├── LICENCE ├── README.md ├── camera_model ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── include │ └── camodocal │ │ ├── calib │ │ └── CameraCalibration.h │ │ ├── camera_models │ │ ├── Camera.h │ │ ├── CameraFactory.h │ │ ├── CataCamera.h │ │ ├── CostFunctionFactory.h │ │ ├── EquidistantCamera.h │ │ ├── PinholeCamera.h │ │ └── ScaramuzzaCamera.h │ │ ├── chessboard │ │ ├── Chessboard.h │ │ ├── ChessboardCorner.h │ │ ├── ChessboardQuad.h │ │ └── Spline.h │ │ ├── gpl │ │ ├── EigenQuaternionParameterization.h │ │ ├── EigenUtils.h │ │ └── gpl.h │ │ └── sparse_graph │ │ └── Transform.h ├── instruction ├── package.xml ├── readme.md └── src │ ├── calib │ └── CameraCalibration.cc │ ├── camera_models │ ├── Camera.cc │ ├── CameraFactory.cc │ ├── CataCamera.cc │ ├── CostFunctionFactory.cc │ ├── EquidistantCamera.cc │ ├── PinholeCamera.cc │ └── ScaramuzzaCamera.cc │ ├── chessboard │ └── Chessboard.cc │ ├── gpl │ ├── EigenQuaternionParameterization.cc │ └── gpl.cc │ ├── intrinsic_calib.cc │ └── sparse_graph │ └── Transform.cc ├── config ├── gvins_rviz_config.rviz ├── simulator │ └── simulator_config.yaml └── visensor_f9p │ └── visensor_left_f9p_config.yaml ├── docker ├── Dockerfile ├── Makefile └── run.sh ├── estimator ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── launch │ ├── simulator.launch │ └── visensor_f9p.launch ├── msg │ └── LocalSensorExternalTrigger.msg ├── package.xml └── src │ ├── estimator.cpp │ ├── estimator.h │ ├── estimator_node.cpp │ ├── factor │ ├── gnss_ddt_smooth_factor.cpp │ ├── gnss_ddt_smooth_factor.hpp │ ├── gnss_dt_anchor_factor.cpp │ ├── gnss_dt_anchor_factor.hpp │ ├── gnss_dt_ddt_factor.cpp │ ├── gnss_dt_ddt_factor.hpp │ ├── gnss_psr_dopp_factor.cpp │ ├── gnss_psr_dopp_factor.hpp │ ├── imu_factor.h │ ├── integration_base.h │ ├── marginalization_factor.cpp │ ├── marginalization_factor.h │ ├── pos_vel_factor.cpp │ ├── pos_vel_factor.hpp │ ├── pose_anchor_factor.cpp │ ├── pose_anchor_factor.h │ ├── pose_local_parameterization.cpp │ ├── pose_local_parameterization.h │ ├── projection_factor.cpp │ ├── projection_factor.h │ ├── projection_td_factor.cpp │ └── projection_td_factor.h │ ├── feature_manager.cpp │ ├── feature_manager.h │ ├── initial │ ├── gnss_vi_initializer.cpp │ ├── gnss_vi_initializer.h │ ├── initial_aligment.cpp │ ├── initial_alignment.h │ ├── initial_ex_rotation.cpp │ ├── initial_ex_rotation.h │ ├── initial_sfm.cpp │ ├── initial_sfm.h │ ├── solve_5pts.cpp │ └── solve_5pts.h │ ├── parameters.cpp │ ├── parameters.h │ └── utility │ ├── CameraPoseVisualization.cpp │ ├── CameraPoseVisualization.h │ ├── tic_toc.h │ ├── utility.cpp │ ├── utility.h │ ├── visualization.cpp │ └── visualization.h ├── feature_tracker ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── package.xml └── src │ ├── feature_tracker.cpp │ ├── feature_tracker.h │ ├── feature_tracker_node.cpp │ ├── parameters.cpp │ ├── parameters.h │ └── tic_toc.h └── figures └── system_snapshot.png /LICENCE: 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