├── .catkin_workspace ├── README.md ├── picture ├── acc_allan.jpg ├── gyro_allan.jpg ├── imu_integretion_in_euler_and_mid1.png └── imu_integretion_in_euler_and_mid2.png └── src ├── CMakeLists.txt ├── code_utils ├── CMakeLists.txt ├── README.md ├── include │ └── code_utils │ │ ├── backward.hpp │ │ ├── cv_utils.h │ │ ├── cv_utils │ │ ├── cv_type.hpp │ │ ├── dlt │ │ │ └── dlt.h │ │ ├── pnp │ │ │ ├── linearpnp.h │ │ │ ├── nonlinearpnp.h │ │ │ ├── pnp.h │ │ │ └── utils.h │ │ ├── randomcolor.h │ │ └── scalartodata.h │ │ ├── eigen_utils.h │ │ ├── math_utils │ │ ├── Polynomial.h │ │ ├── acos_fast.h │ │ └── math_utils.h │ │ ├── ros_utils.h │ │ └── sys_utils │ │ ├── cvmat_file_io.hpp │ │ ├── eigen_file_io.hpp │ │ ├── float_equal.hpp │ │ ├── printcolor.hpp │ │ ├── tic_toc.h │ │ └── timeinseconds.hpp ├── package.xml └── src │ ├── cv_utils.cc │ ├── cv_utils │ ├── dlt │ │ └── dlt.cpp │ └── pnp │ │ ├── linearpnp.cpp │ │ ├── nonlinearpnp.cpp │ │ └── pnp.cpp │ ├── mat_io_test.cpp │ ├── math_utils │ └── Polynomial.cpp │ ├── poly_test.cpp │ └── sumpixel_test.cpp ├── imu_utils ├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── _config.yml ├── data │ ├── A3_imu_param.yaml │ ├── data_A3_acc_t.txt │ ├── data_A3_acc_x.txt │ ├── data_A3_acc_y.txt │ ├── data_A3_acc_z.txt │ ├── data_A3_gyr_t.txt │ ├── data_A3_gyr_x.txt │ ├── data_A3_gyr_y.txt │ ├── data_A3_gyr_z.txt │ ├── data_A3_sim_acc_t.txt │ ├── data_A3_sim_acc_x.txt │ ├── data_A3_sim_acc_y.txt │ ├── data_A3_sim_acc_z.txt │ ├── data_A3_sim_gyr_t.txt │ ├── data_A3_sim_gyr_x.txt │ ├── data_A3_sim_gyr_y.txt │ └── data_A3_sim_gyr_z.txt ├── figure │ ├── acc.jpg │ └── gyr.jpg ├── launch │ ├── 16448.launch │ ├── A3.launch │ ├── gx4.launch │ ├── n3.launch │ ├── sim_imu.launch │ ├── tum.launch │ └── xsens.launch ├── package.xml ├── scripts │ ├── all_of_draw_allan.m │ ├── all_of_draw_allan_acc.m │ ├── allan_with_degree.m │ ├── avg_of_all_sensors.m │ ├── avg_of_all_sensors_acc.m │ ├── draw_allan.m │ └── ideal_allan.m └── src │ ├── 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