├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── boreas_msgs ├── CMakeLists.txt ├── msg │ └── SensorPose.msg └── package.xml ├── docker ├── .env ├── Dockerfile ├── README.md └── compose.yaml ├── materials ├── full_trajectory.png ├── map_opensky.png ├── map_tunnel.png ├── map_urban.png └── map_urban2.png ├── online_fgo ├── CMakeLists.txt ├── cmake │ ├── DownloadGoogleTest.cmake.in │ ├── FindGeographicLib.cmake │ ├── Findortools.cmake │ ├── InstallGoogleTest.cmake.in │ ├── libRSFConfig.cmake.in │ └── libRSFUninstall.cmake.in ├── config │ ├── aachen_lc │ │ ├── common.yaml │ │ ├── dienstwagen.urdf.xacro │ │ ├── integrator.yaml │ │ ├── optimizer.yaml │ │ └── sensor_parameters.yaml │ ├── aachen_tc │ │ ├── common.yaml │ │ ├── dienstwagen.urdf.xacro │ │ ├── integrator.yaml │ │ ├── optimizer.yaml │ │ └── sensor_parameters.yaml │ ├── boreas │ │ ├── car_boreas.urdf.xacro │ │ ├── common.yaml │ │ ├── integrator.yaml │ │ ├── optimizer.yaml │ │ └── sensor_parameters.yaml │ ├── deutschland_lc │ │ ├── common.yaml │ │ ├── dienstwagen.urdf.xacro │ │ ├── integrator.yaml │ │ ├── optimizer.yaml │ │ └── sensor_parameters.yaml │ ├── deutschland_tc │ │ ├── common.yaml │ │ ├── dienstwagen.urdf.xacro │ │ ├── integrator.yaml │ │ ├── optimizer.yaml │ │ └── sensor_parameters.yaml │ ├── kitti │ │ ├── common.yaml │ │ ├── integrator.yaml │ │ ├── optimizer.yaml │ │ └── sensor_parameters.yaml │ ├── learning_gp │ │ ├── common.yaml │ │ ├── dataset.yaml │ │ ├── integrator.yaml │ │ ├── optimizer.yaml │ │ └── sensor_parameters.yaml │ └── offline_vo │ │ ├── beacon_pohang00.yaml │ │ ├── beacon_pohang04.yaml │ │ ├── beacon_pohang_stereo00.yaml │ │ ├── beacon_pohang_stereo04.yaml │ │ ├── common.yaml │ │ ├── dataset.yaml │ │ ├── integrator.yaml │ │ ├── optimizer.yaml │ │ └── sensor_parameters.yaml ├── datasets_plugins.xml ├── include │ ├── data │ │ ├── Buffer.h │ │ ├── DataTypesArtus.h │ │ ├── DataTypesFGO.h │ │ ├── DataTypesMeasurement.h │ │ └── sampling │ │ │ └── UncentedSampler.h │ ├── dataset │ │ ├── BagReader.h │ │ ├── BagUtils.h │ │ ├── Dataset.h │ │ ├── DatasetParam.h │ │ └── impl │ │ │ ├── DasetUrbanLoco.h │ │ │ ├── DatasetBinLoco.h │ │ │ ├── DatasetBoreas.h │ │ │ ├── DatasetDELoco.h │ │ │ ├── DatasetGVINS.h │ │ │ ├── DatasetKitti.h │ │ │ ├── DatasetMulran.h │ │ │ ├── DatasetPohang.h │ │ │ ├── DatasetRobotcar.h │ │ │ └── DatasetUrbanNav.h │ ├── factor │ │ ├── FactorType.h │ │ ├── FactorTypeID.h │ │ ├── camera │ │ │ └── README.md │ │ ├── gnss │ │ │ ├── DDCpFactor.h │ │ │ ├── DDPrDrFactor.h │ │ │ ├── DrFactor.h │ │ │ ├── GPInterpolatedDDCpFactor.h │ │ │ ├── GPInterpolatedDDPrDrFactor.h │ │ │ ├── GPInterpolatedDDPrFactor.h │ │ │ ├── GPInterpolatedDrFactor.h │ │ │ ├── GPInterpolatedGPSFactor.h │ │ │ ├── GPInterpolatedPVTFactor.h │ │ │ ├── GPInterpolatedPrDrFactor.h │ │ │ ├── GPInterpolatedPrFactor.h │ │ │ ├── GPInterpolatedTDCPFactorNormalCP.h │ │ │ ├── GPInterpolatedTDCpFactor.h │ │ │ ├── GPSFactor.h │ │ │ ├── PVTFactor.h │ │ │ ├── PrDrFactor.h │ │ │ ├── PrFactor.h │ │ │ ├── PrFactorWeighted.h │ │ │ └── TripDCpFactor.h │ │ ├── inertial │ │ │ └── MagFactor_eRb.h │ │ ├── motion │ │ │ ├── ConstAccelerationFactor.h │ │ │ ├── ConstAngularRateFactor.h │ │ │ ├── ConstDriftFactor.h │ │ │ ├── ConstVelPriorFactor.h │ │ │ ├── GPPriorBase.h │ │ │ ├── GPSingerPrior.h │ │ │ ├── GPSingerPriorFull.h │ │ │ ├── GPWNOAPrior.h │ │ │ ├── GPWNOJPrior.h │ │ │ └── GPWNOJPriorFull.h │ │ ├── odometry │ │ │ ├── BetweenFactor.h │ │ │ ├── GPInterpolatedDoublePose3BetweenFactor.h │ │ │ ├── GPInterpolatedNavAttitudeFactor.h │ │ │ ├── GPInterpolatedNavPoseFactor.h │ │ │ ├── GPInterpolatedNavVelocityFactor.h │ │ │ ├── GPInterpolatedSinglePose3BetweenFactor.h │ │ │ ├── NavAttitudeFactor.h │ │ │ ├── NavPoseFactor.h │ │ │ └── NavVelocityFactor.h │ │ ├── uwb │ │ │ └── README.md │ │ └── visual │ │ │ ├── GPInterpolatedInvDepthFactor.h │ │ │ ├── GPInterpolatedProjectDepthOnlyFactor.h │ │ │ ├── GPInterpolatedProjectFactor.h │ │ │ ├── GPInterpolatedSingleProjectDepthOnlyFactor.h │ │ │ └── ProjectDepthOnlyFactor.h │ ├── gnss_fgo │ │ ├── GNSSFGOBoreas.h │ │ ├── GNSSFGOLocalizationBase.h │ │ ├── GNSSFGOTimeCentric.h │ │ ├── README.md │ │ └── param │ │ │ └── GNSSFGOParams.h │ ├── graph │ │ ├── GraphBase.h │ │ ├── GraphSensorCentric.h │ │ ├── GraphTimeCentric.h │ │ ├── GraphUtils.h │ │ └── param │ │ │ └── GraphParams.h │ ├── integrator │ │ ├── BeaconIntegrator.h │ │ ├── CorrevitIntegrator.h │ │ ├── GNSSLCIntegrator.h │ │ ├── GNSSTCIntegrator.h │ │ ├── IMUPreIntegrator.h │ │ ├── IntegratorBase.h │ │ ├── LIOIntegrator.h │ │ ├── VisualIntegratorBase.h │ │ └── param │ │ │ └── IntegratorParams.h │ ├── model │ │ ├── gp_interpolator │ │ │ ├── GPExtrapolatorPose3Singer.h │ │ │ ├── GPExtrapolatorPose3WNOA.h │ │ │ ├── GPExtrapolatorPose3WNOJ.h │ │ │ ├── GPInterpolatorBase.h │ │ │ ├── GPSingerInterpolator.h │ │ │ ├── GPSingerInterpolatorFull.h │ │ │ ├── GPWNOAInterpolator.h │ │ │ ├── GPWNOJInterpolator.h │ │ │ └── GPWNOJInterpolatorFull.h │ │ └── measurements │ │ │ └── README.md │ ├── offline_fgo │ │ ├── BagReader.h │ │ └── OfflineTimeCentric.h │ ├── offline_process │ │ ├── LearningGP.h │ │ ├── OfflineFGOBase.h │ │ ├── OfflineSteinLOFGO.h │ │ └── OfflineVisualFGO.h │ ├── sensor │ │ ├── IMUCalibrator.h │ │ ├── SensorCalibrationManager.h │ │ ├── camera │ │ │ └── Beacon.h │ │ ├── gnss │ │ │ ├── GNSSDataParser.h │ │ │ └── RoboGNSSParser.h │ │ └── lidar │ │ │ ├── LIOSAM.h │ │ │ └── LIOSAMUtils.h │ ├── solver │ │ ├── BatchFixedLagSmoother.h │ │ ├── FixedLagSmoother.h │ │ └── IncrementalFixedLagSmoother.h │ └── utils │ │ ├── AlgorithmicUtils.h │ │ ├── Constants.h │ │ ├── GNSSUtils.h │ │ ├── GPUtils.h │ │ ├── LambdaAlgorithm.h │ │ ├── MeasurmentDelayCalculator.h │ │ ├── NavigationTools.h │ │ ├── Pose3Utils.h │ │ ├── ROSParameter.h │ │ ├── ROSQoS.h │ │ ├── ROSUtils.h │ │ └── rapidcsv.h ├── integrator_plugins.xml ├── launch │ ├── aachen_lc.launch.py │ ├── aachen_lc_all.launch.py │ ├── aachen_tc.launch.py │ ├── aachen_tc_all.launch.py │ ├── boreas.launch.py │ ├── deutschland.mvc │ ├── deutschland_lc.launch.py │ ├── deutschland_lc_all.launch.py │ ├── deutschland_tc.launch.py │ ├── deutschland_tc_all.launch.py │ ├── learning_gp.launch.py │ ├── mapviz_pohang.launch.py │ └── offline_vo.launch.py ├── package.xml ├── plots_tro │ ├── ac_geo.fig │ ├── ac_llh.fig │ ├── ac_rot.fig │ ├── ac_vel.fig │ ├── c01_geo.fig │ ├── c01_llh.fig │ ├── c01_rot.fig │ ├── c01_vel.fig │ ├── c02_enu.fig │ ├── c02_geo.fig │ ├── c02_llh.fig │ ├── c02_rot.fig │ ├── c02_vel.fig │ ├── dus_geo.fig │ ├── dus_llh.fig │ ├── dus_rot.fig │ ├── dus_vel.fig │ ├── hs_geo.fig │ ├── hs_llh.fig │ ├── hs_rot.fig │ └── hs_vel.fig ├── src │ ├── data │ │ ├── CMakeLists.txt │ │ └── UnscentedSampler.cpp │ ├── dataset │ │ ├── CMakeLists.txt │ │ ├── DasetUrbanLoco.cpp │ │ ├── DataRobotcar.cpp │ │ ├── Dataset.cpp │ │ ├── DatasetBinLoco.cpp │ │ ├── DatasetBoreas.cpp │ │ ├── DatasetDELoco.cpp │ │ ├── DatasetGVINS.cpp │ │ ├── DatasetKitti.cpp │ │ ├── DatasetMulran.cpp │ │ ├── DatasetPohang.cpp │ │ └── DatasetUrbanNav.cpp │ ├── gnss_fgo │ │ ├── CMakeLists.txt │ │ ├── GNSSFGOBoreas.cpp │ │ ├── GNSSFGOLocalizationBase.cpp │ │ └── GNSSFGOTimeCentric.cpp │ ├── graph │ │ ├── CMakeLists.txt │ │ ├── GraphBase.cpp │ │ ├── GraphSensorCentric.cpp │ │ └── GraphTimeCentric.cpp │ ├── integrator │ │ ├── BeaconIntegrator.cpp │ │ ├── CMakeLists.txt │ │ ├── CorrevitIntegrator.cpp │ │ ├── GNSSLCIntegrator.cpp │ │ ├── GNSSTCIntegrator.cpp │ │ ├── IMUPreIntegrator.cpp │ │ └── LIOIntegrator.cpp │ ├── node │ │ ├── CMakeLists.txt │ │ ├── nodeOfflineLearningGP.cpp │ │ ├── nodeOfflineVisualFGO.cpp │ │ ├── nodeOnlineFGOBoreas.cpp │ │ └── nodeOnlineFGOTimeCentric.cpp │ ├── offline_process │ │ ├── CMakeLists.txt │ │ ├── LearningGP.cpp │ │ ├── OfflineFGOBase.cpp │ │ ├── OfflineSteinLOFGO.cpp │ │ └── OfflineVisualFGO.cpp │ ├── sensor │ │ ├── CMakeLists.txt │ │ ├── camera │ │ │ └── Beacon.cpp │ │ └── lidar │ │ │ └── LIOSAM.cpp │ ├── solver │ │ ├── BatchFixedLagSmoother.cpp │ │ ├── CMakeLists.txt │ │ ├── FixedLagSmoother.cpp │ │ └── IncrementalFixedLagSmoother.cpp │ └── utils │ │ ├── CMakeLists.txt │ │ ├── GPUtils.cpp │ │ └── Pose3Utils.cpp └── third_party │ ├── CMakeLists.txt │ ├── CalculateMeasurementDelay_ert_rtw │ ├── CalculateMeasurementDelay.cpp │ ├── CalculateMeasurementDelay.h │ ├── CalculateMeasurementDelay_data.cpp │ ├── CalculateMeasurementDelay_private.h │ ├── CalculateMeasurementDelay_types.h │ └── rtwtypes.h │ ├── InitGyroBias_ert_rtw │ ├── InitGyroBias.cpp │ ├── InitGyroBias.h │ ├── InitGyroBias_data.cpp │ ├── InitGyroBias_private.h │ ├── InitGyroBias_types.h │ ├── rtmodel.h │ └── rtwtypes.h │ ├── InitStatePVT_ert_rtw │ ├── InitStatePVT.cpp │ ├── InitStatePVT.h │ ├── InitStatePVT_data.cpp │ ├── InitStatePVT_private.h │ ├── InitStatePVT_types.h │ ├── rtmodel.h │ └── rtwtypes.h │ ├── func_ECEF2LLH │ ├── func_ECEF2LLH.cpp │ ├── func_ECEF2LLH.h │ ├── func_ECEF2LLH_data.h │ ├── func_ECEF2LLH_initialize.cpp │ ├── func_ECEF2LLH_initialize.h │ ├── func_ECEF2LLH_terminate.cpp │ ├── func_ECEF2LLH_terminate.h │ ├── func_ECEF2LLH_types.h │ ├── rtGetInf.cpp │ ├── rtGetInf.h │ ├── rtGetNaN.cpp │ ├── rtGetNaN.h │ ├── rt_defines.h │ ├── rt_nonfinite.cpp │ ├── rt_nonfinite.h │ └── rtwtypes.h │ ├── genJacobianECEF2ENU │ ├── genJacobianECEF2ENU.cpp │ ├── genJacobianECEF2ENU.h │ ├── genJacobianECEF2ENU_data.h │ ├── genJacobianECEF2ENU_initialize.cpp │ ├── genJacobianECEF2ENU_initialize.h │ ├── genJacobianECEF2ENU_terminate.cpp │ ├── genJacobianECEF2ENU_terminate.h │ ├── genJacobianECEF2ENU_types.h │ ├── rtGetInf.cpp │ ├── rtGetInf.h │ ├── rtGetNaN.cpp │ ├── rtGetNaN.h │ ├── rt_nonfinite.cpp │ ├── rt_nonfinite.h │ ├── rtwtypes.h │ └── tmwtypes.h │ ├── genJacobianECEF2NED │ ├── genJacobianECEF2NED.cpp │ ├── genJacobianECEF2NED.h │ ├── genJacobianECEF2NED_data.h │ ├── genJacobianECEF2NED_initialize.cpp │ ├── genJacobianECEF2NED_initialize.h │ ├── genJacobianECEF2NED_terminate.cpp │ ├── genJacobianECEF2NED_terminate.h │ ├── genJacobianECEF2NED_types.h │ ├── rtGetInf.cpp │ ├── rtGetInf.h │ ├── rtGetNaN.cpp │ ├── rtGetNaN.h │ ├── rt_nonfinite.cpp │ ├── rt_nonfinite.h │ ├── rtwtypes.h │ └── tmwtypes.h │ ├── matlab_utils.h │ └── tmwtypes.h └── robognss_msgs ├── CMakeLists.txt ├── msg ├── Attitude.msg ├── EphemBDS.msg ├── EphemBDSArray.msg ├── EphemGAL.msg ├── EphemGALArray.msg ├── EphemGLO.msg ├── EphemGLOArray.msg ├── EphemGPS.msg ├── EphemGPSArray.msg ├── EphemSBAS.msg ├── EphemSBASArray.msg ├── GNSSHeader.msg ├── GNSSRawHeader.msg ├── IonUtc.msg ├── MeasEpochPreProcessed.msg ├── MeasEpochPreProcessedMultiAnt.msg ├── MeasEpochRaw.msg ├── MeasEpochRawMultiAnt.msg ├── NtripReport.msg ├── Obs.msg ├── ObsExtended.msg ├── OdomUTM.msg ├── PVA.msg ├── PVAECEF.msg ├── PVT.msg ├── PVTECEF.msg ├── RTCM3.msg ├── RTCMData.msg ├── RTCMRaw.msg ├── SatHeader.msg ├── StationParam.msg ├── UTM.msg ├── UWB.msg ├── UWBMeas.msg └── Velocity.msg └── package.xml /.gitignore: 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