├── .gitignore ├── CMakeLists.txt ├── Dockerfile ├── LICENSE ├── README.md ├── Vocabulary ├── thermal_voc_3_4_dbow3_calib.yaml └── visual_voc_3_4_dbow3.yaml ├── images ├── ctio.gif ├── inv_around.png ├── inv_parallel.png └── mars_yard.png ├── include └── x │ ├── common │ ├── eigen_matrix_base_plugin.h │ ├── message_queue.h │ └── types.h │ ├── ekf │ ├── ci.h │ ├── ekf.h │ ├── propagator.h │ ├── simple_state.h │ ├── state.h │ ├── state_buffer.h │ └── updater.h │ ├── photometric_calibration │ ├── gaussian_process_regression.h │ ├── gaussian_process_regression.hxx │ ├── irPhotoCalib.h │ └── photoetricOptimization.h │ ├── place_recognition │ ├── database.h │ ├── keyframe.h │ ├── place_recognition.h │ ├── types.h │ └── vlad.h │ ├── vio │ ├── msckf_slam_update.h │ ├── msckf_update.h │ ├── multi_slam_update.h │ ├── range_update.h │ ├── slam_update.h │ ├── solar_update.h │ ├── state_manager.h │ ├── tools.h │ ├── track_manager.h │ ├── types.h │ ├── update.h │ ├── vio.h │ └── vio_updater.h │ └── vision │ ├── camera.h │ ├── feature.h │ ├── tiled_image.h │ ├── track.h │ ├── tracker.h │ ├── triangulation.h │ └── types.h ├── src └── x │ ├── ekf │ ├── ci.cpp │ ├── ekf.cpp │ ├── propagator.cpp │ ├── simple_state.cpp │ ├── state.cpp │ ├── state_buffer.cpp │ └── updater.cpp │ ├── photometric_calibration │ └── irPhotoCalib.cpp │ ├── place_recognition │ ├── database.cpp │ ├── keyframe.cpp │ ├── place_recognition.cpp │ └── vlad.cpp │ ├── vio │ ├── msckf_slam_update.cpp │ ├── msckf_update.cpp │ ├── multi_slam_update.cpp │ ├── range_update.cpp │ ├── slam_update.cpp │ ├── solar_update.cpp │ ├── state_manager.cpp │ ├── track_manager.cpp │ ├── vio.cpp │ └── vio_updater.cpp │ └── vision │ ├── camera.cpp │ ├── feature.cpp │ ├── tiled_image.cpp │ ├── track.cpp │ ├── tracker.cpp │ └── triangulation.cpp ├── third_party └── DBow3 │ ├── CMakeLists.txt │ ├── DBow3.pc.in │ ├── DBow3Config.cmake.in │ ├── LICENSE.txt │ ├── README.md │ ├── cmake_uninstall.cmake.in │ ├── include │ └── DBow3 │ │ ├── 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