├── .gitignore ├── LICENSE ├── README.md ├── image ├── MH01_a53.png ├── MH01_a7.png ├── MH02_a53.png ├── MH02_a7.png ├── MH03_a53.png ├── MH03_a7.png ├── MH04_a53.png ├── MH04_a7.png ├── MH05_a53.png └── MH05_a7.png ├── vins_estimator_a53 ├── CMakeLists.txt ├── config │ ├── euroc_MH01_config.yaml │ ├── euroc_MH02_config.yaml │ ├── euroc_MH03_config.yaml │ ├── euroc_MH04_config.yaml │ └── euroc_MH05_config.yaml ├── output │ ├── vins_result_no_loop_MH01.csv │ ├── vins_result_no_loop_MH02.csv │ ├── vins_result_no_loop_MH03.csv │ ├── vins_result_no_loop_MH04.csv │ └── vins_result_no_loop_MH05.csv └── src │ ├── DatasetLoader.h │ ├── camera_model │ ├── Camera.cc │ ├── Camera.h │ ├── CameraFactory.cc │ ├── CameraFactory.h │ ├── EquidistantCamera.cc │ ├── EquidistantCamera.h │ ├── PinholeCamera.cc │ └── PinholeCamera.h │ ├── estimator.cpp │ ├── estimator.h │ ├── estimator_node.cpp │ ├── factor │ ├── imu_factor.h │ ├── marginalization_factor.cpp │ ├── marginalization_factor.h │ ├── pose_local_parameterization.cpp │ ├── pose_local_parameterization.h │ ├── projection_factor.cpp │ ├── projection_factor.h │ ├── projection_td_factor.cpp │ └── projection_td_factor.h │ ├── feature_manager.cpp │ ├── feature_manager.h │ ├── 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 │ └── utility │ ├── tic_toc.h │ ├── utility.cpp │ └── utility.h └── vins_estimator_a7 ├── CMakeLists.txt ├── config └── euroc_config.yaml ├── output ├── vins_result_no_loop_MH01.csv ├── vins_result_no_loop_MH02.csv ├── vins_result_no_loop_MH03.csv ├── vins_result_no_loop_MH04.csv └── vins_result_no_loop_MH05.csv └── src ├── DatasetLoader.h ├── camera_model ├── Camera.cc ├── Camera.h ├── CameraFactory.cc ├── CameraFactory.h ├── EquidistantCamera.cc ├── EquidistantCamera.h ├── PinholeCamera.cc └── 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