├── .catkin_tools ├── CATKIN_IGNORE ├── README ├── VERSION └── profiles │ └── default │ ├── build.yaml │ ├── devel_collisions.txt │ └── packages │ ├── catkin_tools_prebuild │ ├── devel_manifest.txt │ └── package.xml │ └── msckf_vio │ ├── devel_manifest.txt │ └── package.xml ├── .catkin_workspace ├── .gitattributes ├── .vscode ├── c_cpp_properties.json ├── cscope_conf.json └── settings.json ├── FullInternshipReport.doc ├── FunctionsOfMSCKF_VIO_LOOPCLOSURE.ods ├── Internship Oral Presentation.pptx ├── InternshipReportFinal.pdf ├── README.md ├── build ├── .built_by ├── CATKIN_IGNORE ├── CMakeCache.txt ├── CMakeFiles │ ├── 3.5.1 │ │ ├── CMakeCCompiler.cmake │ │ ├── CMakeCXXCompiler.cmake │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ ├── CMakeSystem.cmake │ │ ├── CompilerIdC │ │ │ ├── CMakeCCompilerId.c │ │ │ └── a.out │ │ └── CompilerIdCXX │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ └── a.out │ ├── CMakeDirectoryInformation.cmake │ ├── CMakeError.log │ ├── CMakeOutput.log │ ├── CMakeRuleHashes.txt │ ├── Makefile.cmake │ ├── Makefile2 │ ├── TargetDirectories.txt │ ├── clean_test_results.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── cmake.check_cache │ ├── download_extra_data.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── doxygen.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── feature_tests.bin │ ├── feature_tests.c │ ├── feature_tests.cxx │ ├── progress.marks │ ├── run_tests.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ └── tests.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make ├── CTestConfiguration.ini ├── CTestCustom.cmake ├── CTestTestfile.cmake ├── Makefile ├── 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 │ ├── order_packages.cmake │ ├── order_packages.py │ ├── setup_cached.sh │ └── stamps │ │ └── Project │ │ ├── _setup_util.py.stamp │ │ ├── interrogate_setup_dot_py.py.stamp │ │ ├── order_packages.cmake.em.stamp │ │ └── package.xml.stamp ├── catkin_make.cache ├── cmake_install.cmake ├── gtest │ ├── CMakeFiles │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── gmock.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ ├── gmock_main.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ └── progress.marks │ ├── CTestTestfile.cmake │ ├── Makefile │ ├── cmake_install.cmake │ └── gtest │ │ ├── CMakeFiles │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── gtest.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ ├── gtest_main.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ └── progress.marks │ │ ├── CTestTestfile.cmake │ │ ├── Makefile │ │ └── cmake_install.cmake └── msckf_vio │ ├── CMakeFiles │ ├── CMakeDirectoryInformation.cmake │ ├── Converter.dir │ │ ├── CXX.includecache │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ ├── progress.make │ │ └── src │ │ │ └── Converter.cpp.o │ ├── Frame.dir │ │ ├── CXX.includecache │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ ├── progress.make │ │ └── src │ │ │ ├── Frame.cpp.o │ │ │ ├── KeyFrame.cpp.o │ │ │ ├── KeyFrameDatabase.cpp.o │ │ │ ├── LocalMapping.cpp.o │ │ │ ├── LoopClosing.cpp.o │ │ │ ├── Map.cpp.o │ │ │ ├── MapPoint.cpp.o │ │ │ ├── ORBextractor.cpp.o │ │ │ ├── ORBmatcher.cpp.o │ │ │ ├── Optimizer.cpp.o │ │ │ └── Sim3Solver.cpp.o │ ├── ORBextractor.dir │ │ ├── CXX.includecache │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ ├── progress.make │ │ └── src │ │ │ └── ORBextractor.cpp.o │ ├── _msckf_vio_generate_messages_check_deps_CameraMeasurement.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── _msckf_vio_generate_messages_check_deps_FeatureMeasurement.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── _msckf_vio_generate_messages_check_deps_Pose.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── _msckf_vio_generate_messages_check_deps_TrackingInfo.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── _run_tests_msckf_vio.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── _run_tests_msckf_vio_gtest.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── _run_tests_msckf_vio_gtest_test_feature_init.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── _run_tests_msckf_vio_gtest_test_math_utils.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── actionlib_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── actionlib_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── actionlib_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── actionlib_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── actionlib_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── actionlib_msgs_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── actionlib_msgs_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── actionlib_msgs_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── actionlib_msgs_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── actionlib_msgs_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── bond_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── bond_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── bond_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── bond_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── bond_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── clean_test_results_msckf_vio.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── dynamic_reconfigure_gencfg.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── dynamic_reconfigure_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── dynamic_reconfigure_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── dynamic_reconfigure_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── dynamic_reconfigure_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── dynamic_reconfigure_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── geometry_msgs_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── geometry_msgs_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── geometry_msgs_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── geometry_msgs_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── geometry_msgs_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── image_processor.dir │ │ ├── CXX.includecache │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ ├── progress.make │ │ └── src │ │ │ ├── image_processor.cpp.o │ │ │ └── utils.cpp.o │ ├── image_processor_nodelet.dir │ │ ├── CXX.includecache │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ ├── progress.make │ │ └── src │ │ │ └── image_processor_nodelet.cpp.o │ ├── loop_closure.dir │ │ ├── CXX.includecache │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ ├── progress.make │ │ └── src │ │ │ ├── Converter.cpp.o │ │ │ ├── Frame.cpp.o │ │ │ ├── KeyFrame.cpp.o │ │ │ ├── KeyFrameDatabase.cpp.o │ │ │ ├── LocalMapping.cpp.o │ │ │ ├── LoopClosing.cpp.o │ │ │ ├── Map.cpp.o │ │ │ ├── MapPoint.cpp.o │ │ │ ├── ORBextractor.cpp.o │ │ │ ├── ORBmatcher.cpp.o │ │ │ ├── Optimizer.cpp.o │ │ │ ├── Sim3Solver.cpp.o │ │ │ └── loop_closure.cpp.o │ ├── loop_closure_nodelet.dir │ │ ├── CXX.includecache │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ ├── progress.make │ │ └── src │ │ │ └── loop_closure_nodelet.cpp.o │ ├── msckf_vio.dir │ │ ├── CXX.includecache │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ ├── progress.make │ │ └── src │ │ │ ├── msckf_vio.cpp.o │ │ │ └── utils.cpp.o │ ├── msckf_vio_gencpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── msckf_vio_generate_messages.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── msckf_vio_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── msckf_vio_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── msckf_vio_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── msckf_vio_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── msckf_vio_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── msckf_vio_geneus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── msckf_vio_genlisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── msckf_vio_gennodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── msckf_vio_genpy.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── msckf_vio_nodelet.dir │ │ ├── CXX.includecache │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ ├── progress.make │ │ └── src │ │ │ └── msckf_vio_nodelet.cpp.o │ ├── nav_msgs_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── nav_msgs_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── nav_msgs_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── nav_msgs_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── nav_msgs_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── nodelet_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── nodelet_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── nodelet_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── nodelet_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── nodelet_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── nodelet_topic_tools_gencfg.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── pcl_msgs_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── pcl_msgs_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── pcl_msgs_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── pcl_msgs_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── pcl_msgs_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── pcl_ros_gencfg.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── progress.marks │ ├── roscpp_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── roscpp_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── roscpp_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── roscpp_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── roscpp_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── rosgraph_msgs_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── rosgraph_msgs_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── rosgraph_msgs_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── rosgraph_msgs_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── rosgraph_msgs_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── run_tests_msckf_vio.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── run_tests_msckf_vio_gtest.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── run_tests_msckf_vio_gtest_test_feature_init.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── run_tests_msckf_vio_gtest_test_math_utils.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── sensor_msgs_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── sensor_msgs_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── sensor_msgs_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── sensor_msgs_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── sensor_msgs_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── std_msgs_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── std_msgs_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── std_msgs_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── std_msgs_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── std_msgs_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── std_srvs_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── std_srvs_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── std_srvs_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── std_srvs_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── std_srvs_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── test_feature_init.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── test_math_utils.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── tf2_msgs_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── tf2_msgs_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── tf2_msgs_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── tf2_msgs_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── tf2_msgs_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── tf_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── tf_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── tf_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── tf_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── tf_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── topic_tools_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── topic_tools_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── topic_tools_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── topic_tools_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ └── topic_tools_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ └── progress.make │ ├── CTestTestfile.cmake │ ├── Makefile │ ├── catkin_generated │ ├── installspace │ │ ├── msckf_vio-msg-extras.cmake │ │ ├── msckf_vio-msg-paths.cmake │ │ ├── msckf_vio.pc │ │ ├── msckf_vioConfig-version.cmake │ │ └── msckf_vioConfig.cmake │ ├── msckf_vio-msg-extras.cmake.develspace.in │ ├── msckf_vio-msg-extras.cmake.installspace.in │ ├── ordered_paths.cmake │ ├── package.cmake │ ├── pkg.develspace.context.pc.py │ ├── pkg.installspace.context.pc.py │ └── stamps │ │ └── msckf_vio │ │ ├── package.xml.stamp │ │ ├── pkg-genmsg.cmake.em.stamp │ │ └── pkg.pc.em.stamp │ ├── cmake │ ├── msckf_vio-genmsg-context.py │ └── msckf_vio-genmsg.cmake │ └── cmake_install.cmake ├── devel ├── .built_by ├── .catkin ├── .rosinstall ├── _setup_util.py ├── cmake.lock ├── env.sh ├── include │ └── msckf_vio │ │ ├── CameraMeasurement.h │ │ ├── FeatureMeasurement.h │ │ ├── Pose.h │ │ └── TrackingInfo.h ├── lib │ ├── libConverter.so │ ├── libFrame.so │ ├── libORBextractor.so │ ├── libimage_processor.so │ ├── libimage_processor_nodelet.so │ ├── libloop_closure.so │ ├── libloop_closure_nodelet.so │ ├── libmsckf_vio.so │ ├── libmsckf_vio_nodelet.so │ ├── pkgconfig │ │ └── msckf_vio.pc │ └── python2.7 │ │ └── dist-packages │ │ └── msckf_vio │ │ ├── __init__.py │ │ └── msg │ │ ├── _CameraMeasurement.py │ │ ├── _FeatureMeasurement.py │ │ ├── _Pose.py │ │ ├── _TrackingInfo.py │ │ └── __init__.py ├── local_setup.bash ├── local_setup.sh ├── local_setup.zsh ├── setup.bash ├── setup.sh ├── setup.zsh └── share │ ├── common-lisp │ └── ros │ │ └── msckf_vio │ │ └── msg │ │ ├── CameraMeasurement.lisp │ │ ├── FeatureMeasurement.lisp │ │ ├── Pose.lisp │ │ ├── TrackingInfo.lisp │ │ ├── _package.lisp │ │ ├── _package_CameraMeasurement.lisp │ │ ├── _package_FeatureMeasurement.lisp │ │ ├── _package_Pose.lisp │ │ ├── _package_TrackingInfo.lisp │ │ └── msckf_vio-msg.asd │ ├── gennodejs │ └── ros │ │ └── msckf_vio │ │ ├── _index.js │ │ └── msg │ │ ├── CameraMeasurement.js │ │ ├── FeatureMeasurement.js │ │ ├── Pose.js │ │ ├── TrackingInfo.js │ │ └── _index.js │ ├── msckf_vio │ └── cmake │ │ ├── msckf_vio-msg-extras.cmake │ │ ├── msckf_vio-msg-paths.cmake │ │ ├── msckf_vioConfig-version.cmake │ │ └── msckf_vioConfig.cmake │ └── roseus │ └── ros │ └── msckf_vio │ ├── manifest.l │ └── msg │ ├── CameraMeasurement.l │ ├── FeatureMeasurement.l │ ├── Pose.l │ └── TrackingInfo.l ├── logs ├── catkin_tools_prebuild │ ├── build.cache-manifest.000.log │ ├── build.cache-manifest.log │ ├── build.cmake.000.log │ ├── build.cmake.log │ ├── build.ctr-nuke.000.log │ ├── build.ctr-nuke.log │ ├── build.loadenv.000.log │ ├── build.loadenv.log │ ├── build.make.000.log │ ├── build.make.log │ ├── build.mkdir.000.log │ ├── build.mkdir.001.log │ ├── build.mkdir.log │ ├── build.symlink.000.log │ └── build.symlink.log └── msckf_vio │ ├── build.cache-manifest.007.log │ ├── build.cache-manifest.008.log │ ├── build.cache-manifest.009.log │ ├── build.cache-manifest.010.log │ ├── build.cache-manifest.011.log │ ├── build.cache-manifest.012.log │ ├── build.cache-manifest.013.log │ ├── build.cache-manifest.014.log │ ├── build.cache-manifest.015.log │ ├── build.cache-manifest.016.log │ ├── build.cache-manifest.log │ ├── build.check.006.log │ ├── build.check.007.log │ ├── build.check.008.log │ ├── build.check.009.log │ ├── build.check.010.log │ ├── build.check.011.log │ ├── build.check.012.log │ ├── build.check.013.log │ ├── build.check.014.log │ ├── build.check.015.log │ ├── build.check.log │ ├── build.cmake.000.log │ ├── build.cmake.log │ ├── build.ctr-nuke.000.log │ ├── build.ctr-nuke.log │ ├── build.loadenv.007.log │ ├── build.loadenv.008.log │ ├── build.loadenv.009.log │ ├── build.loadenv.010.log │ ├── build.loadenv.011.log │ ├── build.loadenv.012.log │ ├── build.loadenv.013.log │ ├── build.loadenv.014.log │ ├── build.loadenv.015.log │ ├── build.loadenv.016.log │ ├── build.loadenv.log │ ├── build.make.000.log.stderr │ ├── build.make.005.log.stderr │ ├── build.make.006.log │ ├── build.make.007.log │ ├── build.make.008.log │ ├── build.make.009.log │ ├── build.make.010.log │ ├── build.make.011.log │ ├── build.make.012.log │ ├── build.make.013.log │ ├── build.make.014.log │ ├── build.make.015.log │ ├── build.make.log │ ├── build.mkdir.024.log │ ├── build.mkdir.025.log │ ├── build.mkdir.026.log │ ├── build.mkdir.027.log │ ├── build.mkdir.028.log │ ├── build.mkdir.029.log │ ├── build.mkdir.030.log │ ├── build.mkdir.031.log │ ├── build.mkdir.032.log │ ├── build.mkdir.033.log │ ├── build.mkdir.log │ ├── build.symlink.004.log │ ├── build.symlink.005.log │ ├── build.symlink.006.log │ ├── build.symlink.007.log │ ├── build.symlink.008.log │ ├── build.symlink.009.log │ ├── build.symlink.010.log │ ├── build.symlink.011.log │ ├── build.symlink.012.log │ ├── build.symlink.013.log │ └── build.symlink.log └── src ├── .vscode ├── c_cpp_properties.json └── settings.json ├── CMakeLists.txt ├── Notes └── msckf_vio ├── CMakeLists.txt ├── LICENSE.txt ├── README.md ├── Thirdparty ├── DBoW2 │ ├── CMakeLists.txt │ ├── DBoW2 │ │ ├── BowVector.cpp │ │ ├── BowVector.h │ │ ├── FClass.h │ │ ├── FORB.cpp │ │ ├── FORB.h │ │ ├── FeatureVector.cpp │ │ ├── FeatureVector.h │ │ ├── ScoringObject.cpp │ │ ├── ScoringObject.h │ │ └── TemplatedVocabulary.h │ ├── DUtils │ │ ├── Random.cpp │ │ ├── Random.h │ │ ├── Timestamp.cpp │ │ └── Timestamp.h │ ├── LICENSE.txt │ ├── README.txt │ ├── build │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 3.5.1 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeOutput.log │ │ │ ├── DBoW2.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DBoW2 │ │ │ │ │ ├── BowVector.cpp.o │ │ │ │ │ ├── FORB.cpp.o │ │ │ │ │ ├── FeatureVector.cpp.o │ │ │ │ │ └── ScoringObject.cpp.o │ │ │ │ ├── DUtils │ │ │ │ │ ├── Random.cpp.o │ │ │ │ │ └── Timestamp.cpp.o │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── TargetDirectories.txt │ │ │ ├── cmake.check_cache │ │ │ ├── feature_tests.bin │ │ │ ├── feature_tests.c │ │ │ ├── feature_tests.cxx │ │ │ └── progress.marks │ │ ├── Makefile │ │ └── cmake_install.cmake │ └── lib │ │ └── libDBoW2.so └── g2o │ ├── CMakeLists.txt │ ├── README.txt │ ├── build │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.5.1 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeOutput.log │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── TargetDirectories.txt │ │ ├── cmake.check_cache │ │ ├── feature_tests.bin │ │ ├── feature_tests.c │ │ ├── feature_tests.cxx │ │ ├── g2o.dir │ │ │ ├── C.includecache │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── g2o │ │ │ │ ├── core │ │ │ │ │ ├── batch_stats.cpp.o │ │ │ │ │ ├── cache.cpp.o │ │ │ │ │ ├── estimate_propagator.cpp.o │ │ │ │ │ ├── factory.cpp.o │ │ │ │ │ ├── hyper_dijkstra.cpp.o │ │ │ │ │ ├── hyper_graph.cpp.o │ │ │ │ │ ├── hyper_graph_action.cpp.o │ │ │ │ │ ├── jacobian_workspace.cpp.o │ │ │ │ │ ├── marginal_covariance_cholesky.cpp.o │ │ │ │ │ ├── matrix_structure.cpp.o │ │ │ │ │ ├── optimizable_graph.cpp.o │ │ │ │ │ ├── optimization_algorithm.cpp.o │ │ │ │ │ ├── optimization_algorithm_factory.cpp.o │ │ │ │ │ ├── optimization_algorithm_levenberg.cpp.o │ │ │ │ │ ├── optimization_algorithm_with_hessian.cpp.o │ │ │ │ │ ├── parameter.cpp.o │ │ │ │ │ ├── parameter_container.cpp.o │ │ │ │ │ ├── robust_kernel.cpp.o │ │ │ │ │ ├── robust_kernel_factory.cpp.o │ │ │ │ │ ├── robust_kernel_impl.cpp.o │ │ │ │ │ ├── solver.cpp.o │ │ │ │ │ └── sparse_optimizer.cpp.o │ │ │ │ ├── stuff │ │ │ │ │ ├── os_specific.c.o │ │ │ │ │ ├── property.cpp.o │ │ │ │ │ ├── string_tools.cpp.o │ │ │ │ │ └── timeutil.cpp.o │ │ │ │ └── types │ │ │ │ │ ├── types_sba.cpp.o │ │ │ │ │ ├── types_seven_dof_expmap.cpp.o │ │ │ │ │ └── types_six_dof_expmap.cpp.o │ │ │ ├── link.txt │ │ │ └── progress.make │ │ └── progress.marks │ ├── Makefile │ └── cmake_install.cmake │ ├── cmake_modules │ ├── FindBLAS.cmake │ ├── FindEigen3.cmake │ └── FindLAPACK.cmake │ ├── config.h │ ├── config.h.in │ ├── g2o │ ├── core │ │ ├── base_binary_edge.h │ │ ├── base_binary_edge.hpp │ │ ├── base_edge.h │ │ ├── base_multi_edge.h │ │ ├── base_multi_edge.hpp │ │ ├── base_unary_edge.h │ │ ├── base_unary_edge.hpp │ │ ├── base_vertex.h │ │ ├── base_vertex.hpp │ │ ├── batch_stats.cpp │ │ ├── batch_stats.h │ │ ├── block_solver.h │ │ ├── block_solver.hpp │ │ ├── cache.cpp │ │ ├── cache.h │ │ ├── creators.h │ │ ├── eigen_types.h │ │ ├── estimate_propagator.cpp │ │ ├── estimate_propagator.h │ │ ├── factory.cpp │ │ ├── factory.h │ │ ├── hyper_dijkstra.cpp │ │ ├── hyper_dijkstra.h │ │ ├── hyper_graph.cpp │ │ ├── hyper_graph.h │ │ ├── hyper_graph_action.cpp │ │ ├── hyper_graph_action.h │ │ ├── jacobian_workspace.cpp │ │ ├── jacobian_workspace.h │ │ ├── linear_solver.h │ │ ├── marginal_covariance_cholesky.cpp │ │ ├── marginal_covariance_cholesky.h │ │ ├── matrix_operations.h │ │ ├── matrix_structure.cpp │ │ ├── matrix_structure.h │ │ ├── openmp_mutex.h │ │ ├── optimizable_graph.cpp │ │ ├── optimizable_graph.h │ │ ├── optimization_algorithm.cpp │ │ ├── optimization_algorithm.h │ │ ├── optimization_algorithm_dogleg.cpp │ │ ├── optimization_algorithm_dogleg.h │ │ ├── optimization_algorithm_factory.cpp │ │ ├── optimization_algorithm_factory.h │ │ ├── optimization_algorithm_gauss_newton.cpp │ │ ├── optimization_algorithm_gauss_newton.h │ │ ├── optimization_algorithm_levenberg.cpp │ │ ├── optimization_algorithm_levenberg.h │ │ ├── optimization_algorithm_property.h │ │ ├── optimization_algorithm_with_hessian.cpp │ │ ├── optimization_algorithm_with_hessian.h │ │ ├── parameter.cpp │ │ ├── parameter.h │ │ ├── parameter_container.cpp │ │ ├── parameter_container.h │ │ ├── robust_kernel.cpp │ │ ├── robust_kernel.h │ │ ├── robust_kernel_factory.cpp │ │ ├── robust_kernel_factory.h │ │ ├── robust_kernel_impl.cpp │ │ ├── robust_kernel_impl.h │ │ ├── solver.cpp │ │ ├── solver.h │ │ ├── sparse_block_matrix.h │ │ ├── sparse_block_matrix.hpp │ │ ├── sparse_block_matrix_ccs.h │ │ ├── sparse_block_matrix_diagonal.h │ │ ├── sparse_block_matrix_test.cpp │ │ ├── sparse_optimizer.cpp │ │ └── sparse_optimizer.h │ ├── solvers │ │ ├── linear_solver_dense.h │ │ └── linear_solver_eigen.h │ ├── stuff │ │ ├── color_macros.h │ │ ├── macros.h │ │ ├── misc.h │ │ ├── os_specific.c │ │ ├── os_specific.h │ │ ├── property.cpp │ │ ├── property.h │ │ ├── string_tools.cpp │ │ ├── string_tools.h │ │ ├── timeutil.cpp │ │ └── timeutil.h │ └── types │ │ ├── se3_ops.h │ │ ├── se3_ops.hpp │ │ ├── se3quat.h │ │ ├── sim3.h │ │ ├── types_sba.cpp │ │ ├── types_sba.h │ │ ├── types_seven_dof_expmap.cpp │ │ ├── types_seven_dof_expmap.h │ │ ├── types_six_dof_expmap.cpp │ │ └── types_six_dof_expmap.h │ ├── lib │ └── libg2o.so │ └── license-bsd.txt ├── Vocabulary ├── .gitattributes ├── ORBvoc.txt └── ORBvoc.txt.tar.gz ├── backup └── CMakeLists.txt ├── cmake └── FindSuiteSparse.cmake ├── config ├── camchain-imucam-euroc-noextrinsics.yaml ├── camchain-imucam-euroc.yaml ├── camchain-imucam-fla.yaml ├── camchain-imucam-realsense.yaml ├── camchain-imucam-vi-equi.yaml ├── camchain-imucam-vi-radtan.yaml └── camchain-imucam-vi.yaml ├── include └── msckf_vio │ ├── Converter.h │ ├── Frame.h │ ├── KeyFrame.h │ ├── 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