├── CMakeLists.txt ├── LICENSE.txt ├── README.md ├── _output_ └── .gitignore ├── cmake └── FindSuiteSparse.cmake ├── config ├── camchain-imucam-euroc-noextrinsics.yaml ├── camchain-imucam-euroc.yaml ├── camchain-imucam-fla.yaml └── msckf-mynt_imu_a27_is_svd.yaml ├── include └── ackermann_msckf │ ├── ackermann_msckf.h │ ├── ackermann_msckf_nodelet.h │ ├── cam_state.h │ ├── feature.hpp │ ├── image_processor_ackermann.h │ ├── image_processor_ackermann_nodelet.h │ ├── imu_state.h │ ├── integration_base.h │ ├── math_utils.hpp │ └── utils.h ├── launch ├── ack_msckf1_vq_a27.launch ├── ack_msckf2_v_a27.launch ├── ack_msckf3_vqci_a27.launch ├── ack_msckf4_vqvci_a27.launch └── image_processor_ack_msckf.launch ├── msg ├── AckermannDrive.msg ├── AckermannDriveStamped.msg ├── CameraMeasurement.msg ├── FeatureMeasurement.msg └── TrackingInfo.msg ├── nodelets.xml ├── package.xml ├── rviz ├── rviz_euroc_config.rviz ├── rviz_fla_config.rviz └── vehicle_ackermann_vio.rviz ├── src ├── ackermann_msckf.cpp 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