├── LICENSE ├── README.md ├── config ├── euroc │ ├── cam0_fisheye.yaml │ ├── cam1_fisheye.yaml │ ├── euroc_stereo.yaml │ └── fisheye_mask.jpg ├── fpv │ ├── cam0_fisheye.yaml │ ├── cam1_fisheye.yaml │ ├── fisheye_mask.jpg │ └── fpv_forward.yaml ├── fpv_forward_45 │ ├── cam0_fisheye.yaml │ ├── cam1_fisheye.yaml │ ├── fisheye_mask.jpg │ └── fpv_forward_45_degree.yaml ├── fpv_out_forward │ ├── cam0_fisheye.yaml │ ├── cam1_fisheye.yaml │ ├── fisheye_mask.jpg │ ├── fisheye_mask3.jpg │ └── fpv_outdoor_forward.yaml ├── tum_vi │ ├── TUM_512.yaml │ ├── cam0_fisheye.yaml │ ├── cam1_fisheye.yaml │ └── fisheye_mask.jpg └── vins_rviz_config.rviz ├── feature_tracker ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── package.xml └── src │ ├── feature_tracker.cpp │ ├── feature_tracker.h │ ├── feature_tracker_node.cpp │ ├── parameters.cpp │ ├── parameters.h │ └── tic_toc.h ├── launch ├── debug_feature_track.launch ├── euroc_stereo.launch ├── feature_tracker.launch ├── feature_tracker_45.launch ├── fpv.launch ├── fpv_forward_45.launch ├── fpv_outdoor.launch ├── tum_vio.launch └── vins_rviz.launch └── vins_estimator ├── CMakeLists.txt ├── cmake └── FindEigen.cmake ├── package.xml └── src ├── debug_optimize.cpp ├── estimator.cpp ├── estimator.h ├── estimator_node.cpp ├── estimator_node_ss.cpp ├── estimator_node_stereo.cpp ├── factor ├── imu_factor.h ├── integration_base.h ├── marginalization_factor.cpp ├── marginalization_factor.h ├── pose_local_parameterization.cpp ├── pose_local_parameterization.h ├── projectionOneFrameTwoCamFactor.cpp ├── projectionOneFrameTwoCamFactor.h ├── projectionTwoFrameOneCamFactor.cpp ├── projectionTwoFrameOneCamFactor.h ├── projectionTwoFrameTwoCamFactor.cpp ├── projectionTwoFrameTwoCamFactor.h ├── projection_factor.cpp ├── projection_factor.h ├── projection_td_factor.cpp ├── projection_td_factor.h ├── sampson_factor.cpp ├── sampson_factor.h └── sampson_jacobian.cpp ├── feature_manager.cpp ├── feature_manager.h ├── initial ├── initial_aligment.cpp ├── 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