├── README.md ├── camera_models_in ├── CMakeLists.txt ├── camera_calib_example │ ├── calibrationdata │ │ ├── left-0000.png │ │ ├── left-0001.png │ │ ├── left-0002.png │ │ ├── left-0003.png │ │ ├── left-0004.png │ │ ├── left-0005.png │ │ ├── left-0006.png │ │ ├── left-0007.png │ │ ├── left-0008.png │ │ ├── left-0009.png │ │ ├── left-0010.png │ │ ├── left-0011.png │ │ ├── left-0012.png │ │ ├── left-0013.png │ │ ├── left-0014.png │ │ ├── left-0015.png │ │ ├── left-0016.png │ │ ├── left-0017.png │ │ ├── left-0018.png │ │ ├── left-0019.png │ │ ├── left-0020.png │ │ ├── left-0021.png │ │ ├── left-0022.png │ │ ├── left-0023.png │ │ ├── left-0024.png │ │ ├── left-0025.png │ │ ├── left-0026.png │ │ ├── left-0027.png │ │ ├── left-0028.png │ │ ├── left-0029.png │ │ ├── left-0030.png │ │ ├── left-0031.png │ │ ├── left-0032.png │ │ ├── left-0033.png │ │ ├── left-0034.png │ │ ├── left-0035.png │ │ ├── left-0036.png │ │ ├── left-0037.png │ │ ├── left-0038.png │ │ ├── left-0039.png │ │ ├── left-0040.png │ │ ├── left-0041.png │ │ ├── left-0042.png │ │ ├── left-0043.png │ │ ├── left-0044.png │ │ ├── left-0045.png │ │ ├── left-0046.png │ │ ├── left-0047.png │ │ ├── left-0048.png │ │ ├── left-0049.png │ │ ├── left-0050.png │ │ ├── left-0051.png │ │ ├── left-0052.png │ │ ├── left-0053.png │ │ ├── left-0054.png │ │ ├── left-0055.png │ │ ├── left-0056.png │ │ ├── left-0057.png │ │ ├── left-0058.png │ │ ├── left-0059.png │ │ ├── left-0060.png │ │ ├── left-0061.png │ │ ├── left-0062.png │ │ ├── left-0063.png │ │ ├── left-0064.png │ │ ├── left-0065.png │ │ ├── left-0066.png │ │ ├── left-0067.png │ │ ├── left-0068.png │ │ ├── left-0069.png │ │ ├── left-0070.png │ │ ├── left-0071.png │ │ ├── left-0072.png │ │ ├── left-0073.png │ │ ├── left-0074.png │ │ ├── left-0075.png │ │ ├── left-0076.png │ │ ├── left-0077.png │ │ ├── left-0078.png │ │ ├── left-0079.png │ │ ├── left-0080.png │ │ ├── left-0081.png │ │ ├── left-0082.png │ │ ├── left-0083.png │ │ └── left-0084.png │ └── readme.txt ├── cmake │ └── FindEigen.cmake ├── include │ └── camodocal │ │ ├── calib │ │ └── CameraCalibration.h │ │ ├── camera_models │ │ ├── Camera.h │ │ ├── CameraFactory.h │ │ ├── CataCamera.h │ │ ├── CostFunctionFactory.h │ │ ├── EquidistantCamera.h │ │ ├── PinholeCamera.h │ │ ├── PinholeFullCamera.h │ │ └── ScaramuzzaCamera.h │ │ ├── chessboard │ │ ├── Chessboard.h │ │ ├── ChessboardCorner.h │ │ ├── ChessboardQuad.h │ │ └── Spline.h │ │ ├── gpl │ │ ├── EigenQuaternionParameterization.h │ │ ├── EigenUtils.h │ │ └── gpl.h │ │ └── sparse_graph │ │ └── Transform.h ├── package.xml ├── readme.md └── src │ ├── calib │ └── CameraCalibration.cc │ ├── camera_models │ ├── Camera.cc │ ├── CameraFactory.cc │ ├── CataCamera.cc │ ├── CostFunctionFactory.cc │ ├── EquidistantCamera.cc │ ├── PinholeCamera.cc │ ├── PinholeFullCamera.cc │ └── ScaramuzzaCamera.cc │ ├── chessboard │ └── Chessboard.cc │ ├── gpl │ ├── EigenQuaternionParameterization.cc │ └── gpl.cc │ ├── intrinsic_calib.cc │ └── sparse_graph │ └── Transform.cc ├── config ├── rviz_config_init.rviz └── struct_core_v2.yaml ├── dui_vio ├── CMakeLists.txt ├── feature_tracking │ ├── feature_tracker.cpp │ ├── feature_tracker.h │ └── feature_tracker_node.cpp ├── initialization │ ├── gmm_model.cpp │ ├── gmm_model.h │ ├── 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 │ ├── solve_opt.cpp │ ├── solve_opt.h │ ├── translate_factor.cpp │ └── translate_factor.h ├── package.xml ├── state_estimation │ ├── depth_factor.cpp │ ├── depth_factor.h │ ├── dui_vio.cpp │ ├── dui_vio.h │ ├── dui_vio_init.cpp │ ├── dui_vio_syn_node.cpp │ ├── feature_manager.cpp │ ├── feature_manager.h │ ├── imu_factor.h │ ├── integration_base.h │ ├── marginalization_factor.cpp │ ├── marginalization_factor.h │ ├── parameters.cpp │ ├── parameters.h │ ├── projection_quat.cpp │ ├── projection_quat.h │ ├── sampson_factor.cpp │ ├── 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