├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cfg ├── vio.cfg └── vio_task.cfg ├── include └── tsif │ ├── element.h │ ├── element_vector.h │ ├── filter.h │ ├── filters │ ├── imu_gps.h │ └── vio.h │ ├── model.h │ ├── residual.h │ ├── residuals │ ├── accelerometer_prediction.h │ ├── attitude_findif.h │ ├── attitude_update.h │ ├── bearing_findif.h │ ├── distance_findif.h │ ├── gyroscope_update.h │ ├── image_update.h │ ├── pose_update.h │ ├── position_findif.h │ ├── position_update.h │ └── random_walk.h │ ├── timeline.h │ ├── unit_vector.h │ └── utils │ ├── camera.h │ ├── common.h │ ├── logging.h │ ├── option.h │ ├── random.h │ ├── rotation.h │ ├── simulator.h │ ├── timing.h │ └── typedefs.h └── src ├── camera.cpp ├── simulator.cpp ├── test.cpp ├── test_imu_gps.cpp ├── test_quaternion.cpp ├── test_state.cpp ├── test_timeline.cpp ├── test_unit_vector.cpp └── test_vio.cpp /.gitignore: -------------------------------------------------------------------------------- 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