├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── bin └── .gitignore ├── cfg └── Camera.cfg ├── cmake ├── CeresConfig.cmake ├── FindCXSparse.cmake ├── FindEigen.cmake ├── FindGlog.cmake ├── FindSuiteSparse.cmake ├── FindVISensor.cmake ├── okvisConfig.cmake.in ├── okvisConfig.hpp.in ├── okvisConfigVersion.cmake.in └── opengv │ ├── CMakeLists.txt │ └── opengvConfig.cmake.in ├── config ├── config_DOC1357.yaml ├── config_fpga_p2_euroc.yaml ├── config_mynteye_d.yaml ├── config_mynteye_s.yaml ├── dataset_converter.yaml ├── rviz.rviz └── rviz_mesh.rviz ├── contributors.txt ├── doxygen.config ├── include └── okvis │ ├── Publisher.hpp │ ├── RosParametersReader.hpp │ └── Subscriber.hpp ├── launch ├── convert_dataset.launch ├── mynteye_d.launch ├── okvis_node.launch └── okvis_node_synchronous.launch ├── meshes └── firefly.dae ├── okvis ├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cmake │ ├── CeresConfig.cmake │ ├── FindCXSparse.cmake │ ├── FindEigen.cmake │ ├── FindGlog.cmake │ ├── FindSuiteSparse.cmake │ ├── FindVISensor.cmake │ ├── okvisConfig.cmake.in │ ├── okvisConfig.hpp.in │ ├── okvisConfigVersion.cmake.in │ └── opengv │ │ ├── CMakeLists.txt │ │ └── opengvConfig.cmake.in ├── config │ ├── config_DOC1357.yaml │ └── config_fpga_p2_euroc.yaml ├── contributors.txt ├── doxygen.config ├── okvis_apps │ └── src │ │ ├── okvis_app_mynteye.cpp │ │ └── okvis_app_synchronous.cpp ├── okvis_ceres │ ├── CMakeLists.txt │ ├── include │ │ └── okvis │ │ │ ├── Estimator.hpp │ │ │ ├── IdProvider.hpp │ │ │ ├── ceres │ │ │ ├── CeresIterationCallback.hpp │ │ │ ├── ErrorInterface.hpp │ │ │ ├── HomogeneousPointError.hpp │ │ │ ├── HomogeneousPointLocalParameterization.hpp │ │ │ ├── HomogeneousPointParameterBlock.hpp │ │ │ ├── ImuError.hpp │ │ │ ├── LocalParamizationAdditionalInterfaces.hpp │ │ │ ├── Map.hpp │ │ │ ├── MarginalizationError.hpp │ │ │ ├── ParameterBlock.hpp │ │ │ ├── ParameterBlockSized.hpp │ │ │ ├── PoseError.hpp │ │ │ ├── PoseLocalParameterization.hpp │ │ │ ├── PoseParameterBlock.hpp │ │ │ ├── RelativePoseError.hpp │ │ │ ├── ReprojectionError.hpp │ │ │ ├── ReprojectionErrorBase.hpp │ │ │ ├── SpeedAndBiasError.hpp │ │ │ ├── SpeedAndBiasParameterBlock.hpp │ │ │ ├── implementation │ │ │ │ ├── MarginalizationError.hpp │ │ │ │ └── ReprojectionError.hpp │ │ │ └── ode │ │ │ │ └── ode.hpp │ │ │ └── implementation │ │ │ └── Estimator.hpp │ ├── src │ │ ├── Estimator.cpp │ │ ├── HomogeneousPointError.cpp │ │ ├── HomogeneousPointLocalParameterization.cpp │ │ ├── HomogeneousPointParameterBlock.cpp │ │ ├── IdProvider.cpp │ │ ├── ImuError.cpp │ │ ├── LocalParamizationAdditionalInterfaces.cpp │ │ ├── Map.cpp │ │ ├── MarginalizationError.cpp │ │ ├── PoseError.cpp │ │ ├── PoseLocalParameterization.cpp │ │ ├── PoseParameterBlock.cpp │ │ ├── RelativePoseError.cpp │ │ ├── SpeedAndBiasError.cpp │ │ └── SpeedAndBiasParameterBlock.cpp │ └── test │ │ ├── TestEstimator.cpp │ │ ├── TestHomogeneousPointError.cpp │ │ ├── TestImuError.cpp │ │ ├── TestMap.cpp │ │ ├── TestMarginalization.cpp │ │ ├── TestReprojectionError.cpp │ │ └── test_main.cpp ├── okvis_common │ ├── CMakeLists.txt │ ├── include │ │ └── okvis │ │ │ ├── FrameTypedefs.hpp │ │ │ ├── Measurements.hpp │ │ │ ├── Parameters.hpp │ │ │ ├── Variables.hpp │ │ │ ├── VioBackendInterface.hpp │ │ │ ├── VioFrontendInterface.hpp │ │ │ ├── VioInterface.hpp │ │ │ └── VioParametersReader.hpp │ └── src │ │ ├── VioInterface.cpp │ │ └── VioParametersReader.cpp ├── okvis_cv │ ├── CMakeLists.txt │ ├── include │ │ └── okvis │ │ │ ├── Frame.hpp │ │ │ ├── MultiFrame.hpp │ │ │ ├── cameras │ │ │ ├── CameraBase.hpp │ │ │ ├── DistortionBase.hpp │ │ │ ├── EquidistantDistortion.hpp │ │ │ ├── NCameraSystem.hpp │ │ │ ├── NoDistortion.hpp │ │ │ ├── PinholeCamera.hpp │ │ │ ├── RadialTangentialDistortion.hpp │ │ │ ├── RadialTangentialDistortion8.hpp │ │ │ └── implementation │ │ │ │ ├── CameraBase.hpp │ │ │ │ ├── EquidistantDistortion.hpp │ │ │ │ ├── NCameraSystem.hpp │ │ │ │ ├── PinholeCamera.hpp │ │ │ │ ├── RadialTangentialDistortion.hpp │ │ │ │ └── RadialTangentialDistortion8.hpp │ │ │ └── implementation │ │ │ ├── Frame.hpp │ │ │ └── MultiFrame.hpp │ ├── src │ │ ├── CameraBase.cpp │ │ └── NCameraSystem.cpp │ └── test │ │ ├── TestFrame.cpp │ │ ├── TestMultiFrame.cpp │ │ ├── TestNCameraSystem.cpp │ │ ├── TestPinholeCamera.cpp │ │ └── runTests.cpp ├── okvis_frontend │ ├── CMakeLists.txt │ ├── include │ │ ├── okvis │ │ │ ├── Frontend.hpp │ │ │ ├── VioKeyframeWindowMatchingAlgorithm.hpp │ │ │ └── triangulation │ │ │ │ ├── ProbabilisticStereoTriangulator.hpp │ │ │ │ └── stereo_triangulation.hpp │ │ └── opengv │ │ │ ├── absolute_pose │ │ │ └── FrameNoncentralAbsoluteAdapter.hpp │ │ │ ├── relative_pose │ │ │ └── FrameRelativeAdapter.hpp │ │ │ └── sac_problems │ │ │ ├── absolute_pose │ │ │ └── FrameAbsolutePoseSacProblem.hpp │ │ │ └── relative_pose │ │ │ ├── FrameRelativePoseSacProblem.hpp │ │ │ └── FrameRotationOnlySacProblem.hpp │ └── src │ │ ├── FrameNoncentralAbsoluteAdapter.cpp │ │ ├── FrameRelativeAdapter.cpp │ │ ├── Frontend.cpp │ │ ├── ProbabilisticStereoTriangulator.cpp │ │ ├── VioKeyframeWindowMatchingAlgorithm.cpp │ │ └── stereo_triangulation.cpp ├── okvis_kinematics │ ├── CMakeLists.txt │ ├── include │ │ └── okvis │ │ │ └── kinematics │ │ │ ├── Transformation.hpp │ │ │ ├── implementation │ │ │ └── Transformation.hpp │ │ │ └── operators.hpp │ ├── src │ │ └── dependency-tracker.cc │ └── test │ │ ├── TestTransformation.cpp │ │ └── runTests.cpp ├── okvis_matcher │ ├── CMakeLists.txt │ ├── include │ │ └── okvis │ │ │ ├── DenseMatcher.hpp │ │ │ ├── MatchingAlgorithm.hpp │ │ │ ├── ThreadPool.hpp │ │ │ └── implementation │ │ │ └── DenseMatcher.hpp │ ├── src │ │ ├── DenseMatcher.cpp │ │ ├── MatchingAlgorithm.cpp │ │ └── ThreadPool.cpp │ └── test │ │ ├── testMatcher.cpp │ │ └── test_main.cpp ├── okvis_multisensor_processing │ ├── CMakeLists.txt │ ├── include │ │ └── okvis │ │ │ ├── FrameSynchronizer.hpp │ │ │ ├── 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