├── .gitignore ├── LICENSE ├── OpenChisel ├── README.md ├── chisel_ros │ ├── CMakeLists.txt │ ├── Makefile │ ├── catkin.cmake │ ├── include │ │ └── chisel_ros │ │ │ ├── ChiselServer.h │ │ │ ├── Conversions.h │ │ │ └── Serialization.h │ ├── launch │ │ ├── euroc.launch │ │ ├── euroc.launch.bak │ │ ├── launch_ada_softkinetic.launch │ │ ├── launch_freiburg_dataset.launch │ │ ├── launch_kinect_local.launch │ │ ├── launch_lsd_slam_kinect.launch │ │ ├── launch_sim.launch │ │ └── sample.launch │ ├── mainpage.dox │ ├── manifest.xml │ ├── msg │ │ ├── ChunkListMessage.msg │ │ └── ChunkMessage.msg │ ├── package.xml │ ├── rosbuild.cmake │ ├── src │ │ ├── ChiselNode.cpp │ │ └── ChiselServer.cpp │ └── srv │ │ ├── GetAllChunksService.srv │ │ ├── PauseService.srv │ │ ├── ResetService.srv │ │ └── SaveMeshService.srv ├── open_chisel │ ├── CMakeLists.txt │ ├── Makefile │ ├── catkin.cmake │ ├── include │ │ └── open_chisel │ │ │ ├── Chisel.h │ │ │ ├── Chunk.h │ │ │ ├── ChunkManager.h │ │ │ ├── ColorVoxel.h │ │ │ ├── DistVoxel.h │ │ │ ├── FixedPointFloat.h │ │ │ ├── ProjectionIntegrator.h │ │ │ ├── camera │ │ │ ├── ColorImage.h │ │ │ ├── DepthImage.h │ │ │ ├── Intrinsics.h │ │ │ └── PinholeCamera.h │ │ │ ├── geometry │ │ │ ├── AABB.h │ │ │ ├── Frustum.h │ │ │ ├── Geometry.h │ │ │ ├── Interpolate.h │ │ │ ├── Plane.h │ │ │ └── Raycast.h │ │ │ ├── io │ │ │ └── PLY.h │ │ │ ├── marching_cubes │ │ │ └── MarchingCubes.h │ │ │ ├── mesh │ │ │ └── Mesh.h │ │ │ ├── pointcloud │ │ │ └── PointCloud.h │ │ │ ├── threading │ │ │ └── Threading.h │ │ │ ├── truncation │ │ │ ├── ConstantTruncator.h │ │ │ ├── InverseTruncator.h │ │ │ ├── QuadraticTruncator.h │ │ │ └── Truncator.h │ │ │ └── weighting │ │ │ ├── ConstantWeighter.h │ │ │ └── Weighter.h │ ├── manifest.xml │ ├── package.xml │ ├── rosbuild.cmake │ └── src │ │ ├── Chisel.cpp │ │ ├── Chunk.cpp │ │ ├── ChunkManager.cpp │ │ ├── ColorVoxel.cpp │ │ ├── DistVoxel.cpp │ │ ├── ProjectionIntegrator.cpp │ │ ├── camera │ │ ├── Intrinsics.cpp │ │ └── PinholeCamera.cpp │ │ ├── geometry │ │ ├── AABB.cpp │ │ ├── Frustum.cpp │ │ ├── Plane.cpp │ │ └── Raycast.cpp │ │ ├── io │ │ └── PLY.cpp │ │ ├── marching_cubes │ │ └── MarchingCubes.cpp │ │ ├── mesh │ │ └── Mesh.cpp │ │ └── pointcloud │ │ └── PointCloud.cpp ├── truncator.m └── untitled.fig ├── README.md ├── 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 ├── 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 ├── feature_tracker ├── CMakeLists.txt ├── config │ ├── 04_camera_calib.yaml │ ├── 09_camera_calib.yaml │ ├── 11_camera_calib.yaml │ ├── 25000049_camera_calib.yaml │ ├── 25000074_mei.yaml.1 │ ├── 25001283_camera_calib.yaml │ ├── 61_camera_calib.yaml │ ├── 61_camera_calib.yaml.bak │ ├── 82_camera_calib.yaml │ ├── bbgf_camera_calib.yaml │ ├── euroc0_camera_calib.yaml │ ├── euroc1_camera_calib.yaml │ ├── fisheye_camera_calib.yaml │ ├── fisheye_camera_calib.yaml.bak │ ├── lin3_0_camera_calib.yaml │ ├── lin3_1_camera_calib.yaml │ ├── lin4_1_camera_calib.yaml │ ├── ling1_left_camera_calib.yaml │ ├── sample_camera_calib.yaml │ ├── vi_l_camera_calib.yaml │ ├── vi_l_cv.yml │ └── vi_r_cv.yml ├── launch │ └── feature_tracker.launch ├── package.xml └── src │ ├── feature_tracker.cpp │ ├── feature_tracker.h │ ├── feature_tracker_node.cpp │ ├── parameters.cpp │ ├── parameters.h │ └── tic_toc.h ├── self_calibration_estimator ├── CMakeLists.txt ├── config │ └── sample.rviz ├── keng.txt ├── launch │ ├── bag.launch │ ├── benchmark │ │ ├── MH_01.launch │ │ ├── V1_01.launch │ │ ├── V2_01.launch │ │ ├── fisheye.launch │ │ ├── hkust_in.launch │ │ ├── hkust_out.launch │ │ ├── hkust_out2.launch │ │ ├── hkust_out3.launch │ │ ├── hkust_out4.launch │ │ ├── system.launch │ │ ├── system2.launch │ │ ├── system_part2.launch │ │ ├── system_part3.launch │ │ └── system_part4.launch │ ├── bias │ │ └── bias_simulation.launch │ ├── gps.launch │ ├── mapping.launch │ ├── mapping │ │ ├── bbgf.launch │ │ ├── lin.launch │ │ ├── qiu.launch │ │ └── sample.launch │ ├── mapping_tag.launch │ ├── online.launch │ ├── online_large.launch │ ├── online_tag.launch │ ├── sensor.launch │ ├── simulation.launch │ └── vi_online.launch ├── package.xml └── src │ ├── RK4_integration.h │ ├── euler_integration.h │ ├── feature_manager.cpp │ ├── feature_manager.h │ ├── imu_factor.h │ ├── integration.cpp │ ├── integration_base.h │ ├── marginalization.cpp │ ├── marginalization.h │ ├── marginalization_factor.cpp │ ├── marginalization_factor.h │ ├── midpoint_integration.h │ ├── motion_estimator.cpp │ ├── motion_estimator.h │ ├── parameters.cpp │ ├── parameters.h │ ├── pose_local_parameterization.cpp │ ├── pose_local_parameterization.h │ ├── projection_factor.cpp │ ├── projection_factor.h │ ├── self_calibration_estimator.cpp │ ├── self_calibration_estimator.h │ ├── self_calibration_estimator_node.cpp │ ├── tic_toc.h │ ├── utility.cpp │ ├── utility.h │ ├── visualization.cpp │ └── visualization.h ├── stereo_mapper ├── CMakeLists.txt ├── calib │ ├── 0049 │ │ ├── a.txt │ │ ├── left.yml │ │ ├── right.yml │ │ └── stereo.yml │ ├── euroc │ │ ├── euroc.txt │ │ ├── left.yml │ │ ├── right.yml │ │ └── stereo.yml │ ├── lin │ │ ├── left.yml │ │ ├── lin.txt │ │ ├── right.yml │ │ └── stereo.yml │ ├── lin2 │ │ ├── a.txt │ │ ├── left.yml │ │ ├── right.yml │ │ └── stereo.yml │ ├── lin3 │ │ ├── a.txt │ │ ├── left.yml │ │ ├── right.yml │ │ └── stereo.yml │ ├── lin4 │ │ ├── a.txt │ │ ├── left.yml │ │ ├── right.yml │ │ └── stereo.yml │ ├── ling1 │ │ ├── a.txt │ │ ├── left.yml │ │ ├── right.yml │ │ └── stereo.yml │ └── sample │ │ └── left.yml ├── cfg │ └── debug.cfg ├── launch │ ├── bluefox.launch │ ├── euroc.launch │ ├── kitti.launch │ ├── lin.launch │ ├── ling.launch │ ├── sample.launch │ └── sample_all.launch ├── package.xml ├── src │ ├── calc_cost.cpp │ ├── calc_cost.cu │ ├── calc_cost.cu.bak │ ├── calc_cost.h │ ├── gpu_test.cpp │ ├── parameters.cpp │ ├── parameters.h │ ├── stereo_mapper.cpp │ ├── stereo_mapper.h │ ├── stereo_mapper_node.cpp │ └── tic_toc.h └── todo.txt └── support ├── icra2017zhenfei.pdf └── notes ├── Appendix.pdf └── vins2016zhenfei.pdf /.gitignore: -------------------------------------------------------------------------------- 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