├── .DS_Store ├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── README.md ├── app └── orcvioMain.cpp ├── assets ├── erl_realsense_demo.gif └── orcvio-lite-unity-demo.gif ├── cmake ├── FindEigen3.cmake └── FindSuiteSparse.cmake ├── config ├── euroc.yaml ├── kitti.yaml ├── object_feat_all.yaml ├── object_feat_erl.yaml └── rs_d435i.yaml ├── include ├── Initializer │ ├── DynamicInitializer.h │ ├── FlexibleInitializer.h │ ├── ImuPreintegration.h │ ├── StaticInitializer.h │ ├── feature_manager.h │ ├── initial_alignment.h │ ├── initial_sfm.h │ └── solve_5pts.h ├── ORB │ └── ORBDescriptor.h ├── orcvio │ ├── dataset_reader.h │ ├── feat │ │ ├── Feature.h │ │ ├── FeatureInitializer.h │ │ ├── FeatureInitializerOptions.h │ │ ├── feature.hpp │ │ ├── feature_msg.h │ │ └── kf.h │ ├── image_processor.h │ ├── imu_state.h │ ├── obj │ │ ├── ObjectFeature.h │ │ ├── ObjectFeatureInitializer.h │ │ ├── ObjectLM.h │ │ ├── ObjectLMLite.h │ │ ├── ObjectResJacCam.h │ │ └── ObjectState.h │ ├── orcvio.h │ ├── plot │ │ └── matplotlibcpp.h │ ├── tests │ │ └── test_utils.h │ └── utils │ │ ├── EigenLevenbergMarquardt.h │ │ ├── EigenLevenbergMarquardt │ │ ├── LMcovar.h │ │ ├── LMonestep.h │ │ ├── LMpar.h │ │ ├── LMqrsolv.h │ │ └── LevenbergMarquardt.h │ │ ├── EigenNumericalDiff.h │ │ ├── math_utils.hpp │ │ └── se3_ops.hpp ├── sensors │ ├── ImageData.hpp │ └── ImuData.hpp ├── utils │ └── DataReader.hpp └── visualization │ └── visualize.hpp ├── licenses ├── LICENCE_VINS_MONO.txt ├── LICENSE_MSCKF_VIO.txt └── LICENSE_ORB_SLAM2.txt ├── requirements.md ├── ros_wrapper ├── .gitignore └── src │ ├── CMakeLists.txt │ ├── darknet_ros_bridge │ ├── CMakeLists.txt │ ├── package.xml │ └── scripts │ │ └── darknet_ros_bridge.py │ ├── darknet_ros_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── action │ │ └── CheckForObjects.action │ ├── msg │ │ ├── BoundingBox.msg │ │ ├── BoundingBoxes.msg │ │ └── ObjectCount.msg │ └── package.xml │ ├── orcvio │ ├── CMakeLists.txt │ ├── include │ │ ├── ObjectInitNode.h │ │ ├── ObjectMapper_nodelet.h │ │ ├── System.h │ │ ├── System_nodelet.h │ │ └── gt_odom.h │ ├── launch │ │ ├── realsense_d435i │ │ │ ├── orcvio_mapping_rs_d435i.launch │ │ │ └── orcvio_vio_rs_d435i.launch │ │ └── rviz │ │ │ ├── orcvio_kitti_object.rviz │ │ │ ├── orcvio_mapping_rs_d435i.rviz │ │ │ └── orcvio_vio_rs_d435i.rviz │ ├── nodelet_plugins.xml │ ├── package.xml │ └── src │ │ ├── ObjectInitNode.cpp │ │ ├── ObjectMapper_nodelet.cpp │ │ ├── System.cpp │ │ ├── System_nodelet.cpp │ │ ├── gt_odom.cpp │ │ └── publish_gt_path.cpp │ ├── sort_ros │ ├── .gitignore │ ├── CMakeLists.txt │ ├── include │ │ └── sort_ros │ │ │ ├── Hungarian.h │ │ │ ├── KalmanTracker.h │ │ │ └── sort_tracking.h │ ├── launch │ │ ├── display.rviz │ │ ├── display_dcist.rviz │ │ ├── sort_ros_test_gdb.launch │ │ ├── sort_ros_test_kitti.launch │ │ ├── sort_ros_test_tum.launch │ │ └── sort_ros_test_visma.launch │ ├── msg │ │ ├── TrackedBoundingBox.msg │ │ └── TrackedBoundingBoxes.msg │ ├── nodelet_plugins.xml │ ├── package.xml │ ├── readme.md │ └── src │ │ ├── Hungarian.cpp │ │ ├── KalmanTracker.cpp │ │ ├── main.cpp │ │ ├── sort_ros_node.cpp │ │ ├── sort_ros_nodelet.cpp │ │ ├── sort_tracking.cpp │ │ └── test_kf.cpp │ └── wm_od_interface_msgs │ ├── CMakeLists.txt │ ├── msg │ ├── KeypointDetection.msg │ ├── KeypointDetections.msg │ ├── ObjectDetectionRequest.msg │ ├── ROI2d.msg │ ├── ira_det.msg │ ├── ira_dets.msg │ └── ira_request.msg │ └── package.xml ├── run_euroc.sh ├── scripts ├── convert_csv_to_txt.py ├── save_pose_from_tf.py ├── tf_bag.py └── traj_eval.py └── src ├── DynamicInitializer.cpp ├── FlexibleInitializer.cpp ├── ORBDescriptor.cpp ├── StaticInitializer.cpp ├── feat ├── Feature.cpp ├── FeatureInitializer.cpp └── kf.cpp ├── feature_manager.cpp ├── image_processor.cpp ├── initial_alignment.cpp ├── initial_sfm.cpp ├── obj ├── ObjectFeature.cpp ├── ObjectFeatureInitializer.cpp ├── ObjectLM.cpp ├── ObjectLMLite.cpp ├── ObjectResJacCam.cpp └── ObjectState.cpp ├── orcvio.cpp ├── solve_5pts.cpp └── tests ├── data ├── one_car │ ├── frame_0.h5 │ ├── frame_1.h5 │ ├── frame_10.h5 │ ├── frame_11.h5 │ ├── frame_12.h5 │ ├── frame_13.h5 │ ├── frame_14.h5 │ ├── frame_15.h5 │ ├── frame_16.h5 │ ├── frame_17.h5 │ ├── frame_18.h5 │ ├── frame_19.h5 │ ├── frame_2.h5 │ ├── frame_20.h5 │ ├── frame_21.h5 │ ├── frame_22.h5 │ ├── frame_23.h5 │ ├── frame_24.h5 │ ├── frame_25.h5 │ ├── frame_26.h5 │ ├── frame_27.h5 │ ├── frame_28.h5 │ ├── frame_29.h5 │ ├── frame_3.h5 │ ├── frame_30.h5 │ ├── frame_31.h5 │ ├── frame_32.h5 │ ├── frame_33.h5 │ ├── frame_34.h5 │ ├── frame_35.h5 │ ├── frame_36.h5 │ ├── frame_37.h5 │ ├── frame_38.h5 │ ├── frame_39.h5 │ ├── frame_4.h5 │ ├── frame_40.h5 │ ├── frame_41.h5 │ ├── frame_42.h5 │ ├── frame_43.h5 │ ├── frame_44.h5 │ ├── frame_45.h5 │ ├── frame_46.h5 │ ├── frame_5.h5 │ ├── frame_6.h5 │ ├── frame_7.h5 │ ├── frame_8.h5 │ └── frame_9.h5 ├── one_car_no_zb │ ├── frame_0.h5 │ ├── frame_1.h5 │ ├── frame_10.h5 │ ├── frame_11.h5 │ ├── frame_12.h5 │ ├── frame_13.h5 │ ├── frame_14.h5 │ ├── frame_15.h5 │ ├── frame_16.h5 │ ├── frame_17.h5 │ ├── frame_18.h5 │ ├── frame_19.h5 │ ├── frame_2.h5 │ ├── frame_20.h5 │ ├── frame_21.h5 │ ├── frame_22.h5 │ ├── frame_23.h5 │ ├── frame_24.h5 │ ├── frame_25.h5 │ ├── frame_26.h5 │ ├── frame_27.h5 │ ├── frame_28.h5 │ ├── frame_29.h5 │ ├── frame_3.h5 │ ├── frame_30.h5 │ ├── frame_31.h5 │ ├── frame_32.h5 │ ├── frame_33.h5 │ ├── frame_34.h5 │ ├── frame_35.h5 │ ├── frame_36.h5 │ ├── frame_37.h5 │ ├── frame_38.h5 │ ├── frame_39.h5 │ ├── frame_4.h5 │ ├── frame_40.h5 │ ├── frame_41.h5 │ ├── frame_42.h5 │ ├── frame_43.h5 │ ├── frame_44.h5 │ ├── frame_45.h5 │ ├── frame_46.h5 │ ├── frame_5.h5 │ ├── frame_6.h5 │ ├── frame_7.h5 │ ├── frame_8.h5 │ └── frame_9.h5 ├── test_error_bbox_quadric.h5 ├── test_error_deform_reg.h5 ├── test_error_feature_quadric.h5 └── test_error_mean_shape_reg.h5 ├── test_kabsch.cpp ├── test_levenberg_marquardt.cpp ├── test_object_init_multiframe.cpp ├── test_object_lm.cpp ├── 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