├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── LICENSE ├── README.md ├── datasets ├── EuRoC │ └── calib │ │ └── Vicon_room │ │ └── calib.yaml └── UZH_FPV │ └── calib │ └── indoor_forward_calib_snapdragon │ ├── camchain-imucam-..indoor_forward_calib_snapdragon_imu.yaml │ ├── camchain-imucam-..indoor_forward_calib_snapdragon_imu_simple.yaml │ └── imu.yaml ├── experiments ├── EuRoC │ └── V2_01_easy │ │ ├── colmap_fitted_spline │ │ └── v2_01_easy.yaml │ │ ├── colmap_global_alignment │ │ └── v2_01_easy.yaml │ │ ├── fit_spline_on_gp_meas │ │ └── v2_01_easy.yaml │ │ ├── full_batch_optimization │ │ ├── continuous_time │ │ │ └── v2_01_easy.yaml │ │ └── discrete_time │ │ │ └── v2_01_easy.yaml │ │ ├── full_batch_optimization_gi │ │ ├── continuous_time │ │ │ └── v2_01_easy.yaml │ │ └── discrete_time │ │ │ └── v2_01_easy.yaml │ │ ├── full_batch_optimization_gv │ │ ├── continuous_time │ │ │ └── v2_01_easy.yaml │ │ └── discrete_time │ │ │ └── v2_01_easy.yaml │ │ ├── full_batch_optimization_vi │ │ ├── continuous_time │ │ │ └── v2_01_easy.yaml │ │ └── discrete_time │ │ │ └── v2_01_easy.yaml │ │ └── spline_global_alignment │ │ └── v2_01_easy.yaml └── UZH_FPV │ └── indoor_forward_3_snapdragon │ ├── colmap_fitted_spline │ └── indoor_forward_3_snapdragon.yaml │ ├── colmap_global_alignment │ └── indoor_forward_3_snapdragon.yaml │ ├── full_batch_optimization │ ├── continuous_time │ │ └── indoor_forward_3_snapdragon.yaml │ └── discrete_time │ │ └── indoor_forward_3_snapdragon.yaml │ └── spline_global_alignment │ └── indoor_forward_3_snapdragon.yaml ├── img ├── RAL2021_Cioffi.png ├── frontimage.png ├── intro.png └── intro_github.png ├── include ├── discrete_time_estimator │ ├── estimator.h │ └── state.h ├── optimization │ ├── continuous_time │ │ ├── ceres_spline_helper.h │ │ ├── ceres_spline_helper_old.h │ │ ├── global_position_cost_functor.h │ │ ├── imu_cost_functor.h │ │ ├── make_davis_gt_cost_functor.h │ │ ├── orientation_cost_functor.h │ │ ├── pose_cost_functor.h │ │ ├── position_cost_functor.h │ │ └── reprojection_cost_functor.h │ ├── discrete_time │ │ ├── error_interface.h │ │ ├── global_position_cost_functor.h │ │ ├── imu_cost_functor.h │ │ ├── pose_cost_functor.h │ │ ├── pose_local_parameterization.h │ │ ├── reprojection_cost_functor.h │ │ └── speed_cost_functor.h │ ├── gravity_norm_cost_functor.h │ └── lie_local_parametrization.h ├── sensor │ ├── camera.h │ ├── camera_calib.h │ ├── global_position_sensor.h │ ├── imu.h │ └── imu_calib.h ├── spline │ ├── bspline_so3r3.h │ └── spline_common.h └── util │ ├── assert.h │ ├── colmap_utils.h │ ├── eigen_utils.h │ ├── endian.h │ ├── load.h │ ├── load_calibration.h │ ├── matrix_operations.h │ ├── print.h │ ├── save.h │ ├── trajectory_utils.h │ └── utils.h ├── scripts └── python │ ├── .gitignore │ ├── create_colmap_project_euroc_dataset.py │ ├── create_colmap_project_uzhfpv_dataset.py │ ├── extract_cam_imu_data_from_rosbag.py │ ├── extract_euroc_groundtruth.py │ ├── extract_from_euroc_rosbag.py │ ├── extract_traj_estimate_from_colmap.py │ ├── extract_traj_estimate_from_colmap_euroc.py │ ├── extract_traj_estimate_from_colmap_uzhfpv.py │ ├── from_kalibr_to_simple_camimu_calib_yaml.py │ ├── initialize_spline_to_global_frame_spatial_alignment.py │ ├── initialize_spline_to_global_frame_spatial_alignment_uzhfpv.py │ ├── make_global_measurements_euroc.py │ ├── make_gt_rosbag_uzhfpv.py │ ├── make_leica_minimal.py │ ├── plot_results_continuous_time.py │ ├── plot_results_continuous_time_gi.py │ ├── plot_results_continuous_time_gv.py │ ├── plot_results_continuous_time_vi.py │ ├── plot_results_discrete_time.py │ ├── plot_results_discrete_time_gi.py │ ├── plot_results_discrete_time_gv.py │ ├── plot_results_discrete_time_vi.py │ ├── plot_results_spline_fitting_to_colmap_traj.py │ ├── plot_results_spline_fitting_to_gp_meas.py │ ├── plot_results_spline_global_frame_alignment.py │ ├── rpg_vision_based_slam │ ├── .gitignore │ ├── __init__.py │ ├── alignment.py │ ├── calibration.py │ ├── colmap_params.py │ ├── euroc_flags.py │ ├── euroc_util.py │ ├── flags.py │ ├── plots.py │ ├── pose.py │ ├── time_alignment.py │ ├── transformations.py │ ├── util_colmap.py │ ├── utils.py │ ├── uzhfpv_flags.py │ ├── uzhfpv_leica_parser.py │ └── uzhfpv_util.py │ └── transform_colmap_to_global_frame.py └── src ├── align_colmap_to_imu.cpp ├── align_spline_to_global_frame.cpp ├── fit_spline_to_colmap.cpp ├── fit_spline_to_gp_measurements.cpp ├── optimize_continuous_time.cpp ├── optimize_discrete_time.cpp ├── optimize_gi_continuous_time.cpp ├── optimize_gi_discrete_time.cpp ├── optimize_gv_continuous_time.cpp ├── optimize_gv_discrete_time.cpp ├── optimize_vi_continuous_time.cpp └── optimize_vi_discrete_time.cpp /.gitignore: -------------------------------------------------------------------------------- 1 | build/ 2 | results/ 3 | -------------------------------------------------------------------------------- /.gitmodules: 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