├── .vscode └── settings.json ├── CMakeLists.txt ├── CMakeLists.txt.user ├── LICENSE.txt ├── README.md ├── cmake └── FindSuiteSparse.cmake ├── comparewidget.cpp ├── config ├── camchain-imucam-617.yaml ├── camchain-imucam-618.yaml ├── camchain-imucam-euroc-noextrinsics.yaml ├── camchain-imucam-euroc.yaml ├── camchain-imucam-fla.yaml ├── camchain-imucam-mynt.yaml └── mynteye_s_config.yaml ├── include ├── geo_utils.hpp ├── msckf_vio │ ├── CameraMeasurement.h │ ├── FeatureMeasurement.h │ ├── GPSMeasurement.h │ ├── TrackingInfo.h │ ├── cam_state.h │ ├── feature.hpp │ ├── image_processor.h │ ├── image_processor_nodelet.h │ ├── imu_state.h │ ├── math_utils.hpp │ ├── msckf_vio.h │ ├── msckf_vio_nodelet.h │ └── utils.h ├── random_numbers │ └── random_numbers.h └── registration.hpp ├── launch ├── image_processor_euroc.launch ├── image_processor_fla.launch ├── image_processor_mynt.launch ├── msckf_vio_euroc.launch ├── msckf_vio_euroc_noextrinsics.launch ├── msckf_vio_fla.launch ├── msckf_vio_mynt.launch ├── msckf_vio_mynt_425.launch ├── msckf_vio_mynt_425_test.launch ├── msckf_vio_mynt_gps.launch └── reset.launch ├── msg ├── CameraMeasurement.msg ├── FeatureMeasurement.msg ├── GPSMeasurement.msg └── TrackingInfo.msg ├── nodelets.xml ├── note.txt ├── package.xml ├── rviz ├── rviz_euroc_config.rviz └── rviz_fla_config.rviz ├── src ├── image_processor.cpp ├── image_processor_nodelet.cpp ├── msckf_vio.cpp ├── msckf_vio_nodelet.cpp ├── random_numbers.cpp └── utils.cpp ├── test ├── feature_initialization_test.cpp └── math_utils_test.cpp └── tools ├── .vscode └── tasks.json ├── CMakeLists.txt ├── build ├── CMakeCache.txt ├── CMakeFiles │ ├── 3.10.2 │ │ ├── CMakeCCompiler.cmake │ │ ├── CMakeCXXCompiler.cmake │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ ├── CMakeSystem.cmake │ │ ├── CompilerIdC │ │ │ ├── CMakeCCompilerId.c │ │ │ └── a.out │ │ └── CompilerIdCXX │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ └── a.out │ ├── 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