├── .gitignore ├── LICENCE ├── README.md ├── camera_models ├── CMakeLists.txt ├── camera_calib_example │ ├── calibrationdata │ │ ├── left-0000.png │ │ ├── left-0001.png │ │ ├── left-0002.png │ │ ├── left-0003.png │ │ ├── left-0004.png │ │ ├── left-0005.png │ │ ├── left-0006.png │ │ ├── left-0007.png │ │ ├── left-0008.png │ │ ├── left-0009.png │ │ ├── left-0010.png │ │ ├── left-0011.png │ │ ├── left-0012.png │ │ ├── left-0013.png │ │ ├── left-0014.png │ │ ├── left-0015.png │ │ ├── left-0016.png │ │ ├── left-0017.png │ │ ├── left-0018.png │ │ ├── left-0019.png │ │ ├── left-0020.png │ │ ├── left-0021.png │ │ ├── left-0022.png │ │ ├── left-0023.png │ │ ├── left-0024.png │ │ ├── left-0025.png │ │ ├── left-0026.png │ │ ├── left-0027.png │ │ ├── left-0028.png │ │ ├── left-0029.png │ │ ├── left-0030.png │ │ ├── left-0031.png │ │ ├── left-0032.png │ │ ├── left-0033.png │ │ ├── left-0034.png │ │ ├── left-0035.png │ │ ├── left-0036.png │ │ ├── left-0037.png │ │ ├── left-0038.png │ │ ├── left-0039.png │ │ ├── left-0040.png │ │ ├── left-0041.png │ │ ├── left-0042.png │ │ ├── left-0043.png │ │ ├── left-0044.png │ │ ├── left-0045.png │ │ ├── left-0046.png │ │ ├── left-0047.png │ │ ├── left-0048.png │ │ ├── left-0049.png │ │ ├── left-0050.png │ │ ├── left-0051.png │ │ ├── left-0052.png │ │ ├── left-0053.png │ │ ├── left-0054.png │ │ ├── left-0055.png │ │ ├── left-0056.png │ │ ├── left-0057.png │ │ ├── left-0058.png │ │ ├── left-0059.png │ │ ├── left-0060.png │ │ ├── left-0061.png │ │ ├── left-0062.png │ │ ├── left-0063.png │ │ ├── left-0064.png │ │ ├── left-0065.png │ │ ├── left-0066.png │ │ ├── left-0067.png │ │ ├── left-0068.png │ │ ├── left-0069.png │ │ ├── left-0070.png │ │ ├── left-0071.png │ │ ├── left-0072.png │ │ ├── left-0073.png │ │ ├── left-0074.png │ │ ├── left-0075.png │ │ ├── left-0076.png │ │ ├── left-0077.png │ │ ├── left-0078.png │ │ ├── left-0079.png │ │ ├── left-0080.png │ │ ├── left-0081.png │ │ ├── left-0082.png │ │ ├── left-0083.png │ │ └── left-0084.png │ └── readme.txt ├── cmake │ └── FindEigen.cmake ├── include │ └── camodocal │ │ ├── calib │ │ └── CameraCalibration.h │ │ ├── camera_models │ │ ├── Camera.h │ │ ├── CameraFactory.h │ │ ├── CataCamera.h │ │ ├── CostFunctionFactory.h │ │ ├── EquidistantCamera.h │ │ ├── PinholeCamera.h │ │ ├── PinholeFullCamera.h │ │ └── ScaramuzzaCamera.h │ │ ├── chessboard │ │ ├── Chessboard.h │ │ ├── ChessboardCorner.h │ │ ├── ChessboardQuad.h │ │ └── Spline.h │ │ ├── gpl │ │ ├── EigenQuaternionParameterization.h │ │ ├── EigenUtils.h │ │ └── gpl.h │ │ └── sparse_graph │ │ └── Transform.h ├── package.xml ├── readme.md └── src │ ├── calib │ └── CameraCalibration.cc │ ├── camera_models │ ├── Camera.cc │ ├── CameraFactory.cc │ ├── CataCamera.cc │ ├── CostFunctionFactory.cc │ ├── EquidistantCamera.cc │ ├── PinholeCamera.cc │ ├── PinholeFullCamera.cc │ └── ScaramuzzaCamera.cc │ ├── chessboard │ └── Chessboard.cc │ ├── gpl │ ├── EigenQuaternionParameterization.cc │ └── gpl.cc │ ├── intrinsic_calib.cc │ └── sparse_graph │ └── Transform.cc ├── config ├── A3_ptgrey │ ├── a3_ptgrey_mono_imu_config.yaml │ ├── a3_ptgrey_stereo_config.yaml │ ├── a3_ptgrey_stereo_imu_config.yaml │ ├── a3_ptgrey_stereo_imu_config_backup.yaml │ ├── left.yaml │ └── right.yaml ├── d455 │ ├── realsense_infra1.yaml │ ├── realsense_infra2.yaml │ └── vins_fusion_realsense_d455.yaml ├── euroc │ ├── cam0_mei.yaml │ ├── cam0_pinhole.yaml │ ├── cam1_mei.yaml │ ├── cam1_pinhole.yaml │ ├── euroc_mono_imu_config.yaml │ ├── euroc_stereo_config.yaml │ └── euroc_stereo_imu_config.yaml ├── extrinsic_parameter_example.pdf ├── fisheye_mask.jpg ├── fisheye_mask_752x480.jpg ├── kitti_odom │ ├── cam00-02.yaml │ ├── cam03.yaml │ ├── cam04-12.yaml │ ├── cam13-21.yaml │ ├── kitti_config00-02.yaml │ ├── kitti_config03.yaml │ ├── kitti_config04-12.yaml │ └── kitti_config13-21.yaml ├── kitti_raw │ ├── cam_09_30.yaml │ ├── cam_10_03.yaml │ ├── kitti_09_30_config.yaml │ └── kitti_10_03_config.yaml ├── mynteye │ ├── left_mei.yaml │ ├── mynteye_mono_imu_config.yaml │ ├── mynteye_stereo_config.yaml │ ├── mynteye_stereo_imu_config.yaml │ └── right_mei.yaml ├── realsense_d435i │ ├── left.yaml │ ├── realsense_stereo_imu_config.yaml │ ├── right.yaml │ └── rs_camera.launch ├── simulation │ ├── cam0_mei.yaml │ ├── cam1_mei.yaml │ └── simulation_config.yaml ├── vi_car │ ├── cam0_mei.yaml │ ├── cam0_pinhole.yaml │ ├── cam1_mei.yaml │ ├── cam1_pinhole.yaml │ └── vi_car.yaml └── vins_rviz_config.rviz ├── covins_comm ├── CMakeLists.txt ├── config │ └── config_comm.yaml ├── include │ └── covins │ │ └── covins_base │ │ ├── communicator_base.hpp │ │ ├── config_comm.hpp │ │ ├── msgs │ │ ├── msg_keyframe.hpp │ │ └── msg_landmark.hpp │ │ ├── typedefs_base.hpp │ │ └── utils_base.hpp ├── package.xml ├── src │ └── covins_base │ │ ├── communicator_base.cpp │ │ ├── config_comm.cpp │ │ ├── msgs │ │ ├── msg_keyframe.cpp │ │ └── msg_landmark.cpp │ │ └── utils_base.cpp └── thirdparty │ └── cereal │ ├── access.hpp │ ├── archives │ ├── adapters.hpp │ ├── binary.hpp │ ├── json.hpp │ ├── portable_binary.hpp │ └── xml.hpp │ ├── cereal.hpp │ ├── details │ ├── helpers.hpp │ ├── polymorphic_impl.hpp │ ├── polymorphic_impl_fwd.hpp │ ├── static_object.hpp │ ├── traits.hpp │ └── util.hpp │ ├── external │ ├── base64.hpp │ ├── rapidjson │ │ ├── allocators.h │ │ ├── document.h │ │ ├── encodedstream.h │ │ ├── encodings.h │ │ ├── error │ │ │ ├── en.h │ │ │ └── error.h │ │ ├── filereadstream.h │ │ ├── filewritestream.h │ │ ├── fwd.h │ │ ├── internal │ │ │ ├── biginteger.h │ │ │ ├── diyfp.h │ │ │ ├── dtoa.h │ │ │ ├── ieee754.h │ │ │ ├── itoa.h │ │ │ ├── meta.h │ │ │ ├── pow10.h │ │ │ ├── regex.h │ │ │ ├── stack.h │ │ │ ├── strfunc.h │ │ │ ├── strtod.h │ │ │ └── swap.h │ │ ├── istreamwrapper.h │ │ ├── memorybuffer.h │ │ ├── memorystream.h │ │ ├── msinttypes │ │ │ ├── inttypes.h │ │ │ └── stdint.h │ │ ├── ostreamwrapper.h │ │ ├── pointer.h │ │ ├── prettywriter.h │ │ ├── rapidjson.h │ │ ├── reader.h │ │ ├── schema.h │ │ ├── stream.h │ │ ├── stringbuffer.h │ │ └── writer.h │ └── rapidxml │ │ ├── license.txt │ │ ├── manual.html │ │ ├── rapidxml.hpp │ │ ├── rapidxml_iterators.hpp │ │ ├── rapidxml_print.hpp │ │ └── rapidxml_utils.hpp │ ├── macros.hpp │ └── types │ ├── array.hpp │ ├── base_class.hpp │ ├── bitset.hpp │ ├── boost_variant.hpp │ ├── chrono.hpp │ ├── common.hpp │ ├── complex.hpp │ ├── concepts │ └── pair_associative_container.hpp │ ├── deque.hpp │ ├── forward_list.hpp │ ├── functional.hpp │ ├── list.hpp │ ├── map.hpp │ ├── memory.hpp │ ├── polymorphic.hpp │ ├── queue.hpp │ ├── set.hpp │ ├── stack.hpp │ ├── string.hpp │ ├── tuple.hpp │ ├── unordered_map.hpp │ ├── unordered_set.hpp │ ├── utility.hpp │ ├── valarray.hpp │ └── vector.hpp ├── docker ├── Dockerfile ├── Makefile ├── run_vins_covins_euroc.sh ├── run_vins_frontend_euroc.sh └── run_vins_frontend_realsense.sh ├── global_fusion ├── CMakeLists.txt ├── ThirdParty │ └── GeographicLib │ │ ├── CMakeLists.txt │ │ ├── include │ │ ├── Config.h │ │ ├── Constants.hpp │ │ ├── Geocentric.hpp │ │ ├── LocalCartesian.hpp │ │ └── Math.hpp │ │ └── src │ │ ├── Geocentric.cpp │ │ ├── LocalCartesian.cpp │ │ └── Math.cpp ├── models │ ├── car.dae │ └── hummingbird.mesh ├── package.xml └── src │ ├── Factors.h │ ├── globalOpt.cpp │ ├── globalOpt.h │ ├── globalOptNode.cpp │ └── tic_toc.h ├── loop_fusion ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── package.xml └── src │ ├── ORBextractor.cc │ ├── ORBextractor.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 │ └── cereal │ │ ├── access.hpp │ │ ├── archives │ │ ├── adapters.hpp │ │ ├── binary.hpp │ │ ├── json.hpp │ │ ├── portable_binary.hpp │ │ └── xml.hpp │ │ ├── cereal.hpp │ │ ├── details │ │ ├── helpers.hpp │ │ ├── polymorphic_impl.hpp │ │ ├── polymorphic_impl_fwd.hpp │ │ ├── static_object.hpp │ │ ├── traits.hpp │ │ └── util.hpp │ │ ├── external │ │ ├── base64.hpp │ │ ├── rapidjson │ │ │ ├── allocators.h │ │ │ ├── document.h │ │ │ ├── encodedstream.h │ │ │ ├── encodings.h │ │ │ ├── error │ │ │ │ ├── en.h │ │ │ │ └── error.h │ │ │ ├── filereadstream.h │ │ │ ├── filewritestream.h │ │ │ ├── fwd.h │ │ │ ├── internal │ │ │ │ ├── biginteger.h │ │ │ │ ├── diyfp.h │ │ │ │ ├── dtoa.h │ │ │ │ ├── ieee754.h │ │ │ │ ├── itoa.h │ │ │ │ ├── meta.h │ │ │ │ ├── pow10.h │ │ │ │ ├── regex.h │ │ │ │ ├── stack.h │ │ │ │ ├── strfunc.h │ │ │ │ ├── strtod.h │ │ │ │ └── swap.h │ │ │ ├── istreamwrapper.h │ │ │ ├── memorybuffer.h │ │ │ ├── memorystream.h │ │ │ ├── msinttypes │ │ │ │ ├── inttypes.h │ │ │ │ └── stdint.h │ │ │ ├── ostreamwrapper.h │ │ │ ├── pointer.h │ │ │ ├── prettywriter.h │ │ │ ├── rapidjson.h │ │ │ ├── reader.h │ │ │ ├── schema.h │ │ │ ├── stream.h │ │ │ ├── stringbuffer.h │ │ │ └── writer.h │ │ └── rapidxml │ │ │ ├── license.txt │ │ │ ├── manual.html │ │ │ ├── rapidxml.hpp │ │ │ ├── rapidxml_iterators.hpp │ │ │ ├── rapidxml_print.hpp │ │ │ └── rapidxml_utils.hpp │ │ ├── macros.hpp │ │ └── types │ │ ├── array.hpp │ │ ├── base_class.hpp │ │ ├── bitset.hpp │ │ ├── boost_variant.hpp │ │ ├── chrono.hpp │ │ ├── common.hpp │ │ ├── complex.hpp │ │ ├── concepts │ │ └── pair_associative_container.hpp │ │ ├── deque.hpp │ │ ├── forward_list.hpp │ │ ├── functional.hpp │ │ ├── list.hpp │ │ ├── map.hpp │ │ ├── memory.hpp │ │ ├── polymorphic.hpp │ │ ├── queue.hpp │ │ ├── set.hpp │ │ ├── stack.hpp │ │ ├── string.hpp │ │ ├── tuple.hpp │ │ ├── unordered_map.hpp │ │ ├── unordered_set.hpp │ │ ├── utility.hpp │ │ ├── valarray.hpp │ │ └── vector.hpp │ ├── comm_interface │ ├── communicator.cpp │ └── communicator.hpp │ ├── keyframe.cpp │ ├── keyframe.h │ ├── parameters.h │ ├── pose_graph.cpp │ ├── pose_graph.h │ ├── pose_graph_node.cpp │ └── utility │ ├── CameraPoseVisualization.cpp │ ├── CameraPoseVisualization.h │ ├── tic_toc.h │ ├── utility.cpp │ └── utility.h ├── support_files ├── brief_k10L6.bin ├── brief_pattern.yml ├── image │ ├── car.png │ ├── car_gif.gif │ ├── euroc.gif │ ├── kitti.gif │ ├── kitti.png │ ├── kitti_rank.png │ ├── vins.png │ ├── vins_black.png │ └── vins_logo.png ├── paper │ └── VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator.pdf └── paper_bib.txt ├── vins_estimator ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── launch │ ├── vins_covins.launch │ ├── vins_frontend.launch │ ├── vins_frontend_realsense.launch │ └── vins_rviz.launch ├── package.xml └── src │ ├── KITTIGPSTest.cpp │ ├── KITTIOdomTest.cpp │ ├── estimator │ ├── estimator.cpp │ ├── estimator.h │ ├── feature_manager.cpp │ ├── feature_manager.h │ ├── parameters.cpp │ └── parameters.h │ ├── factor │ ├── imu_factor.h │ ├── initial_bias_factor.h │ ├── initial_pose_factor.h │ ├── integration_base.h │ ├── marginalization_factor.cpp │ ├── marginalization_factor.h │ ├── pose_local_parameterization.cpp │ ├── pose_local_parameterization.h │ ├── projectionOneFrameTwoCamFactor.cpp │ ├── projectionOneFrameTwoCamFactor.h │ ├── projectionTwoFrameOneCamFactor.cpp │ ├── projectionTwoFrameOneCamFactor.h │ ├── projectionTwoFrameTwoCamFactor.cpp │ ├── projectionTwoFrameTwoCamFactor.h │ ├── projection_factor.cpp │ └── projection_factor.h │ ├── featureTracker │ ├── 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 │ ├── rosNodeTest.cpp │ └── utility │ ├── CameraPoseVisualization.cpp │ ├── 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