├── .gitignore ├── README.md ├── config └── mvsec_vins_config.yaml ├── github └── expected_result.png ├── launch └── mvsec_test.launch ├── rviz └── mvsec_test.rviz └── src ├── CMakeLists.txt ├── camera_model ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── 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 ├── feature_tracker ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── package.xml └── src │ ├── feature_tracker.cpp │ ├── feature_tracker.h │ ├── feature_tracker_node.cpp │ ├── parameters.cpp │ ├── parameters.h │ └── tic_toc.h └── gtsam_backend ├── CMakeLists.txt ├── cmake ├── FindMKL.cmake └── FindTBB.cmake ├── include └── gtsam_backend │ ├── GraphSolver.h │ └── utils │ ├── Config.h │ ├── Convert.h │ └── State.h ├── package.xml └── src ├── GraphSolver.cpp ├── GraphSolver_FEAT.cpp ├── GraphSolver_IMU.cpp └── main_estimator.cpp /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ganlumomo/VisualInertialOdometry/HEAD/.gitignore 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