├── .clang-format ├── .github └── workflows │ └── docker-image.yml ├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── Dockerfile_melodic_18_04 ├── Dockerfile_noetic_20_04 ├── LICENSE ├── ReadMe.md ├── mins ├── CMakeLists.txt ├── config │ ├── euroc_mav │ │ ├── config.yaml │ │ ├── config_camera.yaml │ │ ├── config_estimator.yaml │ │ ├── config_imu.yaml │ │ ├── config_init.yaml │ │ └── config_system.yaml │ ├── kaist │ │ ├── config.yaml │ │ ├── config_camera.yaml │ │ ├── config_estimator.yaml │ │ ├── config_gps.yaml │ │ ├── config_imu.yaml │ │ ├── config_init.yaml │ │ ├── config_lidar.yaml │ │ ├── config_system.yaml │ │ ├── config_wheel.yaml │ │ ├── kaist_C │ │ │ ├── config.yaml │ │ │ ├── config_camera.yaml │ │ │ ├── config_estimator.yaml │ │ │ ├── config_gps.yaml │ │ │ ├── config_imu.yaml │ │ │ ├── config_init.yaml │ │ │ ├── config_lidar.yaml │ │ │ ├── config_system.yaml │ │ │ └── config_wheel.yaml │ │ ├── kaist_L │ │ │ ├── config.yaml │ │ │ ├── config_camera.yaml │ │ │ ├── config_estimator.yaml │ │ │ ├── config_gps.yaml │ │ │ ├── config_imu.yaml │ │ │ ├── config_init.yaml │ │ │ ├── config_lidar.yaml │ │ │ ├── config_system.yaml │ │ │ └── config_wheel.yaml │ │ └── kaist_LC │ │ │ ├── config.yaml │ │ │ ├── config_camera.yaml │ │ │ ├── config_estimator.yaml │ │ │ ├── config_gps.yaml │ │ │ ├── config_imu.yaml │ │ │ ├── config_init.yaml │ │ │ ├── config_lidar.yaml │ │ │ ├── config_system.yaml │ │ │ └── config_wheel.yaml │ ├── simulation │ │ ├── config.yaml │ │ ├── config_camera.yaml │ │ ├── config_estimator.yaml │ │ ├── config_gps.yaml │ │ ├── config_imu.yaml │ │ ├── config_init.yaml │ │ ├── config_lidar.yaml │ │ ├── config_simulation.yaml │ │ ├── config_system.yaml │ │ ├── config_vicon.yaml │ │ └── config_wheel.yaml │ └── tum_vi │ │ ├── config.yaml │ │ ├── config_camera.yaml │ │ ├── config_estimator.yaml │ │ ├── config_imu.yaml │ │ ├── config_init.yaml │ │ └── config_system.yaml ├── launch │ ├── display.rviz │ ├── rosbag.launch │ ├── simulation.launch │ └── subscribe.launch ├── package.xml └── src │ ├── core │ ├── ROSHelper.cpp │ ├── ROSHelper.h │ ├── ROSPublisher.cpp │ ├── ROSPublisher.h │ ├── ROSSubscriber.cpp │ ├── ROSSubscriber.h │ ├── SystemManager.cpp │ └── SystemManager.h │ ├── init │ ├── Initializer.cpp │ ├── Initializer.h │ ├── imu │ │ ├── I_Initializer.cpp │ │ └── I_Initializer.h │ └── imu_wheel │ │ ├── IW_Initializer.cpp │ │ └── IW_Initializer.h │ ├── options │ ├── Options.cpp │ ├── Options.h │ ├── OptionsCamera.cpp │ ├── OptionsCamera.h │ ├── OptionsEstimator.cpp │ ├── OptionsEstimator.h │ ├── OptionsGPS.cpp │ ├── OptionsGPS.h │ ├── OptionsIMU.cpp │ ├── OptionsIMU.h │ ├── OptionsInit.cpp │ ├── OptionsInit.h │ ├── OptionsLidar.cpp │ ├── OptionsLidar.h │ ├── OptionsSimulation.cpp │ ├── OptionsSimulation.h │ ├── OptionsSystem.cpp │ ├── OptionsSystem.h │ ├── OptionsVicon.cpp │ ├── OptionsVicon.h │ ├── OptionsWheel.cpp │ └── OptionsWheel.h │ ├── run_bag.cpp │ ├── run_simulation.cpp │ ├── run_subscribe.cpp │ ├── sim │ ├── ConstBsplineSE3.cpp │ ├── ConstBsplineSE3.h │ ├── SimVisualizer.cpp │ ├── SimVisualizer.h │ ├── SimulationPlane.h │ ├── Simulator.cpp │ └── Simulator.h │ ├── state │ ├── Propagator.cpp │ ├── Propagator.h │ ├── State.cpp │ ├── State.h │ ├── StateHelper.cpp │ └── StateHelper.h │ ├── update │ ├── UpdaterStatistics.cpp │ ├── UpdaterStatistics.h │ ├── cam │ │ ├── CamHelper.cpp │ │ ├── CamHelper.h │ │ ├── CamTypes.cpp │ │ ├── CamTypes.h │ │ ├── UpdaterCamera.cpp │ │ └── UpdaterCamera.h │ ├── gps │ │ ├── GPSTypes.h │ │ ├── JPLQuat_4DOF.h │ │ ├── MathGPS.h │ │ ├── PoseJPL_4DOF.h │ │ ├── UpdaterGPS.cpp │ │ └── UpdaterGPS.h │ ├── lidar │ │ ├── LidarHelper.cpp │ │ ├── LidarHelper.h │ │ ├── LidarTypes.cpp │ │ ├── LidarTypes.h │ │ ├── UpdaterLidar.cpp │ │ ├── UpdaterLidar.h │ │ ├── ikd_Tree.cpp │ │ └── ikd_Tree.h │ ├── vicon │ │ ├── UpdaterVicon.cpp │ │ ├── UpdaterVicon.h │ │ └── ViconTypes.h │ └── wheel │ │ ├── UpdaterWheel.cpp │ │ ├── UpdaterWheel.h │ │ └── WheelTypes.h │ └── utils │ ├── Jabdongsani.cpp │ ├── Jabdongsani.h │ ├── Print_Logger.cpp │ ├── Print_Logger.h │ ├── State_Logger.h │ └── TimeChecker.h ├── mins_data ├── BSplineDataset │ ├── EUROC_MH1.txt │ ├── EUROC_MH2.txt │ ├── EUROC_MH3.txt │ ├── EUROC_MH4.txt │ ├── EUROC_MH5.txt │ ├── EUROC_V11.txt │ ├── EUROC_V12.txt │ ├── EUROC_V13.txt │ ├── EUROC_V21.txt │ ├── EUROC_V22.txt │ ├── EUROC_V23.txt │ ├── TUM_C.txt │ ├── TUM_M.txt │ ├── TUM_R1.txt │ ├── TUM_R2.txt │ ├── TUM_R3.txt │ ├── TUM_R4.txt │ ├── TUM_R5.txt │ ├── TUM_R6.txt │ ├── UD_Dynamic.txt │ ├── UD_Garage.txt │ ├── UD_Gore.txt │ ├── UD_Neighbor.txt │ ├── UD_Small.txt │ ├── UD_Spencer.txt │ └── UD_Warehouse.txt ├── CMakeLists.txt ├── FloorPlans │ ├── UD_Spencer.png │ ├── UD_Spencer.txt │ ├── UD_Warehouse.png │ └── UD_Warehouse.txt ├── ReadMe.md └── package.xml ├── mins_eval ├── .gitignore ├── CMakeLists.txt ├── ReadMe.md ├── figures │ ├── CAM0_Extrinsic.png │ ├── CAM0_Intrinsic.png │ ├── GPS0_Extrinsic_Position.png │ ├── GPS0_Time_Offset.png │ ├── IMU_ba.png │ ├── IMU_bg.png │ ├── IMU_ori.png │ ├── IMU_pos.png │ ├── IMU_vel.png │ ├── LiDAR0_Extrinsic_Orientation.png │ ├── LiDAR0_Extrinsic_Position.png │ ├── LiDAR0_Time_Offset.png │ ├── VICON0_Extrinsic_Orientation.png │ ├── VICON0_Extrinsic_Position.png │ ├── VICON0_Time_Offset.png │ ├── WHEEL_Extrinsic_Orientation.png │ ├── WHEEL_Extrinsic_Position.png │ ├── WHEEL_Intrinsic.png │ └── WHEEL_Time_Offset.png ├── launch │ ├── comparison.launch │ ├── plot_consistency.launch │ └── scripts │ │ ├── setup_env.sh │ │ ├── setup_output.sh │ │ └── sim_calibration.sh ├── package.xml └── src │ ├── functions │ ├── ErrorPlot.cpp │ ├── ErrorPlot.h │ ├── ResultTrajectory.cpp │ └── ResultTrajectory.h │ ├── plot_consistency.cpp │ └── run_comparison.cpp ├── run_copyright.sh ├── run_format.sh └── thirdparty ├── frames.png ├── kaist38.gif ├── libnabo ├── CMakeLists.txt ├── Doxyfile.in ├── README.md ├── UseDoxygen.cmake ├── cmake_uninstall.cmake.in ├── debian │ ├── changelog │ ├── compat │ ├── control │ ├── copyright │ ├── docs │ ├── libnabo-dev.dirs │ ├── libnabo-dev.install │ ├── libnabo-doc.dirs │ ├── libnabo-doc.install │ ├── libnabo1.dirs │ ├── libnabo1.install │ ├── python-nabo.dirs │ ├── python-nabo.install │ ├── rules │ └── source │ │ └── format ├── examples │ ├── CMakeLists.txt │ ├── trivial.cpp │ └── usage.cpp ├── experimental │ ├── CMakeLists.txt │ ├── kdtree_cpu.cpp │ └── nabo_experimental.h ├── libnaboConfig.cmake.in ├── libnaboConfigVersion.cmake.in ├── nabo │ ├── brute_force_cpu.cpp │ ├── index_heap.h │ ├── kdtree_cpu.cpp │ ├── kdtree_opencl.cpp │ ├── nabo.cpp │ ├── nabo.h │ ├── nabo_private.h │ ├── opencl │ │ ├── heap.cl │ │ ├── knn_bf.cl │ │ ├── knn_kdtree_pt_in_leaves.cl │ │ ├── knn_kdtree_pt_in_nodes.cl │ │ └── structure.cl │ └── third_party │ │ └── any.hpp ├── package.xml ├── python │ ├── CMakeLists.txt │ ├── nabo.cpp │ └── test.py └── tests │ ├── CMakeLists.txt │ ├── data │ ├── scan.2d.txt │ ├── scan.3d.large.txt │ ├── scan.3d.txt │ └── sources.txt │ ├── helpers.h │ ├── invalid_matrix_types.cpp │ ├── knnbench.cpp │ ├── knnbucketsize.cpp │ ├── knnepsilon.cpp │ ├── knnshow.cpp │ └── knnvalidate.cpp ├── libpointmatcher ├── .dockerignore ├── .gitignore ├── .readthedocs.yml ├── CHANGELOG.rst ├── CMakeLists.txt ├── Doxyfile.in ├── LICENSE ├── README.md ├── UseDoxygen.cmake ├── cmake_uninstall.cmake.in ├── contrib │ ├── CMakeLists.txt │ ├── gtest │ │ ├── CHANGES │ │ ├── CONTRIBUTORS │ │ ├── LICENSE │ │ ├── README │ │ ├── gtest-all.cc │ │ ├── gtest.h │ │ └── gtest_main.cc │ └── yaml-cpp-pm │ │ ├── CMakeLists.txt │ │ ├── include │ │ └── yaml-cpp-pm │ │ │ ├── aliasmanager.h │ │ │ ├── anchor.h │ │ │ ├── binary.h │ │ │ ├── conversion.h │ │ │ ├── dll.h │ │ │ ├── emitfromevents.h │ │ │ ├── emitter.h │ │ │ ├── emittermanip.h │ │ │ ├── eventhandler.h │ │ │ ├── exceptions.h │ │ │ ├── iterator.h │ │ │ ├── ltnode.h │ │ │ ├── mark.h │ │ │ ├── node.h │ │ │ ├── nodeimpl.h │ │ │ ├── nodereadimpl.h │ │ │ ├── nodeutil.h │ │ │ ├── noncopyable.h │ │ │ ├── null.h │ │ │ ├── ostream.h │ │ │ ├── parser.h │ │ │ ├── stlemitter.h │ │ │ ├── stlnode.h │ │ │ ├── traits.h │ │ │ └── yaml.h │ │ ├── license.txt │ │ ├── src │ │ ├── aliasmanager.cpp │ │ ├── binary.cpp │ │ ├── collectionstack.h │ │ ├── contrib │ │ │ ├── graphbuilder.cpp │ │ │ ├── graphbuilderadapter.cpp │ │ │ └── graphbuilderadapter.h │ │ ├── conversion.cpp │ │ ├── directives.cpp │ │ ├── directives.h │ │ ├── emitfromevents.cpp │ │ ├── emitter.cpp │ │ ├── emitterstate.cpp │ │ ├── emitterstate.h │ │ ├── emitterutils.cpp │ │ ├── emitterutils.h │ │ ├── exp.cpp │ │ ├── exp.h │ │ ├── indentation.h │ │ ├── iterator.cpp │ │ ├── iterpriv.h │ │ ├── node.cpp │ │ ├── nodebuilder.cpp │ │ ├── nodebuilder.h │ │ ├── nodeownership.cpp │ │ ├── nodeownership.h │ │ ├── null.cpp │ │ ├── ostream.cpp │ │ ├── parser.cpp │ │ ├── ptr_stack.h │ │ ├── ptr_vector.h │ │ ├── regex.cpp │ │ ├── regex.h │ │ ├── regeximpl.h │ │ ├── scanner.cpp │ │ ├── scanner.h │ │ ├── scanscalar.cpp │ │ ├── scanscalar.h │ │ ├── scantag.cpp │ │ ├── scantag.h │ │ ├── scantoken.cpp │ │ ├── setting.h │ │ ├── simplekey.cpp │ │ ├── singledocparser.cpp │ │ ├── singledocparser.h │ │ ├── stream.cpp │ │ ├── stream.h │ │ ├── streamcharsource.h │ │ ├── stringsource.h │ │ ├── tag.cpp │ │ ├── tag.h │ │ └── token.h │ │ └── util │ │ ├── CMakeLists.txt │ │ ├── api.cpp │ │ └── parse.cpp ├── libpointmatcherConfig.cmake.in ├── libpointmatcherConfigVersion.cmake.in ├── mkdocs.yml ├── package.xml ├── pointmatcher.pc.in └── pointmatcher │ ├── Bibliography.cpp │ ├── Bibliography.h │ ├── DataPoints.cpp │ ├── DataPointsFilter.cpp │ ├── DataPointsFilters │ ├── BoundingBox.cpp │ ├── BoundingBox.h │ ├── CovarianceSampling.cpp │ ├── CovarianceSampling.h │ ├── CutAtDescriptorThreshold.cpp │ ├── CutAtDescriptorThreshold.h │ ├── DistanceLimit.cpp │ ├── DistanceLimit.h │ ├── Elipsoids.cpp │ ├── Elipsoids.h │ ├── FixStepSampling.cpp │ ├── FixStepSampling.h │ ├── Gestalt.cpp │ ├── Gestalt.h │ ├── Identity.cpp │ ├── Identity.h │ ├── IncidenceAngle.cpp │ ├── IncidenceAngle.h │ ├── MaxDensity.cpp │ ├── MaxDensity.h │ ├── MaxDist.cpp │ ├── MaxDist.h │ ├── MaxPointCount.cpp │ ├── MaxPointCount.h │ ├── MaxQuantileOnAxis.cpp │ ├── MaxQuantileOnAxis.h │ ├── MinDist.cpp │ ├── MinDist.h │ ├── NormalSpace.cpp │ ├── NormalSpace.h │ ├── ObservationDirection.cpp │ ├── ObservationDirection.h │ ├── OctreeGrid.cpp │ ├── OctreeGrid.h │ ├── OrientNormals.cpp │ ├── OrientNormals.h │ ├── RandomSampling.cpp │ ├── RandomSampling.h │ ├── RemoveNaN.cpp │ ├── RemoveNaN.h │ ├── RemoveSensorBias.cpp │ ├── RemoveSensorBias.h │ ├── Saliency.cpp │ ├── Saliency.h │ ├── SamplingSurfaceNormal.cpp │ ├── SamplingSurfaceNormal.h │ ├── Shadow.cpp │ ├── Shadow.h │ ├── SimpleSensorNoise.cpp │ ├── SimpleSensorNoise.h │ ├── SpectralDecomposition.cpp │ ├── SpectralDecomposition.h │ ├── Sphericality.cpp │ ├── Sphericality.h │ ├── SurfaceNormal.cpp │ ├── SurfaceNormal.h │ ├── VoxelGrid.cpp │ ├── VoxelGrid.h │ └── utils │ │ ├── octree.h │ │ ├── octree.hpp │ │ ├── sparsetv.h │ │ ├── sparsetv.hpp │ │ └── utils.h │ ├── DataPointsFiltersImpl.h │ ├── DeprecationWarnings.h │ ├── Documentation.dox │ ├── ErrorMinimizer.cpp │ ├── ErrorMinimizers │ ├── Identity.cpp │ ├── Identity.h │ ├── PointToPlane.cpp │ ├── PointToPlane.h │ ├── PointToPlaneWithCov.cpp │ ├── PointToPlaneWithCov.h │ ├── PointToPoint.cpp │ ├── PointToPoint.h │ ├── PointToPointSimilarity.cpp │ ├── PointToPointSimilarity.h │ ├── PointToPointWithCov.cpp │ └── PointToPointWithCov.h │ ├── ErrorMinimizersImpl.h │ ├── Exceptions.cpp │ ├── Functions.h │ ├── Histogram.cpp │ ├── Histogram.h │ ├── ICP.cpp │ ├── IO.cpp │ ├── IO.h │ ├── IOFunctions.cpp │ ├── IOFunctions.h │ ├── Inspector.cpp │ ├── InspectorsImpl.cpp │ ├── InspectorsImpl.h │ ├── Logger.cpp │ ├── LoggerImpl.cpp │ ├── LoggerImpl.h │ ├── Matcher.cpp │ ├── MatchersImpl.cpp │ ├── MatchersImpl.h │ ├── Matches.cpp │ ├── OutlierFilter.cpp │ ├── OutlierFiltersImpl.cpp │ ├── OutlierFiltersImpl.h │ ├── Parametrizable.cpp │ ├── Parametrizable.h │ ├── PointMatcher.h │ ├── PointMatcherPrivate.h │ ├── Registrar.cpp │ ├── Registrar.h │ ├── Registry.cpp │ ├── Timer.cpp │ ├── Timer.h │ ├── Transformation.cpp │ ├── TransformationChecker.cpp │ ├── TransformationCheckersImpl.cpp │ ├── TransformationCheckersImpl.h │ ├── TransformationsImpl.cpp │ └── TransformationsImpl.h ├── open_vins ├── ReadMe.md ├── ov_core │ ├── CMakeLists.txt │ ├── cmake │ │ ├── ROS1.cmake │ │ └── ROS2.cmake │ ├── package.xml │ ├── rosdoc.yaml │ └── src │ │ ├── cam │ │ ├── CamBase.h │ │ ├── CamEqui.h │ │ └── CamRadtan.h │ │ ├── cpi │ │ ├── CpiBase.h │ │ ├── CpiV1.cpp │ │ ├── CpiV1.h │ │ ├── CpiV2.cpp │ │ └── CpiV2.h │ │ ├── dummy.cpp │ │ ├── feat │ │ ├── Feature.cpp │ │ ├── Feature.h │ │ ├── FeatureDatabase.cpp │ │ ├── FeatureDatabase.h │ │ ├── FeatureHelper.h │ │ ├── FeatureInitializer.cpp │ │ ├── FeatureInitializer.h │ │ └── FeatureInitializerOptions.h │ │ ├── plot │ │ ├── LICENSE │ │ └── matplotlibcpp.h │ │ ├── sim │ │ ├── BsplineSE3.cpp │ │ └── BsplineSE3.h │ │ ├── test_profile.cpp │ │ ├── test_tracking.cpp │ │ ├── test_webcam.cpp │ │ ├── track │ │ ├── Grider_FAST.h │ │ ├── Grider_GRID.h │ │ ├── TrackAruco.cpp │ │ ├── TrackAruco.h │ │ ├── TrackBase.cpp │ │ ├── TrackBase.h │ │ ├── TrackDescriptor.cpp │ │ ├── TrackDescriptor.h │ │ ├── TrackKLT.cpp │ │ ├── TrackKLT.h │ │ ├── TrackSIM.cpp │ │ └── TrackSIM.h │ │ ├── types │ │ ├── IMU.h │ │ ├── JPLQuat.h │ │ ├── Landmark.cpp │ │ ├── Landmark.h │ │ ├── LandmarkRepresentation.h │ │ ├── PoseJPL.h │ │ ├── Type.h │ │ └── Vec.h │ │ └── utils │ │ ├── colors.h │ │ ├── dataset_reader.h │ │ ├── opencv_lambda_body.h │ │ ├── opencv_yaml_parse.h │ │ ├── print.cpp │ │ ├── print.h │ │ ├── quat_ops.h │ │ └── sensor_data.h └── ov_eval │ ├── .gitignore │ ├── CMakeLists.txt │ ├── cmake │ ├── ROS1.cmake │ └── ROS2.cmake │ ├── example │ ├── readme.txt │ ├── stamped_groundtruth.txt │ └── stamped_traj_estimate.txt │ ├── launch │ └── record.launch │ ├── package.xml │ ├── python │ ├── pid_ros.py │ └── pid_sys.py │ ├── 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