├── Linear-Kalman-Filter ├── CMakeLists.txt ├── README.md ├── include │ ├── Load_Params.h │ ├── Prediction.h │ ├── Processing.h │ └── Update.h ├── launch │ ├── KF.launch │ └── Params.yaml ├── package.xml └── src │ └── Main.cpp ├── README.md ├── Surge Report.pdf ├── camera_localization ├── imu_tools │ ├── README.md │ ├── imu_complementary_filter │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── imu_complementary_filter │ │ │ │ ├── complementary_filter.h │ │ │ │ └── complementary_filter_ros.h │ │ ├── launch │ │ │ └── complementary_filter.launch │ │ ├── package.xml │ │ └── src │ │ │ ├── complementary_filter.cpp │ │ │ ├── complementary_filter_node.cpp │ │ │ └── complementary_filter_ros.cpp │ ├── imu_filter_madgwick │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── COPYING │ │ ├── Makefile │ │ ├── cfg │ │ │ └── ImuFilterMadgwick.cfg │ │ ├── imu_filter_nodelet.xml │ │ ├── include │ │ │ └── imu_filter_madgwick │ │ │ │ ├── imu_filter.h │ │ │ │ ├── imu_filter.launch │ │ │ │ ├── imu_filter_nodelet.h │ │ │ │ ├── imu_filter_ros.h │ │ │ │ ├── stateless_orientation.h │ │ │ │ └── world_frame.h │ │ ├── package.xml │ │ ├── sample │ │ │ ├── ardrone_imu.bag │ │ │ ├── phidgets_imu_upside_down.bag │ │ │ └── sparkfun_razor.bag │ │ ├── src │ │ │ ├── imu_filter.cpp │ │ │ ├── imu_filter_node.cpp │ │ │ ├── imu_filter_nodelet.cpp │ │ │ ├── imu_filter_ros.cpp │ │ │ └── stateless_orientation.cpp │ │ └── test │ │ │ ├── madgwick_test.cpp │ │ │ ├── stateless_orientation_test.cpp │ │ │ └── test_helpers.h │ ├── imu_tools │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ └── package.xml │ └── rviz_imu_plugin │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ ├── plugin_description.xml │ │ ├── rosdoc.yaml │ │ ├── rviz_imu_plugin.png │ │ └── src │ │ ├── imu_acc_visual.cpp │ │ ├── imu_acc_visual.h │ │ ├── imu_axes_visual.cpp │ │ ├── imu_axes_visual.h │ │ ├── imu_display.cpp │ │ ├── imu_display.h │ │ ├── imu_orientation_visual.cpp │ │ └── imu_orientation_visual.h └── localization │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ ├── odom_node.cpp │ ├── realsense_comb_imu.cpp │ └── tf_publisher.cpp ├── octomap_mapping ├── README.md ├── octomap_mapping │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml └── octomap_server │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ └── OctomapServer.cfg │ ├── include │ └── octomap_server │ │ ├── OctomapServer.h │ │ ├── OctomapServerMultilayer.h │ │ └── TrackingOctomapServer.h │ ├── launch │ ├── octomap_mapping.launch │ ├── octomap_mapping_nodelet.launch │ ├── octomap_tracking_client.launch │ └── octomap_tracking_server.launch │ ├── mainpage.dox │ ├── nodelet_plugins.xml │ ├── package.xml │ ├── params │ └── default.yaml │ ├── scripts │ └── octomap_eraser_cli.py │ └── src │ ├── OctomapServer.cpp │ ├── OctomapServerMultilayer.cpp │ ├── TrackingOctomapServer.cpp │ ├── octomap_saver.cpp │ ├── octomap_server_multilayer.cpp │ ├── octomap_server_node.cpp │ ├── octomap_server_nodelet.cpp │ ├── octomap_server_static.cpp │ └── octomap_tracking_server_node.cpp ├── octomap_saver └── map_server │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ └── map_server │ │ └── image_loader.h │ ├── package.xml │ ├── scripts │ └── crop_map │ ├── src │ ├── image_loader.cpp │ ├── main.cpp │ ├── map_saver.cpp │ └── map_server.dox │ └── test │ ├── consumer.py │ ├── rtest.cpp │ ├── rtest.xml │ ├── test_constants.cpp │ ├── test_constants.h │ ├── testmap.bmp │ ├── testmap.png │ ├── testmap.yaml │ └── utest.cpp ├── orb_slam_2_ros ├── .gitignore ├── CMakeLists.txt ├── Dependencies.md ├── LICENSE.txt ├── License-gpl.txt ├── README.md ├── orb_slam2 │ ├── 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 │ │ └── g2o │ │ │ ├── CMakeLists.txt │ │ │ ├── README.txt │ │ │ ├── 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 │ │ │ └── license-bsd.txt │ ├── Vocabulary │ │ ├── ORBvoc.txt.bin │ │ └── ORBvoc.txt.tar.gz │ ├── cmake_modules │ │ └── FindEigen3.cmake │ ├── config │ │ ├── RealSenseD435Mono.yaml │ │ ├── RealSenseD435RGBD.yaml │ │ ├── RealSenseR200Mono.yaml │ │ ├── RealSenseR200RGBD.yaml │ │ ├── RealSenseR200Stereo.yaml │ │ ├── TUM1.yaml │ │ ├── mynteye_s_mono.yaml │ │ ├── mynteye_s_stereo.yaml │ │ └── vimba_stereo.yaml │ ├── include │ │ ├── Converter.h │ │ ├── Frame.h │ │ ├── FrameDrawer.h │ │ ├── Initializer.h │ │ ├── KeyFrame.h │ │ ├── KeyFrameDatabase.h │ │ ├── LocalMapping.h │ │ ├── LoopClosing.h │ │ ├── Map.h │ │ ├── MapPoint.h │ │ ├── ORBVocabulary.h │ │ ├── ORBextractor.h │ │ ├── ORBmatcher.h │ │ ├── Optimizer.h │ │ ├── PnPsolver.h │ │ ├── Sim3Solver.h │ │ ├── System.h │ │ └── Tracking.h │ └── src │ │ ├── Converter.cc │ │ ├── Frame.cc │ │ ├── FrameDrawer.cc │ │ ├── Initializer.cc │ │ ├── KeyFrame.cc │ │ ├── KeyFrameDatabase.cc │ │ ├── LocalMapping.cc │ │ ├── LoopClosing.cc │ │ ├── Map.cc │ │ ├── MapPoint.cc │ │ ├── ORBextractor.cc │ │ ├── ORBmatcher.cc │ │ ├── Optimizer.cc │ │ ├── PnPsolver.cc │ │ ├── Sim3Solver.cc │ │ ├── System.cc │ │ └── Tracking.cc ├── package.xml └── ros │ ├── config │ └── dynamic_reconfigure.cfg │ ├── include │ ├── MonoNode.h │ ├── Node.h │ ├── RGBDNode.h │ └── StereoNode.h │ ├── launch │ ├── orb_slam2_d435_mono.launch │ ├── orb_slam2_d435_rgbd.launch │ ├── orb_slam2_mynteye_s_mono.launch │ ├── orb_slam2_mynteye_s_stereo.launch │ ├── orb_slam2_r200_mono.launch │ ├── orb_slam2_r200_rgbd.launch │ └── 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