├── CMakeLists.txt ├── LICENCE ├── README.md ├── TODO_LIST ├── include └── vins_so │ ├── estimator │ ├── estimator.h │ ├── factor │ │ ├── ProjectionFactorMultiCam.h │ │ ├── ProjectionFactorSingleCam.h │ │ ├── imu_factor.h │ │ ├── integration_base.h │ │ ├── marginalization_factor.h │ │ ├── monoprojectionfactor.h │ │ ├── pose_local_parameterization.h │ │ ├── stereoprojectionfactor.h │ │ └── stereotimeprojectionfactor.h │ ├── feature_manager │ │ └── feature_manager.h │ ├── initial_lib │ │ ├── InitialBase │ │ │ ├── initialbase.h │ │ │ └── initialgen.h │ │ ├── InitialEx │ │ │ ├── InitialEx.h │ │ │ ├── InitialExRotationCamCam.h │ │ │ ├── InitialExRotationCamImu.h │ │ │ └── exParam.h │ │ ├── InitialMono │ │ │ ├── initial_sfm.h │ │ │ ├── initialmonovio.h │ │ │ └── solve_5pts.h │ │ ├── InitialStereoPnP │ │ │ └── initialstereoviopnp.h │ │ ├── InitialStereoVio │ │ │ └── initialstereovio.h │ │ ├── InitialSys │ │ │ └── initialsys.h │ │ └── VisualImuAlignment │ │ │ ├── Solvegyroscopebias.h │ │ │ ├── VisualImuAlignmentVel.h │ │ │ └── VisualImuAlignmentVelScale.h │ ├── slideWindow │ │ ├── slidewindowbase.h │ │ ├── slidewindowimu.h │ │ ├── slidewindowpose.h │ │ └── slidewindowposevel.h │ └── vins_parameters.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 │ ├── type │ ├── featuretype.h │ ├── imudata.h │ └── transform.h │ └── utility │ ├── CameraPoseVisualization.h │ ├── tic_toc.h │ ├── utility.h │ └── visualization.h ├── launch ├── 1.launch ├── dualfisheye.launch ├── f.launch ├── px2.launch ├── resize.launch ├── tara.launch ├── tum.launch ├── vins_rviz.launch └── visensor.launch ├── package.xml └── src ├── estimator ├── estimator.cpp ├── factor │ ├── ProjectionFactorMultiCam.cpp │ ├── ProjectionFactorSingleCam.cpp │ ├── marginalization_factor.cpp │ ├── monoprojectionfactor.cpp │ ├── pose_local_parameterization.cpp │ ├── stereoprojectionfactor.cpp │ └── stereotimeprojectionfactor.cpp ├── feature_manager │ └── feature_manager.cpp ├── initial_lib │ ├── InitialBase │ │ ├── initialbase.cpp │ │ └── initialgen.cpp │ ├── InitialEx │ │ ├── InitialEx.cpp │ │ ├── InitialExRotationCamCam.cpp │ │ ├── InitialExRotationCamImu.cpp │ │ └── exParam.cpp │ ├── InitialMono │ │ ├── initial_sfm.cpp │ │ ├── initialmonovio.cpp │ │ └── solve_5pts.cpp │ ├── InitialStereoPnP │ │ └── initialstereoviopnp.cpp │ ├── InitialStereoVio │ │ └── initialstereovio.cpp │ ├── InitialSys │ │ └── initialsys.cpp │ └── VisualImuAlignment │ │ ├── VisualImuAlignmentVel.cpp │ │ └── VisualImuAlignmentVelScale.cpp ├── slideWindow │ ├── slidewindowbase.cpp │ ├── slidewindowimu.cpp │ ├── slidewindowpose.cpp │ └── slidewindowposevel.cpp └── vins_parameters.cpp ├── estimator_node.cpp ├── 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 │ │ 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