├── CMakeLists.txt ├── README.md ├── g2o ├── CMakeLists.txt ├── color.cpp ├── color.h ├── g2o_graph.cpp ├── g2o_graph.h ├── g2o_parameter.cpp ├── g2o_parameter.h ├── misc.h └── test_g2o_graph.cpp ├── gtsam ├── CMakeLists.txt ├── chi2.h ├── color.cpp ├── color.h ├── gt_parameter.cpp ├── gt_parameter.h ├── gtsam_graph.cpp ├── gtsam_graph.h ├── gyro_euler.cpp ├── gyro_euler.h ├── imu_MEMS.cpp ├── imu_MEMS.h ├── imu_base.cpp ├── imu_base.h ├── imu_vn100.cpp ├── imu_vn100.h ├── main_rgbdslam_imu_offline.cpp ├── main_rgbdslam_offline.cpp ├── test │ ├── .view_registration_range.cpp.swp │ ├── CMakeLists.txt │ ├── ImuFactorsExample.cpp │ ├── add_vo_at_sparse_area.cpp │ ├── compute_trans_difference.cpp │ ├── convert_vo2ba.cpp │ ├── convert_vo2ba_2.cpp │ ├── delete_vo_by_plane_check.cpp │ ├── display_many_imgs.cpp │ ├── display_many_imgs.h │ ├── merge_vro.cpp │ ├── testOrientedPlane3.cpp │ ├── testOrientedPlane3Factor.cpp │ ├── testQuaternion.cpp │ ├── test_ba.cpp │ ├── test_gt_imu_MEMS.cpp │ ├── test_imu_MEMS.cpp │ ├── test_imu_gravity.cpp │ ├── test_imu_vn100.cpp │ ├── test_match_PnP.cpp │ ├── test_match_two_frames.cpp │ ├── test_no_idea.cpp │ ├── test_param.cpp │ ├── test_patch_plane_dis.cpp │ ├── test_plane_dis.cpp │ ├── test_plane_propagate.cpp │ ├── view_registration_list.cpp │ ├── view_registration_range.cpp │ └── view_registration_results.cpp ├── test_ba_imu_graph.cpp ├── test_gt_graph.cpp ├── test_plane_check_vo.cpp └── test_vro_imu_graph.cpp ├── launch ├── display │ ├── imu_camera_play.launch │ └── imu_camera_vn100.launch ├── graph_slam │ ├── ba_two_frames.launch │ ├── g2o_go.launch │ ├── g2o_imuMEMS_go.launch │ ├── gtsam_go.launch │ ├── gtsam_imuMEMS_go.launch │ ├── gtsam_imuVN100_go.launch │ ├── gtsam_imu_ba_go.launch │ ├── gtsam_robot_data.launch │ ├── match_two_frames.launch │ ├── match_two_frames_pnp.launch │ ├── plane_dis_two_frames.launch │ ├── rgbdslam_imu_offline.launch │ ├── rgbdslam_offline.launch │ ├── test_plane_check_vo.launch │ ├── view_planes.launch │ 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