├── LICENCE ├── README.md ├── ar_demo ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── launch │ ├── 3dm_bag.launch │ ├── ar_rviz.launch │ └── realsense_ar.launch ├── package.xml └── src │ └── ar_demo_node.cpp ├── benchmark_publisher ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── config │ ├── MH_01_easy │ │ └── data.csv │ ├── MH_02_easy │ │ └── data.csv │ ├── MH_03_medium │ │ └── data.csv │ ├── MH_04_difficult │ │ └── data.csv │ ├── MH_05_difficult │ │ └── data.csv │ ├── V1_01_easy │ │ └── data.csv │ ├── V1_02_medium │ │ └── data.csv │ ├── V1_03_difficult │ │ └── data.csv │ ├── V2_01_easy │ │ └── data.csv │ ├── V2_02_medium │ │ └── data.csv │ └── V2_03_difficult │ │ └── data.csv ├── launch │ └── publish.launch ├── package.xml └── src │ └── benchmark_publisher_node.cpp ├── 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 ├── config ├── 3dm │ └── 3dm_config.yaml ├── AR_demo.rviz ├── black_box │ └── black_box_config.yaml ├── extrinsic_parameter_example.pdf ├── fisheye_mask.jpg ├── fisheye_mask_752x480.jpg ├── realsense │ └── realsense_fisheye_config.yaml ├── tum │ └── tum_config.yaml └── vins_rviz_config.rviz ├── docker ├── Dockerfile ├── Makefile └── run.sh ├── feature_tracker ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── include │ ├── feature_tracker.h │ ├── parameters.h │ └── tic_toc.h ├── package.xml └── src │ ├── feature_tracker.cpp │ ├── feature_tracker_node.cpp │ └── parameters.cpp ├── pose_graph ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── include │ ├── ThirdParty │ │ ├── DBoW │ │ │ ├── BowVector.h │ │ │ ├── DBoW2.h │ │ │ ├── FBrief.h │ │ │ ├── FClass.h │ │ │ ├── FeatureVector.h │ │ │ ├── QueryResults.h │ │ │ ├── ScoringObject.h │ │ │ ├── TemplatedDatabase.h │ │ │ └── TemplatedVocabulary.h │ │ ├── DUtils │ │ │ ├── DException.h │ │ │ ├── DUtils.h │ │ │ ├── Random.h │ │ │ └── Timestamp.h │ │ ├── DVision │ │ │ ├── BRIEF.h │ │ │ └── DVision.h │ │ └── VocabularyBinary.hpp │ ├── keyframe.h │ ├── parameters.h │ ├── pose_graph.h │ └── utility │ │ ├── CameraPoseVisualization.h │ │ ├── tic_toc.h │ │ └── utility.h ├── package.xml └── src │ ├── ThirdParty │ ├── DBoW │ │ ├── BowVector.cpp │ │ ├── FBrief.cpp │ │ ├── FeatureVector.cpp │ │ ├── QueryResults.cpp │ │ └── ScoringObject.cpp │ ├── DUtils │ │ ├── Random.cpp │ │ └── Timestamp.cpp │ ├── DVision │ │ └── BRIEF.cpp │ └── VocabularyBinary.cpp │ ├── keyframe.cpp │ ├── pose_graph.cpp │ ├── pose_graph_node.cpp │ └── utility │ ├── CameraPoseVisualization.cpp │ └── utility.cpp └── vins_estimator ├── CMakeLists.txt ├── cmake └── FindEigen.cmake ├── include ├── backend.h ├── estimator.h ├── factor │ ├── imu_factor.h │ ├── integration_base.h │ ├── marginalization_factor.h │ ├── pose_local_parameterization.h │ ├── projection_factor.h │ └── projection_td_factor.h ├── feature_manager.h ├── initial.h ├── initial │ ├── initial_alignment.h │ ├── initial_ex_rotation.h │ ├── initial_sfm.h │ └── solve_5pts.h ├── parameters.h └── utility │ ├── CameraPoseVisualization.h │ ├── tic_toc.h │ ├── utility.h │ 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