├── README.md ├── bag ├── ROS │ ├── loop_closures_wo_errors.txt │ └── viso2edit.txt └── gt2_adapted.txt ├── ekf ├── COMPOSITION.m ├── buildRk.m ├── calcCov.m ├── calculateHhk.m ├── composition.m ├── getCov.m ├── innovation.m ├── inversion.m ├── prediction.m ├── predictionSetup.m ├── relativeMotionFromAbsoluteMotionUQ.m └── updateSetup.m ├── ekfMain.m ├── plot ├── error_ellipse.m ├── plotEKF.m ├── plotEllipsoid.m └── plot_dir3.m ├── quaternion ├── addAngleToQuaternion.m ├── quatDiff.m ├── quatInvers.m ├── quatMult.m ├── quatNormal.m ├── quatRearrange.m └── quatToMatrix.m ├── util ├── absLoopClosing.m ├── addNoiseToState.m ├── calculateError.m ├── clearMATLAB.m ├── distanceVector.m ├── euclidDistance.m ├── getStereoImageByTimestamp.m ├── normState.m ├── rosBagFileReader.m ├── rotatePositions.m ├── stateVectorToPitchRollYaw.m ├── stateVectorToXYZ.m ├── trajectoryError.m └── vision.m └── vision ├── calculate3DPoint.m ├── findCorrespondenciesIndex.m ├── findFeature.m ├── findLoopClosing.m 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