├── LICENSE ├── README.md ├── dependencies.yaml ├── doc ├── benchmarking.md ├── bib │ ├── Cioffi20iros.bib │ ├── Forster14icra.bib │ ├── Forster17tro.bib │ ├── Galvez12tro.bib │ ├── Kaess12ijrr.bib │ ├── Kuo20icra.bib │ ├── Leutenegger15ijrr.bib │ ├── Muglikar20icra.bib │ ├── Zhang16icra.bib │ └── Zhang17icra.bib ├── calibration.md ├── eyecatcher_with_youtube_logo.jpg ├── frontend │ ├── frontend_fla.md │ └── visual_frontend.md ├── global_map.md ├── images │ ├── git_img.png │ ├── mh03_gm.gif │ ├── v102_gm.gif │ └── v202_mono_vio.gif ├── known_issues_and_improvements.md └── vio.md ├── gps_simulator ├── CMakeLists.txt ├── README.md ├── config │ ├── constellation.yaml │ └── reciever_config.yaml ├── include │ ├── constellation.hpp │ ├── emitter.hpp │ ├── frame_handler.hpp │ ├── gnss.hpp │ ├── receiver.hpp │ └── satellite_param.hpp ├── launch │ └── gnss_simulator.launch ├── msg │ ├── DoubleArrayMsg.msg │ ├── DoubleMsg.msg │ ├── EmitterMsg.msg │ └── IntMsg.msg ├── package.xml ├── scripts │ └── gps_error_publisher.py └── src │ ├── constellation.cpp │ ├── emitter.cpp │ ├── frame_handler.cpp │ ├── gnss.cpp │ ├── main.cpp │ └── satellite_param.cpp ├── rpg_common ├── CMakeLists.txt ├── include │ └── rpg_common │ │ ├── aligned.h │ │ ├── batch_worker.h │ │ ├── callback_host.h │ │ ├── eigen_hash.h │ │ ├── eigen_type.h │ │ ├── fs.h │ │ ├── pose.h │ │ ├── realtime_worker.h │ │ ├── threadsafe_queue.h │ │ ├── timer.h │ │ └── worker_base.h ├── package.xml └── src │ └── fs.cpp ├── rqt_svo ├── CMakeLists.txt ├── README.md ├── package.xml ├── plugin.xml ├── resource │ └── widget.ui ├── scripts │ └── rqt_svo ├── setup.py └── src │ └── rqt_svo │ ├── .gitignore │ ├── __init__.py │ ├── svo.py │ └── svo_widget.py ├── scripts ├── bash │ └── record_vio.sh └── python │ ├── extract_from_rosbag.py │ └── include_simulated_gp_in_rosbag.py ├── svo ├── .gitignore ├── CMakeLists.txt ├── doc │ └── .gitignore ├── include │ └── svo │ │ ├── abstract_bundle_adjustment.h │ │ ├── frame_handler_array.h │ │ ├── frame_handler_base.h │ │ ├── frame_handler_mono.h │ │ ├── frame_handler_stereo.h │ │ ├── global.h │ │ ├── global_pose_handler.h │ │ ├── global_positions_handler.h │ │ ├── imu_handler.h │ │ ├── initialization.h │ │ ├── io.h │ │ ├── map.h │ │ ├── pose_optimizer.h │ │ ├── raw_gnss_handler.h │ │ ├── reprojector.h │ │ ├── stereo_triangulation.h │ │ └── svo.h ├── package.xml ├── src │ ├── frame_handler_array.cpp │ ├── frame_handler_base.cpp │ ├── frame_handler_mono.cpp │ ├── frame_handler_stereo.cpp │ ├── global_pose_handler.cpp │ ├── global_positions_handler.cpp │ ├── imu_handler.cpp │ ├── initialization.cpp │ ├── io.cpp │ ├── map.cpp │ ├── pose_optimizer.cpp │ ├── raw_gnss_handler.cpp │ ├── reprojector.cpp │ └── stereo_triangulation.cpp ├── test │ └── test_frame.cpp └── trace │ └── .gitignore ├── svo_benchmarking ├── CMakeLists.txt ├── README.md ├── analzye_traj_cfg │ ├── exp_euroc_vio.yaml │ ├── exp_euroc_vio_lc.yaml │ └── exp_gm_euroc_all.yaml ├── data │ └── .gitignore ├── dataset_tools │ ├── .gitignore │ ├── MH_04_difficult │ │ └── data │ │ │ └── imu.txt │ ├── README.md │ ├── generate_ground_truth.sh │ ├── handeye_tfs │ │ ├── handeye_davis.yaml │ │ ├── handeye_visensor.yaml │ │ └── handeye_visensor_1903.yaml │ ├── prepare_dataset_monocular.sh │ ├── prepare_dataset_stereo.sh │ └── python │ │ ├── asl_groundtruth_to_pose.py │ │ ├── associate_timestamps.py │ │ ├── bag_to_image.py │ │ ├── bag_to_imu.py │ │ ├── bag_to_pose.py │ │ ├── change_image_path.py │ │ ├── combine_images.py │ │ ├── prepend_id.py │ │ ├── restamp_bag.py │ │ ├── strip_gt_id.py │ │ ├── swap_stamped_imu_meas.py │ │ └── transform_trajectory.py ├── evaluation_tools.md ├── experiments │ ├── exp_euroc_lc.yaml │ ├── exp_euroc_lc_stereo.yaml │ ├── exp_euroc_nolc.yaml │ ├── exp_euroc_nolc_stereo.yaml │ └── exp_global_map.yaml ├── package.xml ├── results │ └── .gitignore ├── scripts │ ├── analyze_all_euroc.sh │ ├── analyze_imu_integration_dynamic.py │ ├── analyze_imu_integration_static.py │ ├── analyze_imu_properties_static.py │ ├── analyze_lc_timing.py │ ├── analyze_vio_timing.py │ ├── bag_eval_scripts │ │ ├── analyze_stationary.py │ │ └── cal_traj_len.py │ ├── benchmark.py │ ├── compute_hand_eye_transformation.py │ ├── convert_old_fmt.py │ ├── evaluate.py │ ├── evaluate_all.py │ ├── organize_results.py │ ├── organize_results_mul.py │ └── ros_node.py ├── setup.py └── src │ └── svo_ceres_benchmarking │ ├── __init__.py │ ├── dataset_loading.py │ ├── hand_eye_calib.py │ ├── results_loading.py │ ├── tfs_utils.py │ ├── tracefile_reader.py │ ├── trajectory_loading.py │ ├── trajectory_plotting.py │ ├── trajectory_utils.py │ └── transformations.py ├── svo_ceres_backend ├── CMakeLists.txt ├── include │ └── svo │ │ ├── ceres_backend │ │ ├── ceres_iteration_callback.hpp │ │ ├── epipolar_error.hpp │ │ ├── error_interface.hpp │ │ ├── estimator.hpp │ │ ├── estimator_impl.hpp │ │ ├── estimator_types.hpp │ │ ├── global_position_error.hpp │ │ ├── homogeneous_point_error.hpp │ │ ├── homogeneous_point_local_parameterization.hpp │ │ ├── homogeneous_point_parameter_block.hpp │ │ ├── imu_error.hpp │ │ ├── local_parameterization_additional_interfaces.hpp │ │ ├── map.hpp │ │ ├── map_alignment.hpp │ │ ├── marginalization_error.hpp │ │ ├── marginalization_error_impl.hpp │ │ ├── parameter_block.hpp │ │ ├── pose_error.hpp │ │ ├── pose_local_parameterization.hpp │ │ ├── pose_parameter_block.hpp │ │ ├── relative_pose_error.hpp │ │ ├── reprojection_error.hpp │ │ ├── reprojection_error_base.hpp │ │ ├── reprojection_error_impl.hpp │ │ ├── reprojection_error_simple.hpp │ │ ├── speed_and_bias_error.hpp │ │ └── speed_and_bias_parameter_block.hpp │ │ ├── ceres_backend_interface.hpp │ │ ├── ceres_backend_publisher.hpp │ │ ├── motion_detector.hpp │ │ └── outlier_rejection.hpp ├── package.xml ├── src │ ├── ceres_backend_interface.cpp │ ├── ceres_backend_publisher.cpp │ ├── error_interface.cpp │ ├── estimator.cpp │ ├── global_position_error.cpp │ ├── homogeneous_point_error.cpp │ ├── homogeneous_point_local_parameterization.cpp │ ├── homogeneous_point_parameter_block.cpp │ ├── imu_error.cpp │ ├── local_parameterization_additional_interfaces.cpp │ ├── map.cpp │ ├── map_alignment.cpp │ ├── marginalization_error.cpp │ ├── motion_detector.cpp │ ├── outlier_rejection.cpp │ ├── pose_error.cpp │ ├── pose_local_parameterization.cpp │ ├── pose_parameter_block.cpp │ ├── relative_pose_error.cpp │ ├── speed_and_bias_error.cpp │ └── speed_and_bias_parameter_block.cpp └── test │ ├── test_backend_id.cpp │ ├── test_estimator.cpp │ ├── test_homogeneous_point_error.cpp │ ├── test_imu_error.cpp │ ├── test_map.cpp │ ├── test_marginalization.cpp │ ├── test_pose_error.cpp │ ├── test_pose_local_parameterization.cpp │ ├── test_relative_pose_error.cpp │ ├── test_reprojection_error.cpp │ └── test_speed_and_bias_error.cpp ├── svo_cmake ├── CMakeLists.txt ├── cmake │ ├── Modules │ │ ├── Findyaml-cpp.cmake │ │ └── SvoSetup.cmake │ ├── svo_cmake-extras.cmake.develspace.in │ └── svo_cmake-extras.cmake.installspace.in └── package.xml ├── svo_common ├── CMakeLists.txt ├── include │ └── svo │ │ └── common │ │ ├── camera.h │ │ ├── camera_fwd.h │ │ ├── container_helpers.h │ │ ├── conversions.h │ │ ├── feature_wrapper.h │ │ ├── frame.h │ │ ├── global_pose_settings.h │ │ ├── global_positions_settings.h │ │ ├── imu_calibration.h │ │ ├── logging.h │ │ ├── occupancy_grid_2d.h │ │ ├── point.h │ │ ├── seed.h │ │ ├── transformation.h │ │ └── types.h ├── package.xml ├── src │ ├── empty.cpp │ ├── frame.cpp │ ├── point.cpp │ └── test │ │ └── synthetic_dataset.cpp └── test │ ├── test_container_helpers.cpp │ ├── test_feature_wrapper.cpp │ └── test_main.cpp ├── svo_direct ├── CMakeLists.txt ├── include │ └── svo │ │ └── direct │ │ ├── depth_estimation.h │ │ ├── depth_filter.h │ │ ├── elder_zucker.h │ │ ├── feature_alignment.h │ │ ├── feature_detection.h │ │ ├── feature_detection_types.h │ │ ├── feature_detection_utils.h │ │ ├── matcher.h │ │ ├── patch_score.h │ │ ├── patch_utils.h │ │ └── patch_warp.h ├── package.xml ├── src │ ├── depth_estimation.cpp │ ├── depth_filter.cpp │ ├── elder_zucker.cpp │ ├── feature_alignment.cpp │ ├── feature_detection.cpp │ ├── feature_detection_utils.cpp │ ├── matcher.cpp │ └── patch_warp.cpp └── test │ ├── test_depth_estimation.cpp │ ├── test_edgelet_direction.cpp │ ├── test_edgelet_extraction.cpp │ ├── test_feature_alignment.cpp │ ├── test_feature_detection.cpp │ ├── test_patch_score.cpp │ └── test_utils.h ├── svo_global_map ├── CATKIN_IGNORE ├── CMakeLists.txt ├── include │ └── svo │ │ ├── global_map.h │ │ ├── gtsam │ │ ├── camera_bearing_extrinsics_factor.h │ │ ├── camera_bearing_factor.h │ │ ├── graph_manager.h │ │ ├── gtsam_optimizer.h │ │ └── smart_factors_fwd.h │ │ └── null_stream.h ├── package.xml └── src │ ├── global_map.cpp │ ├── gtsam │ ├── graph_manager.cpp │ └── gtsam_optimizer.cpp │ └── null_stream.cpp ├── svo_img_align ├── CMakeLists.txt ├── include │ └── svo │ │ └── img_align │ │ ├── frame_gpu.h │ │ ├── gpu_types_cuda.h │ │ ├── sparse_img_align.h │ │ ├── sparse_img_align_base.h │ │ ├── sparse_img_align_device_utils.cuh │ │ └── sparse_img_align_gpu.h ├── package.xml └── src │ ├── frame_gpu.cpp │ ├── sparse_img_align.cpp │ ├── sparse_img_align_base.cpp │ ├── sparse_img_align_device_utils.cu │ └── sparse_img_align_gpu.cpp ├── svo_msgs ├── CMakeLists.txt ├── msg │ ├── DenseInput.msg │ ├── DenseInputWithFeatures.msg │ ├── Feature.msg │ ├── Info.msg │ ├── NbvTrajectory.msg │ └── PoseWithCloud.msg └── package.xml ├── svo_online_loopclosing ├── CMakeLists.txt ├── include │ └── svo │ │ └── online_loopclosing │ │ ├── bow.h │ │ ├── ceres │ │ ├── epipolar_error.h │ │ └── reprojection_error_simple.h │ │ ├── geometric_verification.h │ │ ├── keyframe.h │ │ ├── loop_closing.h │ │ ├── loop_closing_types.h │ │ ├── map_alignment.h │ │ └── read_file.h ├── package.xml ├── src │ ├── bow.cpp │ ├── geometric_verification.cpp │ ├── loop_closing.cpp │ ├── map_alignment.cpp │ └── read_file.cpp ├── test │ └── createvoc.cpp └── vocabularies │ ├── .gitignore │ └── download_voc.sh ├── svo_pgo ├── CMakeLists.txt ├── include │ └── svo │ │ └── pgo │ │ ├── ceres │ │ ├── pose_graph_3d_error_term.h │ │ └── types.h │ │ └── pgo.h ├── package.xml ├── src │ └── pgo.cpp └── test │ ├── plot_results.py │ └── test.cpp ├── svo_registration ├── CMakeLists.txt ├── Dataset │ ├── 0_0_Bag_conversion.py │ ├── 0_1_fusing_colmaptraj.py │ ├── 0_colmaptrajextraction copy.py │ ├── 0_colmaptrajextraction.py │ ├── 1_GMap2ply.py │ ├── 2_Lidar2ENU.py │ ├── 3_colmap_transform.py │ ├── 4_colmap_add_GT.py │ ├── 5_GPS_reading.py │ ├── 6_align_stamps.py │ ├── 7_VINS_pinhole.py │ ├── Colmap │ │ ├── Readme.md │ │ └── elios2bag.py │ ├── Kalibr │ │ ├── README.md │ │ ├── elios2bag.py │ │ └── yaml │ │ │ ├── april_6x6.yaml │ │ │ └── imu.yaml │ └── README.md ├── Evaluation │ ├── FM │ │ ├── PlotAllTraj.py │ │ ├── SVO2RPG.py │ │ └── VINS2RPG.py │ └── Oerlikon │ │ ├── PlotAllTraj.py │ │ ├── SVO2RPGFormat.py │ │ ├── Traj2CommunFrame.py │ │ └── Vins2RPGFormat.py ├── config │ ├── FM.yaml │ └── oerlikon.yaml ├── package.xml └── scripts │ ├── Map_Creation │ ├── 1_obj2ply.py │ └── README.md │ ├── RealWorldData │ └── README.md │ └── online_registration.py ├── svo_ros ├── CMakeLists.txt ├── RVIZ │ └── rviz_config_digital_twins.rviz ├── build │ ├── .cmake │ │ └── api │ │ │ └── v1 │ │ │ └── query │ │ │ └── client-integration-vscode │ │ │ ├── cache-v2 │ │ │ ├── cmakeFiles-v1 │ │ │ └── codemodel-v2 │ ├── CATKIN_IGNORE │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.16.3 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeError.log │ │ ├── CMakeOutput.log │ │ └── cmake.check_cache │ ├── CTestConfiguration.ini │ ├── CTestCustom.cmake │ ├── atomic_configure │ │ ├── .rosinstall │ │ ├── _setup_util.py │ │ ├── env.sh │ │ ├── local_setup.bash │ │ ├── local_setup.sh │ │ ├── local_setup.zsh │ │ ├── setup.bash │ │ ├── setup.sh │ │ └── setup.zsh │ ├── catkin │ │ └── catkin_generated │ │ │ └── version │ │ │ └── package.cmake │ ├── catkin_generated │ │ ├── env_cached.sh │ │ ├── generate_cached_setup.py │ │ ├── installspace │ │ │ ├── .rosinstall │ │ │ ├── _setup_util.py │ │ │ ├── env.sh │ │ │ ├── local_setup.bash │ │ │ ├── local_setup.sh │ │ │ ├── local_setup.zsh │ │ │ ├── setup.bash │ │ │ ├── setup.sh │ │ │ ├── setup.zsh │ │ │ ├── svo_ros.pc │ │ │ ├── svo_rosConfig-version.cmake │ │ │ └── svo_rosConfig.cmake │ │ ├── ordered_paths.cmake │ │ ├── package.cmake │ │ ├── pkg.develspace.context.pc.py │ │ ├── pkg.installspace.context.pc.py │ │ ├── setup_cached.sh │ │ └── stamps │ │ │ └── svo_ros │ │ │ ├── _setup_util.py.stamp │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ ├── package.xml.stamp │ │ │ └── pkg.pc.em.stamp │ └── devel │ │ ├── .catkin │ │ ├── .rosinstall │ │ ├── _setup_util.py │ │ ├── cmake.lock │ │ ├── env.sh │ │ ├── lib │ │ └── pkgconfig │ │ │ └── svo_ros.pc │ │ ├── local_setup.bash │ │ ├── local_setup.sh │ │ ├── local_setup.zsh │ │ ├── setup.bash │ │ ├── setup.sh │ │ ├── setup.zsh │ │ └── share │ │ └── svo_ros │ │ └── cmake │ │ ├── svo_rosConfig-version.cmake │ │ └── svo_rosConfig.cmake ├── include │ └── svo_ros │ │ ├── backend_factory.h │ │ ├── backend_visualizer.h │ │ ├── ceres_backend_factory.h │ │ ├── csv_dataset_reader.h │ │ ├── svo_factory.h │ │ ├── svo_interface.h │ │ ├── svo_node_base.h │ │ ├── svo_nodelet.h │ │ └── visualizer.h ├── launch │ ├── Default │ │ ├── euroc_vio_gp_mono.launch │ │ ├── euroc_vio_gp_stereo.launch │ │ ├── euroc_vio_mono.launch │ │ ├── euroc_vio_mono_test.launch │ │ └── euroc_vio_stereo.launch │ ├── Flightmare │ │ ├── flightmare_imu_frontend_mono.launch │ │ ├── flightmare_imu_frontend_stereo.launch │ │ ├── flightmare_vio_mono.launch │ │ └── flightmare_vio_stereo.launch │ └── Oerlikon.launch ├── package.xml ├── param │ ├── Default │ │ ├── backend.yaml │ │ ├── euroc_mono.yaml │ │ ├── euroc_mono_test.yaml │ │ ├── euroc_stereo.yaml │ │ ├── fisheye.yaml │ │ ├── flightmare.yaml │ │ ├── param_frontend_mono.yaml │ │ ├── param_frontend_stereo.yaml │ │ ├── param_vio_mono.yaml │ │ ├── vio_mono.yaml │ │ ├── vio_mono_flightmare.yaml │ │ ├── vio_mono_test.yaml │ │ └── vio_stereo.yaml │ ├── Flightmare │ │ ├── VIO_mono.yaml │ │ ├── calibration.yaml │ │ ├── gp_settings.yaml │ │ └── gpose_settings.yaml │ └── Oerlikon │ │ ├── calibration.yaml │ │ ├── gp_settings.yaml │ │ ├── gpose_settings.yaml │ │ └── mono_vio.yaml ├── rqt.perspective ├── src │ ├── backend_factory.cpp │ ├── backend_visualizer.cpp │ ├── benchmark_node.cpp │ ├── ceres_backend_factory.cpp │ ├── csv_dataset_reader.cpp │ ├── svo_factory.cpp │ ├── svo_interface.cpp │ ├── svo_node.cpp │ ├── svo_node_base.cpp │ ├── svo_nodelet.cpp │ └── visualizer.cpp └── svo_nodelet.xml ├── svo_test_utils ├── CMakeLists.txt ├── include │ └── svo │ │ └── test_utils │ │ ├── imu_simulation.h │ │ ├── point_cloud_generator.h │ │ ├── simple_raytracer.h │ │ ├── synthetic_dataset.h │ │ ├── test_utils.h │ │ └── trajectory_generator.h ├── package.xml └── src │ ├── imu_simulation.cpp │ ├── point_cloud_generator.cpp │ ├── simple_raytracer.cpp │ ├── synthetic_dataset.cpp │ ├── test_utils.cpp │ └── trajectory_generator.cpp ├── svo_tracker ├── CMakeLists.txt ├── include │ └── svo │ │ └── tracker │ │ ├── feature_tracker.h │ │ ├── feature_tracking_types.h │ │ ├── feature_tracking_utils.h │ │ └── feature_tracking_viz.h ├── package.xml └── src │ ├── feature_tracker.cpp │ ├── feature_tracking_types.cpp │ ├── feature_tracking_utils.cpp │ └── feature_tracking_viz.cpp ├── svo_vio_common ├── CMakeLists.txt ├── include │ └── svo │ │ └── vio_common │ │ ├── backend_types.hpp │ │ ├── logging.hpp │ │ ├── matrix.hpp │ │ ├── matrix_operations.hpp │ │ └── test_utils.hpp ├── package.xml └── src │ ├── test_utils.cpp │ └── vio_common.cpp └── vikit ├── LICENSE ├── README.md ├── vikit_cameras ├── CMakeLists.txt ├── include │ └── vikit │ │ ├── cameras.h │ │ └── cameras │ │ ├── atan_distortion.h │ │ ├── camera_factory.h │ │ ├── camera_geometry.h │ │ ├── camera_geometry_base.h │ │ ├── equidistant_distortion.h │ │ ├── equidistant_fisheye_geometry.h │ │ ├── equidistant_fisheye_projection.h │ │ ├── implementation │ │ ├── camera_geometry.hpp │ │ ├── camera_geometry_base.hpp │ │ └── pinhole_projection.hpp │ │ ├── ncamera.h │ │ ├── no_distortion.h │ │ ├── omni_geometry.h │ │ ├── omni_projection.h │ │ ├── pinhole_projection.h │ │ ├── radial_tangential_distortion.h │ │ └── yaml │ │ ├── camera-yaml-serialization.h │ │ └── ncamera-yaml-serialization.h ├── package.xml ├── src │ ├── camera_factory.cpp │ ├── camera_geometry_base.cpp │ ├── camera_yaml_serialization.cpp │ ├── equidistant_fisheye_geometry.cpp │ ├── equidistant_fisheye_projection.cpp │ ├── ncamera.cpp │ ├── ncamera_yaml_serialization.cpp │ ├── omni_geometry.cpp │ └── omni_projection.cpp └── test │ ├── data │ ├── calib_cam.yaml │ ├── calib_kitti.yaml │ ├── calib_omni.yaml │ ├── calib_pinhole_atan.yaml │ ├── calib_pinhole_equidistant.yaml │ ├── calib_pinhole_nodistortion.yaml │ └── calib_pinhole_radtan.yaml │ └── test_cameras.cpp ├── vikit_common ├── CMakeLists.txt ├── include │ ├── aslam │ │ └── common │ │ │ ├── entrypoint.h │ │ │ ├── macros.h │ │ │ ├── memory.h │ │ │ ├── numdiff-jacobian-tester.h │ │ │ ├── pose-types.h │ │ │ ├── yaml-serialization-eigen.h │ │ │ └── yaml-serialization.h │ └── vikit │ │ ├── backtrace.h │ │ ├── blender_utils.h │ │ ├── csv_utils.h │ │ ├── homography.h │ │ ├── homography_decomp.h │ │ ├── math_utils.h │ │ ├── path_utils.h │ │ ├── performance_monitor.h │ │ ├── ringbuffer.h │ │ ├── sample.h │ │ ├── timer.h │ │ ├── user_input_thread.h │ │ └── vision.h ├── package.xml ├── src │ ├── homography.cpp │ ├── math_utils.cpp │ ├── performance_monitor.cpp │ ├── sample.cpp │ ├── user_input_thread.cpp │ └── vision.cpp ├── test │ ├── test_camera.cpp │ ├── test_common.cpp │ ├── test_homography.cpp │ ├── test_math_utils.cpp │ ├── test_timer.cpp │ └── test_triangulation.cpp └── vikit_commonConfig.cmake.in ├── vikit_py ├── CMakeLists.txt ├── package.xml ├── setup.py └── src │ └── vikit_py │ ├── .gitignore │ ├── __init__.py │ ├── align_trajectory.py │ ├── associate_timestamps.py │ ├── cpu_info.py │ ├── depth_estimation.py │ ├── depthmap_utils.py │ ├── math_utils.py │ ├── pinhole_camera.py │ ├── plot_utils.py │ ├── ros_node.py │ ├── rotation_utils.py │ ├── test_transformations.py │ └── transformations.py ├── vikit_ros ├── CMakeLists.txt ├── include │ └── vikit │ │ ├── img_type_conversion.h │ │ ├── output_helper.h │ │ └── params_helper.h ├── package.xml └── src │ ├── img_type_conversion.cpp │ └── output_helper.cpp └── vikit_solver ├── CMakeLists.txt ├── include └── vikit │ └── solver │ ├── implementation │ └── mini_least_squares_solver.hpp │ ├── mini_least_squares_solver.h │ └── robust_cost.h ├── package.xml └── src └── 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