├── .gitignore ├── README.md ├── 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 ├── campus.rviz ├── fisheye_mask.jpg ├── fisheye_mask_752x480.jpg ├── indoor.rviz ├── openloris │ ├── openloris_vio.yaml │ └── openloris_vio_atlas.yaml ├── realsense │ ├── vio d455.yaml │ ├── vio.yaml │ ├── vio_atlas copy.yaml │ ├── vio_atlas.yaml │ ├── vio_campus.yaml │ └── vio_indoor.yaml ├── tagaided.rviz ├── tsinghua.rviz ├── tum_rgbd │ ├── tum_fr3.yaml │ └── tum_fr3_atlas.yaml └── video.rviz ├── doc ├── INSTALL.md └── RUNNING_PROCEDURE.md ├── output └── .gitignore ├── pose_graph ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── nodelet_plugin.xml ├── package.xml └── src │ ├── 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 │ ├── keyframe │ ├── keyframe.cpp │ └── keyframe.h │ ├── pose_graph │ ├── pose_graph.cpp │ └── pose_graph.h │ ├── pose_graph_nodelet.cpp │ └── utility │ ├── CameraPoseVisualization.cpp │ ├── CameraPoseVisualization.h │ ├── parameters.h │ ├── tic_toc.h │ ├── utility.cpp │ └── utility.h ├── support_files ├── brief_k10L6.bin └── brief_pattern.yml └── vins_estimator ├── CMakeLists.txt ├── cmake └── FindEigen.cmake ├── launch ├── atlas200 │ ├── compressed2img.launch │ └── img2compressed.launch ├── openloris │ ├── openloris_vio_atlas.launch │ ├── openloris_vio_pytorch.launch │ ├── openloris_vio_tensorrt.launch │ └── openloris_vo.launch ├── realsense │ ├── l515.launch │ ├── realsense_vio.launch │ ├── realsense_vio_atlas.launch │ └── rs_camera.launch ├── tum_rgbd │ ├── tum_rgbd_atlas.launch │ ├── tum_rgbd_pytorch.launch │ └── tum_rgbd_tensorrt.launch ├── vins_rviz.launch └── yolo │ ├── atlas.launch │ ├── pytorch.launch │ └── tensorrt.launch ├── nodelet_description.xml ├── package.xml └── src ├── estimator ├── estimator.cpp └── estimator.h ├── estimator_nodelet.cpp ├── factor ├── imu_factor.h ├── imu_factor_modified.h ├── integration_base.h ├── marginalization_factor.cpp ├── marginalization_factor.h ├── pose_local_parameterization.cpp ├── pose_local_parameterization.h ├── projection_factor.cpp ├── projection_factor.h ├── projection_td_factor.cpp └── projection_td_factor.h ├── feature_manager ├── feature_manager.cpp └── feature_manager.h ├── feature_tracker ├── ThreadPool.h ├── feature_tracker.cpp └── feature_tracker.h ├── initial ├── initial_aligment.cpp ├── initial_alignment.h ├── initial_ex_rotation.cpp ├── initial_ex_rotation.h ├── initial_sfm.cpp ├── initial_sfm.h ├── solve_5pts.cpp └── solve_5pts.h └── utility 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