cache │ │ │ ├── feature_tests.bin │ │ │ ├── feature_tests.c │ │ │ ├── feature_tests.cxx │ │ │ ├── linedesc.dir │ │ │ │ ├── CMakeFiles │ │ │ │ │ └── 3.5.1 │ │ │ │ │ │ └── CompilerIdCXX │ │ │ │ │ │ └── CMakeCXXCompilerId.cpp.o │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── src │ │ │ │ │ ├── LSDDetector_custom.cpp.o │ │ │ │ │ ├── binary_descriptor_custom.cpp.o │ │ │ │ │ ├── binary_descriptor_matcher.cpp.o │ │ │ │ │ └── draw_custom.cpp.o │ │ │ ├── linedesc_includes.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ ├── Makefile │ │ └── cmake_install.cmake │ ├── include │ │ ├── line_descriptor │ │ │ └── descriptor_custom.hpp │ │ └── line_descriptor_custom.hpp │ ├── lib │ │ └── liblinedesc.so │ └── src │ │ ├── LSDDetector_custom.cpp │ │ ├── binary_descriptor_custom.cpp │ │ ├── binary_descriptor_matcher.cpp │ │ ├── bitarray_custom.hpp │ │ ├── bitops_custom.hpp │ │ ├── draw_custom.cpp │ │ ├── precomp_custom.hpp │ │ └── types_custom.hpp │ ├── linefeature_tracker.cpp │ ├── linefeature_tracker.h │ ├── linefeature_tracker_node.cpp │ ├── parameters.cpp │ ├── parameters.h │ └── tic_toc.h ├── image_node_b ├── CMakeLists.txt ├── aaa.sh ├── package.xml └── src │ └── image_node_b.cpp ├── pose_graph ├── 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 ├── pythontool ├── .idea │ ├── misc.xml │ ├── modules.xml │ ├── pythontool.iml │ └── workspace.xml └── draw_trajcory.py ├── sim_data_pub ├── .idea │ ├── .name │ ├── misc.xml │ ├── modules.xml │ ├── sim_data_pub.iml │ └── workspace.xml ├── CMakeLists.txt ├── Myimg2bag │ ├── MyReadMe.txt │ ├── bag2img.py │ ├── groundtruth2bag.py │ ├── img2bag_Mars_imu.py │ └── img2bag_PennCOSYVIO.py ├── package.xml └── src │ ├── pub_feature.cpp │ ├── pub_imu.cpp │ ├── pub_imu_features.cpp │ ├── pub_stereo_feature.cpp │ └── pub_stereo_pl.cpp ├── support_files ├── brief_k10L6.bin ├── brief_pattern.yml ├── paper_bib.txt └── plvins-vinsmono.png └── vins_estimator ├── .idea ├── misc.xml ├── modules.xml ├── vins_estimator.iml └── workspace.xml ├── CMakeLists.txt ├── launch ├── edgelet.launch ├── euroc_fix_extrinsic.launch ├── graph.launch ├── loop.launch ├── mars_fix.launch ├── pennCOSYVIO_fix.launch ├── plvins-show-linepoint.launch ├── plvins.launch ├── simdata.launch ├── simdata_fix.launch └── vins_rviz.launch ├── package.xml └── src ├── estimator.cpp ├── estimator.h ├── estimator_node.cpp ├── factor ├── imu_factor.h ├── integration_base.h ├── line_parameterization.cpp ├── line_parameterization.h ├── line_projection_factor.cpp ├── line_projection_factor.h ├── marginalization_factor.cpp ├── marginalization_factor.h ├── pose_local_parameterization.cpp ├── pose_local_parameterization.h ├── projection_factor.cpp └── projection_factor.h ├── feature_manager.cpp ├── feature_manager.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 ├── loop-closure ├── DLoopDetector.h ├── TemplatedLoopDetector.h ├── 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 ├── demoDetector.h ├── keyframe.cpp ├── keyframe.h ├── keyframe_database.cpp ├── keyframe_database.h ├── loop_closure.cpp └── loop_closure.h ├── parameters.cpp ├── parameters.h ├── sophus ├── common.hpp ├── so3.hpp └── types.hpp └── utility ├── CameraPoseVisualization.cpp ├── CameraPoseVisualization.h ├── line_geometry.cpp ├── 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