├── README.md ├── week1 ├── CMakeLists.txt ├── Sophus │ ├── CMakeLists.txt │ ├── README │ ├── SophusConfig.cmake.in │ ├── build │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 3.5.1 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeOutput.log │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── Sophus.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── sophus │ │ │ │ │ ├── scso3.cpp.o │ │ │ │ │ ├── se2.cpp.o │ │ │ │ │ ├── se3.cpp.o │ │ │ │ │ ├── sim3.cpp.o │ │ │ │ │ ├── so2.cpp.o │ │ │ │ │ └── so3.cpp.o │ │ │ ├── TargetDirectories.txt │ │ │ ├── cmake.check_cache │ │ │ ├── feature_tests.bin │ │ │ ├── feature_tests.c │ │ │ ├── feature_tests.cxx │ │ │ ├── progress.marks │ │ │ ├── test_scso3.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── sophus │ │ │ │ │ └── test_scso3.cpp.o │ │ │ ├── test_se2.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── sophus │ │ │ │ │ └── test_se2.cpp.o │ │ │ ├── test_se3.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── sophus │ │ │ │ │ └── test_se3.cpp.o │ │ │ ├── test_sim3.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── sophus │ │ │ │ │ └── test_sim3.cpp.o │ │ │ ├── test_so2.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── sophus │ │ │ │ │ └── test_so2.cpp.o │ │ │ └── test_so3.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── sophus │ │ │ │ └── test_so3.cpp.o │ │ ├── CTestTestfile.cmake │ │ ├── Makefile │ │ ├── SophusConfig.cmake │ │ ├── cmake_install.cmake │ │ ├── libSophus.so │ │ ├── test_scso3 │ │ ├── test_se2 │ │ ├── test_se3 │ │ ├── test_sim3 │ │ ├── test_so2 │ │ └── test_so3 │ ├── cmake_modules │ │ └── FindEigen3.cmake │ └── sophus │ │ ├── scso3.cpp │ │ ├── scso3.h │ │ ├── se2.cpp │ │ ├── se2.h │ │ ├── se3.cpp │ │ ├── se3.h │ │ ├── sim3.cpp │ │ ├── sim3.h │ │ ├── so2.cpp │ │ ├── so2.h │ │ ├── so3.cpp │ │ ├── so3.h │ │ ├── test_scso3.cpp │ │ ├── test_se2.cpp │ │ ├── test_se3.cpp │ │ ├── test_sim3.cpp │ │ ├── test_so2.cpp │ │ └── test_so3.cpp └── question_2.cpp ├── week2 ├── .catkin_workspace ├── README.md ├── kalibr_allan │ ├── data │ │ ├── results_20191027T145415_accel.png │ │ └── results_20191027T145415_gyro.png │ └── matlab │ │ ├── SCRIPT_allan_matparallel.m │ │ ├── SCRIPT_noise_conversion.m │ │ ├── SCRIPT_process_results.m │ │ └── functions │ │ ├── allan_v3 │ │ ├── allan.m │ │ ├── allanv1_71.m │ │ └── license.txt │ │ └── gen_chart.m ├── markdowm │ ├── Figure_1.png │ ├── Figure_all.png │ ├── Figure_midpoint.png │ ├── results_20191027T145415_accel.png │ └── results_20191027T145415_gyro.png ├── src │ ├── CMakeLists.txt │ ├── bagconvert │ │ ├── CMakeLists.txt │ │ ├── ReadMe.md │ │ ├── cmake │ │ │ ├── FindEigen3.cmake │ │ │ └── FindMatlab.cmake │ │ ├── package.xml │ │ └── src │ │ │ └── main.cpp │ ├── code_utils │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── include │ │ │ └── code_utils │ │ │ │ ├── backward.hpp │ │ │ │ ├── cv_utils.h │ │ │ │ ├── cv_utils │ │ │ │ ├── cv_type.hpp │ │ │ │ ├── dlt │ │ │ │ │ └── dlt.h │ │ │ │ ├── pnp │ │ │ │ │ ├── linearpnp.h │ │ │ │ │ ├── nonlinearpnp.h │ │ │ │ │ ├── pnp.h │ │ │ │ │ └── utils.h │ │ │ │ ├── randomcolor.h │ │ │ │ └── scalartodata.h │ │ │ │ ├── eigen_utils.h │ │ │ │ ├── math_utils │ │ │ │ ├── Polynomial.h │ │ │ │ ├── acos_fast.h │ │ │ │ └── math_utils.h │ │ │ │ ├── ros_utils.h │ │ │ │ └── sys_utils │ │ │ │ ├── cvmat_file_io.hpp │ │ │ │ ├── eigen_file_io.hpp │ │ │ │ ├── float_equal.hpp │ │ │ │ ├── printcolor.hpp │ │ │ │ ├── tic_toc.h │ │ │ │ └── timeinseconds.hpp │ │ ├── package.xml │ │ └── src │ │ │ ├── cv_utils.cc │ │ │ ├── cv_utils │ │ │ ├── dlt │ │ │ │ └── dlt.cpp │ │ │ └── pnp │ │ │ │ ├── linearpnp.cpp │ │ │ │ ├── nonlinearpnp.cpp │ │ │ │ └── pnp.cpp │ │ │ ├── mat_io_test.cpp │ │ │ ├── math_utils │ │ │ └── Polynomial.cpp │ │ │ ├── poly_test.cpp │ │ │ └── sumpixel_test.cpp │ ├── imu_utils │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── README.md │ │ ├── _config.yml │ │ ├── data │ │ │ ├── data_imutest_acc_t.txt │ │ │ ├── data_imutest_acc_x.txt │ │ │ ├── data_imutest_acc_y.txt │ │ │ ├── data_imutest_acc_z.txt │ │ │ ├── data_imutest_gyr_t.txt │ │ │ ├── data_imutest_gyr_x.txt │ │ │ ├── data_imutest_gyr_y.txt │ │ │ ├── data_imutest_gyr_z.txt │ │ │ ├── data_imutest_sim_acc_t.txt │ │ │ ├── data_imutest_sim_acc_x.txt │ │ │ ├── data_imutest_sim_acc_y.txt │ │ │ ├── data_imutest_sim_acc_z.txt │ │ │ ├── data_imutest_sim_gyr_t.txt │ │ │ ├── data_imutest_sim_gyr_x.txt │ │ │ ├── data_imutest_sim_gyr_y.txt │ │ │ ├── data_imutest_sim_gyr_z.txt │ │ │ └── imutest_imu_param.yaml │ │ ├── figure │ │ │ ├── acc.jpg │ │ │ └── gyr.jpg │ │ ├── launch │ │ │ ├── 16448.launch │ │ │ ├── A3.launch │ │ │ ├── gx4.launch │ │ │ ├── imu.launch │ │ │ ├── n3.launch │ │ │ ├── tum.launch │ │ │ └── xsens.launch │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── all_of_draw_allan.m │ │ │ ├── all_of_draw_allan_acc.m │ │ │ ├── allan_with_degree.m │ │ │ ├── avg_of_all_sensors.m │ │ │ ├── avg_of_all_sensors_acc.m │ │ │ ├── draw_allan.m │ │ │ ├── ideal_allan.m │ │ │ └── untitled.jpg │ │ └── src │ │ │ ├── acc_lib │ │ │ ├── allan_acc.cpp │ │ │ ├── allan_acc.h │ │ │ ├── fitallan_acc.cpp │ │ │ └── fitallan_acc.h │ │ │ ├── gyr_lib │ │ │ ├── allan_gyr.cpp │ │ │ ├── allan_gyr.h │ │ │ ├── fitallan_gyr.cpp │ │ │ └── fitallan_gyr.h │ │ │ ├── imu_an.cpp │ │ │ ├── type.h │ │ │ └── utils.h │ └── vio_data_simulation-ros_version │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── package.xml │ │ └── src │ │ ├── gener_alldata.cpp │ │ ├── gener_alldata_txt.cpp │ │ ├── imu.cpp │ │ ├── imu.h │ │ ├── param.cpp │ │ ├── param.h │ │ ├── utilities.cpp │ │ └── utilities.h └── vio_data_simulation │ ├── CMakeLists.txt │ ├── README.md │ ├── Sophus │ ├── CMakeLists.txt │ ├── README │ ├── SophusConfig.cmake.in │ ├── cmake_modules │ │ └── FindEigen3.cmake │ └── sophus │ │ ├── scso3.cpp │ │ ├── scso3.h │ │ ├── se2.cpp │ │ ├── se2.h │ │ ├── se3.cpp │ │ ├── se3.h │ │ ├── sim3.cpp │ │ ├── sim3.h │ │ ├── so2.cpp │ │ ├── so2.h │ │ ├── so3.cpp │ │ ├── so3.h │ │ ├── test_scso3.cpp │ │ ├── test_se2.cpp │ │ ├── test_se3.cpp │ │ ├── test_sim3.cpp │ │ ├── test_so2.cpp │ │ └── test_so3.cpp │ ├── build.sh │ ├── cmake_modules │ └── FindEigen3.cmake │ ├── main │ └── gener_alldata.cpp │ ├── python_tool │ ├── GeometryLib.py │ ├── __pycache__ │ │ ├── GeometryLib.cpython-37.pyc │ │ └── transformations.cpython-37.pyc │ ├── draw_points.py │ ├── draw_trajcory.py │ └── transformations.py │ └── src │ ├── imu.cpp │ ├── imu.h │ ├── param.cpp │ ├── param.h │ ├── utilities.cpp │ └── utilities.h ├── week3 ├── CurveFitting_LM │ ├── CMakeLists.txt │ ├── app │ │ ├── CMakeLists.txt │ │ └── CurveFitting.cpp │ ├── backend │ │ ├── CMakeLists.txt │ │ ├── backend.h │ │ ├── edge.cc │ │ ├── edge.h │ │ ├── eigen_types.h │ │ ├── problem.cc │ │ ├── problem.h │ │ ├── vertex.cc │ │ └── vertex.h │ ├── cmake │ │ ├── FindEigen.cmake │ │ └── FindGlog.cmake │ ├── readme.md.txt │ └── utils │ │ ├── CMakeLists.txt │ │ └── tic_toc.h ├── README.md └── 图片1.png ├── week4 ├── README.md ├── doc.pdf ├── nullspace_test │ ├── CMakeLists.txt │ ├── cmake │ │ └── FindEigen3.cmake │ ├── hessian_nullspace_test.cpp │ ├── readme.md │ └── readme.pdf ├── 图片1.png └── 图片2.png └── week5 ├── README.md ├── README.pdf └── hw_course5 ├── .idea ├── .gitignore ├── .name ├── hw_course5.iml ├── misc.xml ├── modules.xml └── vcs.xml ├── CMakeLists.txt ├── app ├── CMakeLists.txt ├── CurveFitting.cpp └── TestMonoBA.cpp ├── backend ├── CMakeLists.txt ├── backend.h ├── edge.cc ├── edge.h ├── edge_imu.cc ├── edge_imu.h ├── edge_prior.cpp ├── edge_prior.h ├── edge_reprojection.cc ├── edge_reprojection.h ├── eigen_types.h ├── imu_integration.cc ├── imu_integration.h ├── loss_function.cc ├── loss_function.h ├── problem.cc ├── problem.h ├── vertex.cc ├── vertex.h ├── vertex_inverse_depth.h ├── vertex_motion.h ├── vertex_point_xyz.h ├── vertex_pose.cc └── vertex_pose.h ├── cmake-build-debug ├── CMakeCache.txt ├── CMakeFiles │ ├── 3.15.3 │ │ ├── CMakeCCompiler.cmake │ │ ├── CMakeCXXCompiler.cmake │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ ├── CMakeSystem.cmake │ │ ├── CompilerIdC │ │ │ ├── CMakeCCompilerId.c │ │ │ └── a.out │ │ └── CompilerIdCXX │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ └── a.out │ ├── CMakeDirectoryInformation.cmake │ ├── CMakeOutput.log │ ├── FindOpenMP │ │ ├── OpenMPCheckVersion.c │ │ ├── OpenMPCheckVersion.cpp │ │ ├── OpenMPTryFlag.c │ │ ├── OpenMPTryFlag.cpp │ │ ├── ompver_C.bin │ │ └── ompver_CXX.bin │ ├── Makefile.cmake │ ├── Makefile2 │ ├── TargetDirectories.txt │ ├── clion-environment.txt │ ├── clion-log.txt │ ├── cmake.check_cache │ └── progress.marks ├── Makefile ├── app │ ├── CMakeFiles │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── progress.marks │ │ ├── testCurveFitting.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ └── testMonoBA.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ ├── Makefile │ └── cmake_install.cmake ├── backend │ ├── CMakeFiles │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── progress.marks │ │ └── slam_course_backend.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── cmake_clean_target.cmake │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ ├── Makefile │ └── cmake_install.cmake ├── cmake_install.cmake ├── frontend │ ├── CMakeFiles │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── progress.marks │ │ └── slam_course_frontend.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── cmake_clean_target.cmake │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ ├── Makefile │ └── cmake_install.cmake ├── slam_course.cbp └── utils │ ├── CMakeFiles │ ├── CMakeDirectoryInformation.cmake │ └── progress.marks │ ├── Makefile │ └── cmake_install.cmake ├── cmake ├── FindEigen.cmake └── FindGlog.cmake ├── frontend ├── CMakeLists.txt ├── camera.h ├── feature.h ├── frame.cc ├── frame.h └── map_point.h ├── readme.md ├── thirdparty └── Sophus │ └── sophus │ ├── se3.hpp │ ├── so3.hpp │ └── sophus.hpp └── utils ├── CMakeLists.txt └── tic_toc.h /README.md: 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