├── README.md ├── camera_model ├── CMakeLists.txt ├── 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 ├── _fisheye_mask.jpg ├── default.rviz ├── euroc │ ├── euroc_config.yaml │ ├── euroc_config_no_extrinsic.yaml │ ├── ex_calib_result.yaml │ └── vins_result.csv ├── euroc_cam0.yaml ├── ex_calib_result.yaml ├── fisheye7251 │ ├── 7251A_config.yaml │ ├── 7251A_pinhole_config.yaml │ ├── 7251_config.yaml │ └── vins_result.csv ├── fisheye_mask.jpg ├── phab2pro │ ├── fisheye_left.yaml │ └── vins_result.csv ├── vins_result.csv ├── vins_rviz_config.rviz ├── visensor_100t#14 │ ├── right.yaml │ ├── vins_result.csv │ ├── visensor_100t#14-160.yaml │ └── visensor_100t#14-9250.yaml └── visensor_50t#3 │ ├── fisheye_left.yaml │ └── vins_result.csv ├── image_processor ├── CMakeLists.txt ├── LICENSE.txt ├── cmake │ └── FindSuiteSparse.cmake ├── config │ ├── camchain-imucam-100t14-160.yaml │ ├── camchain-imucam-100t14-9250.yaml │ ├── camchain-imucam-100t14.yaml │ ├── camchain-imucam-euroc-noextrinsics.yaml │ ├── camchain-imucam-euroc.yaml │ └── camchain-imucam-fla.yaml ├── include │ ├── cam_state.h │ ├── feature.hpp │ ├── image_processor.h │ ├── image_processor_nodelet.h │ ├── imu_state.h │ ├── math_utils.hpp │ └── utils.h ├── launch │ ├── image_processor_100t14.launch │ └── image_processor_euroc.launch ├── msg │ ├── CameraMeasurement.msg │ ├── FeatureMeasurement.msg │ └── TrackingInfo.msg ├── nodelets.xml ├── package.xml ├── src │ ├── image_processor.cpp │ ├── image_processor_nodelet.cpp │ ├── tic_toc.h │ └── utils.cpp └── test │ ├── feature_initialization_test.cpp │ └── math_utils_test.cpp ├── tools └── evaluate.sh ├── vins_estimator ├── CMakeLists.txt ├── launch │ ├── 3dm.launch │ ├── A3.launch │ ├── accurate_50t3.yaml │ ├── euroc.launch │ ├── euroc_no_extrinsic_param.launch │ ├── fisheye7251.launch │ ├── fisheye7251A.launch │ ├── fisheye7251A_pinhole.launch │ ├── phab2pro.launch │ ├── test.launch │ ├── vins_rviz.launch │ ├── visensor_100t#14.launch │ ├── visensor_100t#20.launch │ ├── visensor_100t#20_msckf.launch │ ├── visensor_100t#5.launch │ ├── visensor_100t#6.launch │ ├── visensor_100t#6_msckf.launch │ ├── visensor_50t#1.launch │ ├── visensor_50t#3.launch │ ├── visensor_50t#3_imuklt.launch │ ├── visensor_50t#3_msckf.launch │ ├── visensor_50t#3_new.launch │ └── zed.launch ├── package.xml └── src │ ├── estimator.cpp │ ├── estimator.h │ ├── estimator_node.cpp │ ├── factor │ ├── imu_factor.h │ ├── integration_base.h │ ├── marginalization_factor.cpp │ ├── marginalization_factor.h │ ├── pose_local_parameterization.cpp │ ├── pose_local_parameterization.h │ ├── projection_factor.cpp │ └── projection_factor.h │ ├── feature_manager.cpp │ ├── feature_manager.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 │ ├── loop-closure │ ├── DLoopDetector.h │ ├── TemplatedLoopDetector.h │ ├── 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 │ ├── demoDetector.h │ ├── keyframe.cpp │ ├── keyframe.h │ ├── keyframe_database.cpp │ ├── keyframe_database.h │ ├── loop_closure.cpp │ └── loop_closure.h │ ├── parameters.cpp │ ├── parameters.h │ └── utility │ ├── CameraPoseVisualization.cpp │ ├── CameraPoseVisualization.h │ ├── tic_toc.h │ ├── utility.cpp │ ├── utility.h │ ├── visualization.cpp │ └── visualization.h ├── vins_estimator_master ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── launch │ ├── 3dm.launch │ ├── black_box.launch │ ├── cla.launch │ ├── euroc.launch │ ├── euroc_no_extrinsic_param.launch │ ├── realsense_color.launch │ ├── realsense_fisheye.launch │ ├── tum.launch │ ├── vins_rviz.launch │ ├── visensor_100t#14-160.launch │ ├── visensor_100t#14.launch │ ├── visensor_100t#20.launch │ ├── visensor_100t#4.launch │ └── visensor_50t#3.launch ├── package.xml └── src │ ├── estimator.cpp │ ├── estimator.h │ ├── estimator_node.cpp │ ├── factor │ ├── imu_factor.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.cpp │ ├── feature_manager.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 │ ├── parameters.cpp │ ├── parameters.h │ └── utility │ ├── CameraPoseVisualization.cpp │ ├── CameraPoseVisualization.h │ ├── tic_toc.h │ ├── utility.cpp │ ├── utility.h │ ├── visualization.cpp │ └── visualization.h └── vins_estimator_stereo ├── CMakeLists.txt ├── launch ├── euroc.launch ├── euroc_debug.launch ├── euroc_no_extrinsic_param.launch ├── vins_rviz.launch ├── visensor_100t#14-160.launch ├── visensor_100t#14-9250.launch └── visensor_100t#14-compare.launch ├── package.xml └── src ├── estimator.cpp ├── estimator.h ├── estimator_node.cpp ├── factor ├── imu_factor.h ├── integration_base.h ├── marginalization_factor.cpp ├── marginalization_factor.h ├── pose_local_parameterization.cpp ├── pose_local_parameterization.h ├── projection_factor.cpp └── projection_factor.h ├── feature_manager.cpp ├── feature_manager.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 ├── loop-closure ├── DLoopDetector.h ├── TemplatedLoopDetector.h ├── 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 ├── demoDetector.h ├── keyframe.cpp ├── keyframe.h ├── keyframe_database.cpp ├── keyframe_database.h ├── loop_closure.cpp └── loop_closure.h ├── parameters.cpp ├── parameters.h └── utility ├── CameraPoseVisualization.cpp ├── CameraPoseVisualization.h ├── tic_toc.h ├── utility.cpp ├── utility.h ├── visualization.cpp └── 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