├── .circleci ├── Dockerfile └── config.yml ├── .gitignore ├── .gitmodules ├── CITING.txt ├── CMakeLists.txt ├── LICENSE.txt ├── README.md ├── TODO.md ├── cpplib ├── CMakeLists.txt ├── KontikiConfig.cmake.in └── include │ ├── entity │ ├── entity.h │ └── paramstore │ │ ├── dynamic_pstore.h │ │ ├── empty_pstore.h │ │ ├── paramstore.h │ │ └── pointer_pstore.h │ └── kontiki │ ├── constants.h │ ├── math │ └── quaternion_math.h │ ├── measurements │ ├── accelerometer_measurement.h │ ├── gyroscope_measurement.h │ ├── lifting_rscamera_measurement.h │ ├── newton_rscamera_measurement.h │ ├── orientation_measurement.h │ ├── position_measurement.h │ └── static_rscamera_measurement.h │ ├── sensors │ ├── atan_camera.h │ ├── basic_imu.h │ ├── camera.h │ ├── constant_bias_imu.h │ ├── imu.h │ ├── pinhole_camera.h │ └── sensors.h │ ├── sfm │ ├── landmark.h │ ├── landmark_impl.h │ ├── observation.h │ ├── observation_impl.h │ ├── sfm.h │ ├── view.h │ └── view_impl.h │ ├── trajectories │ ├── spline_base.h │ ├── split_trajectory.h │ ├── trajectory.h │ ├── uniform_r3_spline_trajectory.h │ ├── uniform_se3_spline_trajectory.h │ └── uniform_so3_spline_trajectory.h │ ├── trajectory_estimator.h │ └── types.h ├── docs ├── Makefile ├── conf.py ├── developers │ ├── extending.rst │ ├── ide.rst │ └── toctree.rst ├── index.rst ├── make.bat └── users │ ├── estimator.rst │ ├── install.rst │ ├── io.rst │ ├── kontiki.rst │ ├── measurements.rst │ ├── sensors.rst │ ├── sew.rst │ ├── sfm.rst │ ├── toctree.rst │ └── trajectories.rst ├── python ├── CMakeLists.txt ├── MANIFEST.in ├── kontiki │ ├── __init__.py │ ├── io.py │ ├── measurements │ │ └── __init__.py │ ├── rotations.py │ ├── sensors │ │ └── __init__.py │ ├── sew.py │ ├── templatemeta.py │ ├── trajectories │ │ └── __init__.py │ └── utils.py ├── setup.py ├── src │ └── kontiki │ │ ├── camera_defs.h │ │ ├── imu_defs.h │ │ ├── measurement_defs.h │ │ ├── measurements │ │ ├── measurement_helper.h │ │ ├── py_accelerometer_measurement.cc │ │ ├── py_gyroscope_measurement.cc │ │ ├── py_lifting_rscamera_measurement.cc │ │ ├── py_newton_rscamera_measurement.cc │ │ ├── py_orientation_measurement.cc │ │ ├── py_position_measurement.cc │ │ └── py_static_rscamera_measurement.cc │ │ ├── py_ceres.cc │ │ ├── py_trajectory_estimator.cc │ │ ├── py_version.cc │ │ ├── pysfm.cc │ │ ├── sensors │ │ ├── camera_help.h │ │ ├── imu_helper.h │ │ ├── py_atan_camera.cc │ │ ├── py_basic_imu.cc │ │ ├── py_constant_bias_imu.cc │ │ ├── py_pinhole_camera.cc │ │ └── sensors_helper.h │ │ ├── trajectories │ │ ├── py_split_trajectory.cc │ │ ├── py_uniform_r3_spline_trajectory.cc │ │ ├── py_uniform_se3_spline_trajectory.cc │ │ ├── py_uniform_so3_spline_trajectory.cc │ │ ├── spline_helpers.h │ │ └── trajectory_helper.h │ │ └── trajectory_defs.h └── tests │ ├── conftest.py │ ├── fixtures │ ├── camera_fixtures.py │ └── sfm_fixtures.py │ ├── sensors │ └── test_sensors.py │ ├── test_cameras.py │ ├── test_estimator.py │ ├── test_imu.py │ ├── test_io.py │ ├── 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