├── .gitignore ├── CMakeLists.txt ├── README.md ├── cmake_modules ├── FindEigen3.cmake └── FindGlog.cmake ├── data └── MH_01_easy │ ├── imu0 │ └── data.csv │ └── state_groundtruth_estimate0 │ ├── .DS_Store │ └── data.csv ├── include ├── PoseSpline │ ├── AngularVelocitySampleError.hpp │ ├── BSplineBase.hpp │ ├── Duration.hpp │ ├── Duration_imp.hpp │ ├── ErrorInterface.hpp │ ├── LinearAccelerateSampleError.hpp │ ├── NumbDifferentiator.hpp │ ├── NumericIntegrator.hpp │ ├── OmegaExtrinsicTemperalError.hpp │ ├── Pose.hpp │ ├── PoseLocalParameter.hpp │ ├── PoseSpline.hpp │ ├── PoseSplineSampleError.hpp │ ├── PoseSplineSampleTemporalError.hpp │ ├── PoseSplineUtility.hpp │ ├── Pose_imp.hpp │ ├── Quaternion.hpp │ ├── QuaternionError.hpp │ ├── QuaternionLocalParameter.hpp │ ├── QuaternionOmegaSampleError.hpp │ ├── QuaternionSpline.hpp │ ├── QuaternionSplineSampleAutoError.hpp │ ├── QuaternionSplineSampleError.hpp │ ├── QuaternionSplineUtility.hpp │ ├── Time.hpp │ ├── Time_imp.hpp │ ├── TypeTraits.hpp │ ├── VectorSpaceSpline.hpp │ ├── VectorSplineSampleAutoError.hpp │ ├── VectorSplineSampleError.hpp │ ├── VectorSplineSampleVelocityError.hpp │ └── maplab │ │ ├── geometry-inl.h │ │ ├── geometry.h │ │ ├── maplab_imu_factor.h │ │ ├── pose_param_jpl.h │ │ ├── quaternion-math-inl.h │ │ ├── quaternion-math.h │ │ └── quaternion_param_jpl.h ├── extern │ ├── JPL_imu_error.h │ ├── PoseLocalParameterization.hpp │ ├── PoseParameterBlock.hpp │ ├── RotateVectorError.hpp │ ├── TransformVectorError.hpp │ ├── Transformation.hpp │ ├── Transformation_imp.hpp │ ├── dynamic_spline_imu_error.h │ ├── pinhole_project_error.h │ ├── project_error.h │ ├── spline_imu_cross_error.h │ ├── spline_imu_error.h │ ├── spline_projection_error.h │ ├── spline_projection_error1.h │ ├── spline_projection_error2.h │ ├── spline_projection_error3.h │ ├── spline_projection_error4.h │ ├── spline_projection_error_simple.h │ └── vinsmono_imu_error.h └── internal │ ├── pose_local_parameterization.h │ └── utility.h ├── package.xml ├── src ├── AngularVelocitySampleError.cpp ├── Duration.cpp ├── LinearAccelerateSampleError.cpp ├── OmegaExtrinsicTemperalError.cpp ├── PoseSpline.cpp ├── PoseSplineSampleError.cpp ├── PoseSplineSampleTemporalError.cpp ├── PoseSplineUtility.cpp ├── QuaternionOmegaSampleError.cpp ├── QuaternionSpline.cpp ├── QuaternionSplineSampleError.cpp ├── QuaternionSplineUtility.cpp ├── Time.cpp ├── VectorSplineSampleAutoError.cpp ├── VectorSplineSampleVelocityError.cpp ├── extern │ ├── PoseLocalParameterization.cpp │ ├── RotateVectorError.cpp │ ├── TransformVectorError.cpp │ ├── pinhole_project_error.cpp │ ├── project_error.cpp │ ├── spline_projection_error.cpp │ ├── spline_projection_error1.cpp │ ├── spline_projection_error2.cpp │ ├── spline_projection_error3.cpp │ ├── spline_projection_error4.cpp │ └── spline_projection_error_simple.cpp ├── internal │ ├── pose_local_parameterization.cpp │ └── utility.cpp └── maplab │ └── quaternion_param_jpl.cpp └── test ├── 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