├── .gitignore ├── CMakeLists.txt ├── README.md ├── config ├── echo__terminator_config_vins_fusion_cerebro ├── euroc │ └── euroc_config_no_extrinsic.yaml ├── fly ├── mynteye │ ├── camera_left.yaml │ ├── camera_right.yaml │ ├── extrinsics.yaml │ └── mynteye_config.yaml ├── mynteye__terminator_config_vins_fusion_cerebro ├── mynteye_kannala_brandt │ ├── camera_left.yaml │ ├── camera_right.yaml │ ├── extrinsics.yaml │ └── mynteye_config.yaml ├── mynteye_pinhole │ ├── camera_left.yaml │ ├── camera_right.yaml │ ├── extrinsics.yaml │ └── mynteye_config.yaml ├── realsense__terminator_config_vins_fusion_cerebro ├── vinsfusion │ ├── djirosimu_realsense_d435i │ │ ├── README.md │ │ ├── extrinsics.yaml │ │ ├── left.yaml │ │ ├── realsense_stereo_imu_config.yaml │ │ └── right.yaml │ ├── euroc │ │ ├── cam0_pinhole.yaml │ │ ├── cam1_pinhole.yaml │ │ ├── euroc_stereo_imu_config.yaml │ │ └── extrinsics.yaml │ ├── mynteye │ │ ├── camera_left.yaml │ │ ├── camera_left_pinhole.yaml │ │ ├── camera_right.yaml │ │ ├── camera_right_pinhole.yaml │ │ ├── extrinsics.yaml │ │ └── mynteye_stereo_imu_config.yaml │ └── realsense_d435i │ │ ├── extrinsics.yaml │ │ ├── left.yaml │ │ ├── realsense_stereo_imu_config.yaml │ │ └── right.yaml └── vinsmono_debug_config.yaml ├── doc └── rosgraph.png ├── launch ├── debugging_vinsmono.launch ├── euroc_vinsfusion.launch ├── keras_server.launch ├── mynteye_vinsfusion.launch ├── mynteye_vinsfusion_loadstate.launch ├── mynteye_vinsfusion_ondrone.launch ├── mynteye_vinsfusion_savestate.launch ├── realsense_camera.launch ├── realsense_vinsfusion.launch ├── realsense_vinsfusion_ondrone_repeat.launch └── realsense_vinsfusion_ondrone_teach.launch ├── msg └── LoopEdge.msg ├── package.xml ├── rviz ├── dev-config.rviz ├── good-viz.rviz └── vins-fusion.rviz ├── scripts ├── TerminalColors.py ├── keras.models │ ├── .gitignore │ ├── Apr2019 │ │ └── gray_conv6_K16__centeredinput │ │ │ ├── core.png │ │ │ ├── core_model.1000.keras │ │ │ ├── core_t.png │ │ │ └── model.json │ ├── June2019 │ │ ├── centeredinput-m1to1-240x320x1__mobilenetv2-block_9_add__K16__allpairloss │ │ │ ├── core.png │ │ │ ├── core_t.png │ │ │ └── modelarch_and_weights.2000.h5 │ │ ├── centeredinput-m1to1-240x320x3__mobilenet-conv_pw_6_relu__K16__allpairloss │ │ │ ├── core.png │ │ │ └── modelarch_and_weights.700.h5 │ │ └── centeredinput-m1to1-240x320x3__mobilenetv2-block_9_add__K16__allpairloss │ │ │ ├── core.png │ │ │ └── modelarch_and_weights.800.h5 │ ├── README.md │ ├── core_model.keras │ ├── mobilenet_conv7_allpairloss.keras │ ├── model.json │ ├── modelarch_and_weights.h5 │ └── xcore.png ├── keras_helpers.py ├── predict_utils.py ├── unittest │ ├── demo_superpoint.py │ └── rtry_superpoint.py ├── whole_image_desc_compute_client.py └── whole_image_desc_compute_server.py ├── src ├── Cerebro.cpp ├── Cerebro.h ├── DataManager.cpp ├── DataManager.h ├── DataNode.cpp ├── DataNode.h ├── DlsPnpWithRansac.cpp ├── DlsPnpWithRansac.h ├── HypothesisManager.cpp ├── HypothesisManager.h ├── ImageDataManager.cpp ├── ImageDataManager.h ├── PNPCeresCostFunctions.h ├── PinholeCamera.cpp ├── PinholeCamera.h ├── ProcessedLoopCandidate.cpp ├── ProcessedLoopCandidate.h ├── Visualization.cpp ├── Visualization.h ├── cerebro_node.cpp ├── unittest │ ├── unittest_camera_geom_class_usage.cpp │ ├── unittest_camodocal_proj.cpp │ ├── unittest_plot2mat.cpp │ ├── unittest_pose_tester.cpp │ ├── unittest_rosservice_client.cpp │ ├── unittest_termcolor.cpp │ ├── unittest_theia.cpp │ └── unittest_theia_ransac.cpp └── utils │ ├── CameraGeometry.cpp │ ├── CameraGeometry.h │ ├── ElapsedTime.h │ ├── GMSMatcher │ ├── gms_matcher.cpp │ └── gms_matcher.h │ ├── MiscUtils.cpp │ ├── MiscUtils.cpp.2.bak │ ├── MiscUtils.cpp.bak │ ├── MiscUtils.h │ ├── MiscUtils.h.2.bak │ ├── MiscUtils.h.bak │ ├── Plot2Mat.cpp │ ├── Plot2Mat.h │ ├── PointFeatureMatching.cpp │ ├── PointFeatureMatching.h │ ├── PoseManipUtils.cpp │ ├── PoseManipUtils.cpp.bak │ ├── PoseManipUtils.h │ ├── PoseManipUtils.h.bak │ ├── RawFileIO.cpp │ ├── RawFileIO.cpp.bak │ ├── RawFileIO.h │ ├── RawFileIO.h.bak │ ├── RosMarkerUtils.cpp │ ├── RosMarkerUtils.h │ ├── SafeQueue.h │ ├── TermColor.h │ ├── camera_geometry_usage.cpp │ ├── camodocal │ ├── README.md │ ├── 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 │ └── src │ │ ├── calib │ │ └── CameraCalibration.cc │ │ ├── camera_models │ │ ├── Camera.cc │ │ ├── CameraFactory.cc │ │ ├── CataCamera.cc │ │ ├── CostFunctionFactory.cc │ │ ├── EquidistantCamera.cc │ │ ├── PinholeCamera.cc │ │ └── 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