├── CMakeLists.txt ├── README.md ├── cmake ├── FindBrisk.cmake ├── FindEigen.cmake ├── FindGTSAM.cmake ├── FindOpenGV.cmake ├── FindTBB.cmake ├── Findassimp.cmake ├── aikidoConfig.cmake └── aikido_rvizConfig.cmake ├── data ├── dof_experiments.py ├── fov_experiments │ ├── plot_fov_experiments.py │ └── run_fov_experiment.py ├── plot_dof_experiments.py ├── plot_extrinsic_error.py ├── plot_fov_experiments2.py ├── plot_joint_error.py ├── plot_kinematic_error.py ├── plot_offsets.py ├── plot_position_error.py ├── plot_reproj_error.py ├── run_fov_experiment.py └── run_fov_experiment2.py ├── img ├── 20160226_122109.jpg ├── ReconstructComparison.png ├── ReconstructComparison.xcf ├── ReconstructComparison2.png ├── ReconstructComparison2.xcf ├── ReconstructComparison3.png ├── apriltags_back.png ├── apriltags_shelf.png ├── apriltags_side.png ├── apriltags_top.png ├── bad_urdf1.png ├── brisk_back.png ├── brisk_shelf.png ├── brisk_side.png ├── brisk_top.png ├── config250.png ├── config5.png ├── corrected_isam_closeup.png ├── final_joint_offsets.png ├── ground_frame250.png ├── ground_frame5.png ├── isam_closeup_1.png ├── isam_closeup_2.png ├── isam_corrected_topdown.png ├── joint_offsets.png ├── joint_offsets.smooth.png ├── kinematics_back.png ├── kinematics_closeup1.png ├── kinematics_closeup2.png ├── kinematics_corrected.png ├── kinematics_shelf.png ├── kinematics_side.png ├── kinematics_top.png ├── kinova_mico_urdf.png ├── kinova_mico_urdf2.png └── mico_straightup.png ├── include └── arm_slam_calib │ ├── ArmSlamCalib.h │ ├── DriftFactor.h │ ├── EncoderFactor.h │ ├── FrontEnd.h │ ├── Landmark.h │ ├── PerlinNoise.h │ ├── RelativePoseAdapter.h │ ├── RobotConfig.h │ ├── RobotGenerator.h │ ├── RobotProjectionFactor.h │ ├── Timer.h │ ├── Utils.h │ └── VelocityFactor.h ├── launch ├── launch_mico_brisk.launch └── launch_mico_sim.launch ├── package.xml └── src ├── ArmSlamCalib.cpp ├── FrontEnd.cpp ├── PerlinNoise.cpp ├── RelativePoseAdapter.cpp ├── RobotGenerator.cpp ├── Timer.cpp 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